JP2020163890A - 走行制御装置 - Google Patents
走行制御装置 Download PDFInfo
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- JP2020163890A JP2020163890A JP2019063765A JP2019063765A JP2020163890A JP 2020163890 A JP2020163890 A JP 2020163890A JP 2019063765 A JP2019063765 A JP 2019063765A JP 2019063765 A JP2019063765 A JP 2019063765A JP 2020163890 A JP2020163890 A JP 2020163890A
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- 238000011156 evaluation Methods 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 7
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- 230000006641 stabilisation Effects 0.000 abstract description 35
- 238000011105 stabilization Methods 0.000 abstract description 35
- 230000006399 behavior Effects 0.000 description 22
- 238000000034 method Methods 0.000 description 20
- 230000006870 function Effects 0.000 description 15
- 230000008569 process Effects 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
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- 230000007246 mechanism Effects 0.000 description 3
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- 238000002474 experimental method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
- 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
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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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
- 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
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
101 センサ情報取得部
102 指令値決定部
103 特性パラメータ取得部
104 調整出力部
110 車載センサ
111 速度センサ(車載センサ)
112 ヨーレートセンサ(車載センサ)
113 加速度センサ(車載センサ)
114 ステアリングセンサ(車載センサ)
120 アクチュエータ
121 前輪操舵装置(アクチュエータ)
122 後輪操舵装置(アクチュエータ)
123 制動装置(アクチュエータ)
124 駆動装置(アクチュエータ)
Claims (4)
- 少なくとも車両に発生するヨーレートの実値を検出するヨーレートセンサを含む、前記車両に関する情報を検出する車載センサの出力値を取得するセンサ情報取得部と、
少なくとも前記車両に発生させるべき前記ヨーレートの目標値を前記車載センサの出力値に基づいて決定し、少なくとも前記ヨーレートの前記実値と前記目標値との偏差が小さくなるように、前記車両の挙動を制御するアクチュエータに与える指令値を決定する指令値決定部と、
少なくとも前記ヨーレートの前記実値と前記目標値との偏差に基づいて、前記車両のドライバの運転操作の特性を示す特性パラメータを取得する特性パラメータ取得部と、
前記特性パラメータに応じて前記指令値を調整し、調整後の前記指令値を前記アクチュエータに出力する調整出力部と、
を備える、走行制御装置。 - 前記センサ情報取得部は、少なくとも前記ヨーレートセンサに加えて前記ドライバの前記運転操作のうち前記車両の舵角を変化させるための操舵操作の量を検出するステアリングセンサを含む前記車載センサの出力値を取得し、
前記特性パラメータ取得部は、下記の式(1)で表されるモデルに基づく下記の式(2)で表される評価関数Jの値を最小化する3つのパラメータτL、τh、およびhの組み合わせを、前記特性パラメータとして取得する、
請求項1に記載の走行制御装置。
- 前記特性パラメータ取得部は、前記ヨーレートの前記実値が前記目標値に近づくように変化する区間において、前記評価関数Jの値を最小化する前記3つのパラメータτL、τh、およびhの組み合わせを、前記特性パラメータとして取得する、
請求項2に記載の走行制御装置。 - 前記調整出力部は、前記ドライバの前記運転操作が熟練しているほど前記アクチュエータの駆動量が小さくなるように、前記特性パラメータに応じて前記指令値を調整する、
請求項1〜3のうちいずれか1項に記載の走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019063765A JP2020163890A (ja) | 2019-03-28 | 2019-03-28 | 走行制御装置 |
CN202010156886.4A CN111746499A (zh) | 2019-03-28 | 2020-03-09 | 行驶控制装置 |
US16/816,356 US20200307552A1 (en) | 2019-03-28 | 2020-03-12 | Traveling control device |
DE102020108348.3A DE102020108348A1 (de) | 2019-03-20 | 2020-03-26 | Fahrsteuerungsvorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019063765A JP2020163890A (ja) | 2019-03-28 | 2019-03-28 | 走行制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2020163890A true JP2020163890A (ja) | 2020-10-08 |
Family
ID=72333872
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019063765A Pending JP2020163890A (ja) | 2019-03-20 | 2019-03-28 | 走行制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20200307552A1 (ja) |
JP (1) | JP2020163890A (ja) |
CN (1) | CN111746499A (ja) |
DE (1) | DE102020108348A1 (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1199923A (ja) * | 1997-09-30 | 1999-04-13 | Mazda Motor Corp | 車両の姿勢制御装置 |
JPH11129924A (ja) * | 1997-11-04 | 1999-05-18 | Honda Motor Co Ltd | 運転者の運転特性決定装置 |
JP2017043246A (ja) * | 2015-08-27 | 2017-03-02 | 富士重工業株式会社 | 車両の制御装置及び車両の制御方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7537293B2 (en) * | 2005-12-22 | 2009-05-26 | Gm Global Technology Operations, Inc. | Vehicle stability enhancement control adaptation to driving skill |
JP5429126B2 (ja) * | 2010-10-01 | 2014-02-26 | トヨタ自動車株式会社 | 走行支援装置及び方法 |
JP6341137B2 (ja) * | 2015-04-08 | 2018-06-13 | トヨタ自動車株式会社 | 車両の運転支援制御装置 |
-
2019
- 2019-03-28 JP JP2019063765A patent/JP2020163890A/ja active Pending
-
2020
- 2020-03-09 CN CN202010156886.4A patent/CN111746499A/zh active Pending
- 2020-03-12 US US16/816,356 patent/US20200307552A1/en not_active Abandoned
- 2020-03-26 DE DE102020108348.3A patent/DE102020108348A1/de active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1199923A (ja) * | 1997-09-30 | 1999-04-13 | Mazda Motor Corp | 車両の姿勢制御装置 |
JPH11129924A (ja) * | 1997-11-04 | 1999-05-18 | Honda Motor Co Ltd | 運転者の運転特性決定装置 |
JP2017043246A (ja) * | 2015-08-27 | 2017-03-02 | 富士重工業株式会社 | 車両の制御装置及び車両の制御方法 |
Also Published As
Publication number | Publication date |
---|---|
CN111746499A (zh) | 2020-10-09 |
DE102020108348A1 (de) | 2020-09-24 |
US20200307552A1 (en) | 2020-10-01 |
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