JP2017013520A - 車線維持支援装置 - Google Patents
車線維持支援装置 Download PDFInfo
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/103—Side slip angle of vehicle body
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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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
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0012—Feedforward or open loop systems
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
走行車線認識手段は、自車両が走行する走行車線を認識する。制御量算出手段は、走行車線認識手段により認識された走行車線から自車両が逸脱するのを抑制するように自車両の操舵を制御するための操舵制御量を算出する。傾斜角検出手段は、自車両が走行している走行車線の路面の傾斜角である路面傾斜角を検出する。横流れ検出手段は、自車両の横流れを検出する。補正手段は、傾斜角検出手段の検出結果と、横流れ検出手段の検出結果とに基づいて、操舵制御量を補正する。
本実施形態の走行支援システム1は、車両に搭載され、図1に示すように、トルクセンサ2、モータ3、カメラ4、車速センサ5、ヨーレートセンサ6、加速度センサ7、舵角センサ8、電流検出回路9、車線維持支援電子制御装置10および電動パワーステアリング電子制御装置11を備える。以下、車線維持支援電子制御装置10をLKAECU(Lane Keep Assist Electronic Control Unit)10という。電動パワーステアリング電子制御装置11をEPSECU(Electric Power Steering Electronic Control Unit)11という。また、走行支援システム1を搭載する車両を自車両という。
自車両のハンドル101は、ステアリングシャフト102の一端に固定される。トルクセンサ2の一端はステアリングシャフト102の他端に接続され、トルクセンサ2の他端はインターミディエイトシャフト103の一端に接続される。
車速センサ5は、自車両の走行速度を検出し、その検出結果を示す車速信号を出力する。ヨーレートセンサ6は、自車両のヨーレートを検出し、その検出結果を示すヨーレート信号を出力する。加速度センサ7は、自車両の横加速度を検出し、その検出結果を示す横加速度信号を出力する。舵角センサ8は、自車両の舵角を検出し、その検出結果を示す舵角信号を出力する。電流検出回路9は、モータ3に流れる電流を検出する。
次に、路面キャンバ補正部23が実行する路面キャンバ補正処理を説明する。
この路面キャンバ補正処理が実行されると、LKAECU10のCPUは、図4に示すように、まずS10にて、演算に用いるセンサが故障しているか否かを判断する。なお、演算に用いるセンサは、トルクセンサ2、車速センサ5、ヨーレートセンサ6、加速度センサ7および電流検出回路9である。
また、目標軌道生成部22、加算器24、フィードフォワード舵角演算部25、フィードバック舵角演算部26、加算器27、フィードフォワードトルク演算部28、フィードバックトルク演算部29および加算器30は本発明における制御量算出手段である。
また、走行レーンは本発明における走行車線、要求トルクτtgtは本発明における操舵制御量、キャンバ推定角度θGは本発明における路面傾斜角、平面ヨーレートωstdは本発明における推測ヨーレート、推定角度θstdは本発明における横流れ傾斜角である。
(変形例1)
例えば上記実施形態では、LKAECU10が要求トルクτtgtを算出してEPSECU11を出力するものを示したが、自車両の操舵を制御するための操舵制御量はこれに限定されるものではない。
Claims (3)
- 自車両が走行する走行車線を認識する走行車線認識手段(21)と、
前記走行車線認識手段により認識された前記走行車線から前記自車両が逸脱するのを抑制するように前記自車両の操舵を制御するための操舵制御量を算出する制御量算出手段(22,24,25,26,27,28,29,30)と、
前記自車両が走行している前記走行車線の路面の傾斜角である路面傾斜角を検出する傾斜角検出手段(23,S30)と、
前記自車両の横流れを検出する横流れ検出手段(23,S40)と、
前記傾斜角検出手段の検出結果と、前記横流れ検出手段の検出結果とに基づいて、前記操舵制御量を補正する補正手段(23,S60〜S80)とを備える
ことを特徴とする車線維持支援装置(10)。 - 前記横流れ検出手段は、前記自車両の操舵装置に加えられるトルクに基づいて推測されるヨーレートである推測ヨーレートと、前記自車両のヨーレートとの差分であるヨーレート差分に基づいて、前記自車両の前記横流れを検出する
ことを特徴とする請求項1に記載の車線維持支援装置。 - 前記横流れ検出手段は、前記ヨーレート差分に相当する傾斜角を、横流れ傾斜角として算出し、
前記補正手段は、前記傾斜角検出手段および前記横流れ検出手段の検出結果として、前記傾斜角検出手段が検出した前記路面傾斜角と、前記路面傾斜角と前記横流れ傾斜角との差分の平均値との加算値に基づいて、前記操舵制御量を補正する
ことを特徴とする請求項2に記載の車線維持支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2015128887A JP6332167B2 (ja) | 2015-06-26 | 2015-06-26 | 車線維持支援装置 |
PCT/JP2016/068461 WO2016208608A1 (ja) | 2015-06-26 | 2016-06-22 | 車線維持支援装置 |
US15/739,131 US10640110B2 (en) | 2015-06-26 | 2016-06-22 | Lane keep assist device |
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JP2015128887A JP6332167B2 (ja) | 2015-06-26 | 2015-06-26 | 車線維持支援装置 |
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JP2017013520A true JP2017013520A (ja) | 2017-01-19 |
JP2017013520A5 JP2017013520A5 (ja) | 2017-08-03 |
JP6332167B2 JP6332167B2 (ja) | 2018-05-30 |
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US (1) | US10640110B2 (ja) |
JP (1) | JP6332167B2 (ja) |
WO (1) | WO2016208608A1 (ja) |
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CN110831837A (zh) * | 2017-06-06 | 2020-02-21 | 雷诺股份公司 | 用于在行车道上驾驶机动车辆的辅助设备 |
JP2020040524A (ja) * | 2018-09-11 | 2020-03-19 | トヨタ自動車株式会社 | 車両用操舵支援装置 |
CN113415276A (zh) * | 2021-07-30 | 2021-09-21 | 东风商用车有限公司 | 一种智能驾驶预瞄控制方法、装置和存储介质 |
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US10723380B2 (en) * | 2017-02-24 | 2020-07-28 | Ford Global Technologies, Llc | Systems and methods to control steering of a vehicle |
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JP2022059787A (ja) * | 2020-10-02 | 2022-04-14 | 株式会社Subaru | 車両制御システム |
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CN113415276A (zh) * | 2021-07-30 | 2021-09-21 | 东风商用车有限公司 | 一种智能驾驶预瞄控制方法、装置和存储介质 |
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