JP2013203231A - 車両の走行制御装置 - Google Patents
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Abstract
【解決手段】自車両と前方の障害物との距離若しくは相対速度、カーナビ若しくはGPSからの走行経路情報、ドライバにより設定される車速等の入力される情報に基づいて自車両の前後加速度を算出する第一の手段と、前記自車両に作用する横加加速度に応じて前後加速度を算出する第二の手段と、前記第二の手段で算出された前後加速度を基にして、前記第一の手段で算出された前後加速度との調停を実施する調停手段と、を備えて、前記調停手段の出力を前記自車両の前後加速度を制御するために指令値とする、車両走行制御装置。
【選択図】図4
Description
<ブロック構成>
図1は、本発明の一つの実施形態である実施例1の車両の走行制御装置の概略ブロック構成を示す。図1において、車両の走行制御装置は、環境認識センサ部110と、車両状態認識センサ部111と、制御状態切換部112と、走行制御ECU(Electronic Control Unit)113と、制動部114と、駆動部115と、を備えてなる。
次に、本発明の実施例1に係る車両の走行制御装置に備わる走行制御ECU113における具体的な処理について、図2を参照して説明する。図2は、走行制御ECU113が実行するルーチンのフローチャートであり、所定時間間隔で繰り返される。
図5は、実施例1による車両の走行制御装置を搭載した自車両がカーブに進入してから脱出するまでの走行路を模擬的に示した図である。図5において、走行路は、直線区間(N1〜N2)、緩和曲線からなる過渡区間(N2〜N3)、定常旋回区間(N3〜N4)、緩和曲線からなる過渡区間(N4〜N5)、直線区間(N5〜N6)を想定している。
実施例1は、上記のようにして、各アプリの減速又は加速指令値の調停を行うものである。
本発明に係る実施例2の車両の走行制御装置について説明する。実施例2は、前述の実施例1と類似な部分が多いために、主たる差異であるステップ401の車両状態ステータスに応じた減速指令値算出処理について以下説明する。
実施例2は、上記のようにして、各アプリの減速又は加速指令値の調停を行うものである。
本発明に係る実施例3の車両の走行制御装置について説明する。実施例3は、前述の実施例1と類似な部分が多いために、主たる差異であるステップ402の車両状態ステータスに応じた加速指令値算出処理について以下説明する。
実施例3は、上記のようにして、各アプリの減速又は加速指令値の調停を行うものである。
110 環境認識センサ部
111 車両状態認識センサ部
112 制御状態切換部
113 走行制御ECU
114 制動部
115 駆動部
500 自車両
501 先行車両
Claims (7)
- 入力される情報に基づいて自車両の前後加速度を算出する第一の手段と、
前記自車両に作用する横加加速度に応じて前後加速度を算出する第二の手段と、
前記第二の手段で算出された前後加速度を基にして、前記第一の手段で算出された前後加速度との調停を実施する調停手段と、を備えて、
前記調停手段の出力を前記自車両の前後加速度を制御するために指令値とする、車両走行制御装置。 - 請求項1に記載された車両走行制御装置において、
前記入力される情報は、前記自車両と前方の障害物との距離若しくは相対速度である、車両走行制御装置。 - 請求項1に記載された車両走行制御装置において、
前記入力される情報は、カーナビ若しくはGPSからの走行経路情報である、車両走行制御装置。 - 請求項1に記載された車両走行制御装置において、
前記入力される情報は、前記自車両のドライバにより設定される車速であり、前記第一の手段は、前記車速を目標速度として、これを保持するように前後加速度を算出するものである、車両走行制御装置。 - 請求項1に記載された車両走行制御装置において、
前記入力される情報は、前記自車両と前方の障害物との距離若しくは相対速度、カーナビ若しくはGPSからの走行経路情報並びに前記自車両のドライバにより設定される車速の群の中から選択される複数の情報である、車両走行制御装置。 - 請求項1ないし請求項5のいずれか一項に記載された車両走行制御装置において、
前記調停手段は、第二の手段において算出される前後加速指令値に基づいて加速期間、減速期間又は定常期間を算出し、前記期間に応じて調停する手段である、車両の走行制御装置。 - 請求項1ないし6に記載された車両走行制御装置において、
前記車両走行制御装置は、前記第二の手段による前後加速度算出のための制御ゲインを切り替える手段を更に備えるものである、車両の走行制御装置。
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Application Number | Priority Date | Filing Date | Title |
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JP2012074364A JP5780996B2 (ja) | 2012-03-28 | 2012-03-28 | 車両走行制御装置 |
DE112013001720.2T DE112013001720B4 (de) | 2012-03-28 | 2013-01-21 | Fahrzeug-Fahrsteuerungssystem |
PCT/JP2013/051026 WO2013145817A1 (ja) | 2012-03-28 | 2013-01-21 | 車両の走行制御装置 |
US14/379,686 US9352747B2 (en) | 2012-03-28 | 2013-01-21 | Vehicle travel control system |
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JP2012074364A JP5780996B2 (ja) | 2012-03-28 | 2012-03-28 | 車両走行制御装置 |
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JP2013203231A true JP2013203231A (ja) | 2013-10-07 |
JP5780996B2 JP5780996B2 (ja) | 2015-09-16 |
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US (1) | US9352747B2 (ja) |
JP (1) | JP5780996B2 (ja) |
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WO (1) | WO2013145817A1 (ja) |
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US20150298696A1 (en) | 2015-10-22 |
WO2013145817A1 (ja) | 2013-10-03 |
US9352747B2 (en) | 2016-05-31 |
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