JP2012035819A - 車両制御装置 - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/28—Following time setting methods, e.g. elapsed delay between preceding and host vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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Abstract
【解決手段】自車1の前方の先行車100の車車間通信情報に基づいて、自車1が先行車100に追従する追従走行制御中に、自車1が先行車100の車車間通信情報を取得する際における取得状況に応じて、追従走行制御時のパラメータを決定する。これにより、車車間通信情報の取得状況に応じた追従走行制御を行うことができ、例えば、先行車100の車車間通信情報を適切に取得できる場合には、取得した車車間通信情報を用いて理想的な追従走行制御を行い、先行車100の車車間通信情報の取得が困難な場合には、車車間通信情報に対する依存性を低くして追従走行制御を行うことができる。この結果、先行車100の車車間通信情報の取得状況に関わらず、適切な追従走行を維持することができる。
【選択図】図12
Description
図1は、本発明の実施形態に係る車両制御装置が設けられた車両の概略図である。実施形態に係る車両制御装置2を備える車両1は、内燃機関であるエンジン5が動力源として搭載され、エンジン5で発生する動力が自動変速機(図示省略)等の駆動装置を経由して車輪3に伝達されることにより、走行可能になっている。また、この車両1は、車輪3を制動することにより走行中の車両1の制動をする制動手段であるブレーキ装置(図示省略)が設けられており、ブレーキ装置を作動させる際における油圧を制御するブレーキ油圧制御装置8が設けられている。また、駆動装置には、エンジン5の動力を車輪3に伝達する際における回転速度を検出することを介して車速を検出する車速検出手段である車速センサ10が設けられている。
Sr(相対加速度面積)=Sa(平行四辺形の面積)≦τ(設定車間時間)・a1_max(先行車最大減速度)・・・(1)
Vr(相対速度)≦Vr_max=τ(設定車間時間)・a1_max(先行車最大減速度)・・・(2)
a1_max・x+Vr0=a1_max・τ・・・(3)
x=τ−(Vr0/a1_max)・・・(4)
2 車両制御装置
12 レーダー
15 車車間通信装置
20 走行制御ECU
22 ブレーキ制御部
28 走行モード切替部
30 車間時間検出部
33 減速度算出部
34 相対速度算出部
35 減速時相対速度算出部
38 車間時間設定部
40 通信追従走行制御ECU
41 車間距離設定部
45 先行車走行情報取得部
46 先行車最大減速度導出部
50 通信途絶判定時間設定部
51 通信途絶判定部
60 自律追従走行制御ECU
61 前方状態取得部
62 車間距離設定部
63 先行車減速度導出部
100 先行車
Claims (4)
- 自車前方の先行車の車車間通信情報に基づいて、自車が前記先行車に追従する追従走行制御中に、前記自車が前記先行車の前記車車間通信情報を取得する際における取得状況に応じて、前記追従走行制御時のパラメータを決定することを特徴とする車両制御装置。
- 前記車車間通信情報を取得する際における前記取得状況は、前記自車が前記先行車の前記車車間通信情報を取得するはずのタイミングからの遅れ時間であることを特徴とする請求項1に記載の車両制御装置。
- 前記車車間通信情報を取得する際における前記取得状況は、前記車車間通信の通信途絶判定時間であることを特徴とする請求項1に記載の車両制御装置。
- 前記追従走行制御時のパラメータは、前記自車と前記先行車との車間時間または車間距離であることを特徴とする請求項1〜3のいずれか1項に記載の車両制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010180453A JP5668359B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
PCT/IB2011/001817 WO2012020297A1 (en) | 2010-08-11 | 2011-08-05 | Control device and control method for vehicle |
US13/813,237 US8924122B2 (en) | 2010-08-11 | 2011-08-05 | Control device and control method for vehicle |
CN201180039069.XA CN103069467B (zh) | 2010-08-11 | 2011-08-05 | 用于车辆的控制装置和控制方法 |
DE112011102666T DE112011102666T5 (de) | 2010-08-11 | 2011-08-05 | Steuerungsvorrichtung und Steuerungsverfahren für ein Fahrzeug |
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JP2010180453A JP5668359B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2012035819A true JP2012035819A (ja) | 2012-02-23 |
JP5668359B2 JP5668359B2 (ja) | 2015-02-12 |
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JP2010180453A Active JP5668359B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
Country Status (5)
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US (1) | US8924122B2 (ja) |
JP (1) | JP5668359B2 (ja) |
CN (1) | CN103069467B (ja) |
DE (1) | DE112011102666T5 (ja) |
WO (1) | WO2012020297A1 (ja) |
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Also Published As
Publication number | Publication date |
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US8924122B2 (en) | 2014-12-30 |
CN103069467A (zh) | 2013-04-24 |
US20130131949A1 (en) | 2013-05-23 |
DE112011102666T5 (de) | 2013-06-13 |
CN103069467B (zh) | 2016-01-20 |
WO2012020297A1 (en) | 2012-02-16 |
JP5668359B2 (ja) | 2015-02-12 |
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