JP2017105250A - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
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- JP2017105250A JP2017105250A JP2015238721A JP2015238721A JP2017105250A JP 2017105250 A JP2017105250 A JP 2017105250A JP 2015238721 A JP2015238721 A JP 2015238721A JP 2015238721 A JP2015238721 A JP 2015238721A JP 2017105250 A JP2017105250 A JP 2017105250A
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- 230000005540 biological transmission Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 3
- 208000019901 Anxiety disease Diseases 0.000 description 2
- 230000036506 anxiety Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 206010038743 Restlessness Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
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- 239000007924 injection Substances 0.000 description 1
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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
- B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- 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
-
- 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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4043—Lateral 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
Description
Δx=V・Δt・sinθ …(1)
Δz=V・Δt・cosθ …(2)
Xpre=(Xold・Δx)・cosθ−(Zold・Δz)・sinθ …(3)
Zpre=(Zold・Δx)・sinθ+(Zold・Δz)・cosθ …(4)
P=K1・Z2+K2・Z+K3 …(5)
αref=Gf・δx+Gff・K1+Gy・δyaw …(6)
但し、Gf :現在の操舵角で進行したときの自車両位置と制御目標点との偏差に対するフィードバックゲイン
Gff:走行軌跡の曲率に対するフィードフォワードゲイン
Gy :走行軌跡と自車両との相対ヨー角に対するフィードバックゲイン
Im=Kv・(Gp・(αref-αt)+Gi・∫(αref-αt)dt+Gd・d(αref-αt)/dt)…(7)
但し、Kv:モータ電圧−電流の変換係数
Gp:比例ゲイン
Gi:積分ゲイン
Gd:微分ゲイン
2 画像認識装置
10 走行制御システム
20 走行環境認識装置
30 地図情報処理装置
40 エンジン制御装置
50 変速機制御装置
60 ブレーキ制御装置
70 操舵制御装置
100 走行制御装置
101 制御部
102 制御目標点設定部
103 制御量調整部
104 第1の制御調整値設定部
105 第2の制御調整値設定部
150 通信バス
C1 自車両
C2 先行車両
G1 第1のゲイン
G2 第2のゲイン
Claims (4)
- 自車両前方の先行車両に追従して走行する追従走行を制御する車両の走行制御装置であって、
前記先行車両の車幅方向の設定位置を前記追従走行の制御目標点として設定する制御目標点設定部と、
前記先行車両の形状データに基づく制御調整値により、前記制御目標点への制御量を調整する制御量調整部と
を備えることを特徴とする車両の走行制御装置。 - 前記制御量調整部は、前記先行車両の横速度に基づく制御調整値が前記先行車両の形状データに基づく制御調整値より大きくなった場合、前記先行車両の横速度に基づく制御調整値を用いて前記制御目標点への制御量を調整することを特徴とする請求項1記載の車両の走行制御装置。
- 前記制御調整値は、前記制御目標点への自車両の操舵量の調整値であることを特徴とする請求項1又は2記載の車両の走行制御装置。
- 前記制御調整値は、前記制御目標点への自車両の操舵力の調整値であることを特徴とする請求項1又は2記載の車両の走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015238721A JP6335155B2 (ja) | 2015-12-07 | 2015-12-07 | 車両の走行制御装置 |
CN201611035879.9A CN107031630B (zh) | 2015-12-07 | 2016-11-22 | 车辆的行驶控制装置 |
DE102016122822.2A DE102016122822A1 (de) | 2015-12-07 | 2016-11-25 | Fahrzeugfahrtsteuerungsvorrichtung |
US15/369,229 US10005493B2 (en) | 2015-12-07 | 2016-12-05 | Vehicle traveling control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015238721A JP6335155B2 (ja) | 2015-12-07 | 2015-12-07 | 車両の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017105250A true JP2017105250A (ja) | 2017-06-15 |
JP6335155B2 JP6335155B2 (ja) | 2018-05-30 |
Family
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015238721A Active JP6335155B2 (ja) | 2015-12-07 | 2015-12-07 | 車両の走行制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10005493B2 (ja) |
JP (1) | JP6335155B2 (ja) |
CN (1) | CN107031630B (ja) |
DE (1) | DE102016122822A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021178606A (ja) * | 2020-05-15 | 2021-11-18 | いすゞ自動車株式会社 | 操舵量決定装置 |
Families Citing this family (10)
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US11086334B2 (en) * | 2016-07-21 | 2021-08-10 | Mobileye Vision Technologies Ltd. | Crowdsourcing a sparse map for autonomous vehicle navigation |
JP6495971B2 (ja) * | 2017-06-02 | 2019-04-03 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP7006146B2 (ja) * | 2017-11-06 | 2022-02-10 | いすゞ自動車株式会社 | 操舵制御装置及び操舵制御方法 |
WO2019203022A1 (ja) * | 2018-04-20 | 2019-10-24 | ソニー株式会社 | 移動体、情報処理装置、情報処理方法、及びプログラム |
CN111301411B (zh) * | 2018-12-10 | 2021-04-20 | 广州汽车集团股份有限公司 | 车辆的行驶控制方法和装置 |
JP7215391B2 (ja) * | 2019-10-15 | 2023-01-31 | トヨタ自動車株式会社 | 自動運転車両の車両制御システム及び車両制御装置 |
KR20210062143A (ko) * | 2019-11-20 | 2021-05-31 | 현대자동차주식회사 | 선행 차량의 조향 정보를 표시하는 장치 및 그 방법 |
JP7138151B2 (ja) * | 2020-11-24 | 2022-09-15 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
FR3128429B1 (fr) * | 2021-10-21 | 2023-09-08 | Psa Automobiles Sa | Procédé et système pour gérer le fonctionnement d’un régulateur de vitesse adaptatif d’un premier véhicule automobile selon la stabilité latérale d’un deuxième véhicule automobile précédent |
CN113859232B (zh) * | 2021-10-30 | 2023-09-26 | 重庆长安汽车股份有限公司 | 一种车辆自动驾驶潜在目标预测报警方法及*** |
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JPH08282326A (ja) * | 1995-04-10 | 1996-10-29 | Mitsubishi Motors Corp | 自動追従走行システム |
JP2000020896A (ja) * | 1998-06-29 | 2000-01-21 | Mitsubishi Motors Corp | 車両走行制御装置 |
JP2010102436A (ja) * | 2008-10-22 | 2010-05-06 | Fuji Heavy Ind Ltd | 操舵支援装置 |
JP2013203340A (ja) * | 2012-03-29 | 2013-10-07 | Fuji Heavy Ind Ltd | 車両の運転支援装置 |
JP2015051717A (ja) * | 2013-09-06 | 2015-03-19 | トヨタ自動車株式会社 | 車両走行制御装置 |
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2015
- 2015-12-07 JP JP2015238721A patent/JP6335155B2/ja active Active
-
2016
- 2016-11-22 CN CN201611035879.9A patent/CN107031630B/zh active Active
- 2016-11-25 DE DE102016122822.2A patent/DE102016122822A1/de active Pending
- 2016-12-05 US US15/369,229 patent/US10005493B2/en active Active
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JPH08282326A (ja) * | 1995-04-10 | 1996-10-29 | Mitsubishi Motors Corp | 自動追従走行システム |
JP2000020896A (ja) * | 1998-06-29 | 2000-01-21 | Mitsubishi Motors Corp | 車両走行制御装置 |
JP2010102436A (ja) * | 2008-10-22 | 2010-05-06 | Fuji Heavy Ind Ltd | 操舵支援装置 |
JP2013203340A (ja) * | 2012-03-29 | 2013-10-07 | Fuji Heavy Ind Ltd | 車両の運転支援装置 |
JP2015051717A (ja) * | 2013-09-06 | 2015-03-19 | トヨタ自動車株式会社 | 車両走行制御装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2021178606A (ja) * | 2020-05-15 | 2021-11-18 | いすゞ自動車株式会社 | 操舵量決定装置 |
JP7338551B2 (ja) | 2020-05-15 | 2023-09-05 | いすゞ自動車株式会社 | 操舵量決定装置 |
Also Published As
Publication number | Publication date |
---|---|
DE102016122822A1 (de) | 2017-06-08 |
US20170158237A1 (en) | 2017-06-08 |
CN107031630A (zh) | 2017-08-11 |
JP6335155B2 (ja) | 2018-05-30 |
CN107031630B (zh) | 2019-05-17 |
US10005493B2 (en) | 2018-06-26 |
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