JP4167069B2 - 自動車追い越し動作支援方法,自動車追い越し動作支援装置 - Google Patents
自動車追い越し動作支援方法,自動車追い越し動作支援装置 Download PDFInfo
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- 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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- 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
- B60K31/0008—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 including means for detecting potential obstacles in vehicle path
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/081—Lane monitoring; Lane Keeping Systems using distance control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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Description
第1の実施例として,下記の式を用い,追い越し速度Vrを計算する。
Claims (12)
- 車間距離および速度の制御装置が設けられた自動車である自車両(24)の追い越し動作を支援する自動車追い越し動作支援方法であって,
追い越し車線上にある1または2以上の車両との車間距離を測定し,
追い越す車両(32)との車間距離(d0)および追い越し車線上の少なくとも直前先行車両(40)との各車間距離(di)の関数として追い越し速度(Vr)を計算し,
レーダーシステムを含む車間距離センサー(18)で検知された交通状況もしくは運転者の介入から追い越し希望が検知されると,一時的に前記追い越し速度(Vr)を上げる制御を行い,
追い越し希望が検知されると,車間距離固定制御と並行して追い越し支援機能を実行し,前記追い越し速度(Vr)に対応する出力信号を前記車間距離固定制御によって供給される操作量に重畳することを特徴とする,自動車追い越し動作支援方法。 - 前記車間距離固定制御によって供給される操作量は,走行速度を上げ下げする際の車間距離固定目標値(ΔV)であり,前記追い越し速度(Vr)は,前記車間距離固定目標値(ΔV)に加算されることを特徴とする,請求項1に記載の自動車追い越し動作支援方法。
- 前記追い越し支援機能は,追い越し希望が検知された後,所定の期間のみ作動することを特徴とする,請求項1または2に記載の自動車追い越し動作支援方法。
- 前記追い越し速度(Vr)を表す出力信号は,時間に依存する関数(UeW(t))により制限され,前記関数値(UeW(t))は所定の期間経過後連続して減少し,更に時間が経過すると0になることを特徴とする,請求項3に記載の自動車追い越し動作支援方法。
- 前記追い越し支援機能は,走行速度が所定の境界速度(Vmin)以上である場合にのみ作動することを特徴とする,請求項1から4のいずれかに記載の方法。
- 前記追い越し速度(Vr)を表す出力信号は,速度に依存する関数(f(V))により制限され,前記関数(f(V))は,速度が前記境界速度(Vmin)以下の場合には0であり,速度が前記境界速度より大きい場合には速度の増加に従って増加することを特徴とする,請求項5に記載の自動車追い越し動作支援方法。
- 検知された先行車両のいずれに対しても,車両毎の追い越し速度(Vri)が計算され,最終的な追い越し速度(Vr)には前記車両毎の追い越し速度のうち最小値が選択されることを特徴とする,請求項1から6のいずれかに記載の自動車追い越し動作支援方法。
- 前記車両ごとの追い越し速度(Vri)の上限は,該当する車両との車間距離(di)に依存する数値によって制限されることを特徴とする,請求項7に記載の自動車追い越し動作支援方法。
- 前記車間距離に依存する数値は,車間距離(di)の平方根に比例することを特徴とする,請求項8に記載の自動車追い越し動作支援方法。
- 前記追い越し速度は,少なくとも追い越し車線上にある1または2以上の車両の相対速度(vri)にも依存することを特徴とする,請求項1から6のいずれかに記載の自動車追い越し動作支援方法。
- 追い越し車線上で検知された1または2以上の車両のいずれに対しても車両毎の追い越し速度(Vri)が計算され,前記追い越し速度は該当する車両の相対速度(vri)と車間距離(di)に依存し,最終的な追い越し速度(Vr)には車両毎の追い越し速度(Vri)のうち最小値が選択され,また前記最終的追い越し速度の上限は,自車線(26)上の直前先行車両(32)との車間距離(d0)に依存する数値によって制限されていることを特徴とする,請求項10に記載の自動車追い越し動作支援方法。
- 自車両(24)の追い越し動作を支援する自動車追い越し動作支援装置であって,
前記自車両(24)の駆動システム(14)に作用する制御器(12)と,
同一車線上にある1または2以上の先行車両,および追い越し車線上にある1または2 以上の先行車両までの車間距離を検知する車間距離センサー(18)と,
車間距離固定目標値(ΔV)の形態で,走行速度を上げ下げさせる命令を前記制御器(12)に供給し,車両の速度を運転者が設定した設定速度に合わせて制御するか,あるいはその車両から同一車線上の先行車両(32)までの車間距離を制御する車間距離固定制御を行う車間距離調整器(10)と,
運転者の追い越し希望を検知する装置(22,44,46,48)と,
追い越し希望が検知されると,前記車間距離固定制御と並行して,同一車線上の直前先行車両(32)との車間距離,および追い越し車線上の少なくとも直前先行車両(40)との車間距離の関数として,前記車間距離固定目標値(ΔV)を前記追い越し速度により上げる追い越し支援機能を実行する追い越し支援モジュール(52)と,
を備える,自動車追い越し動作支援装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10114187A DE10114187A1 (de) | 2001-03-23 | 2001-03-23 | Verfahren und Vorrichtung zur Unterstützung eines Überholvorgangs bei Kraftfahrzeugen |
PCT/DE2002/000305 WO2002076780A1 (de) | 2001-03-23 | 2002-01-30 | Verfahren und vorrichtung zur unterstützung eines überholvorgangs bei kraftfahrzeugen |
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JP2004525814A JP2004525814A (ja) | 2004-08-26 |
JP4167069B2 true JP4167069B2 (ja) | 2008-10-15 |
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US (1) | US6842687B2 (ja) |
EP (1) | EP1381530B1 (ja) |
JP (1) | JP4167069B2 (ja) |
DE (2) | DE10114187A1 (ja) |
WO (1) | WO2002076780A1 (ja) |
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DE10114187A1 (de) | 2002-09-26 |
US20030163239A1 (en) | 2003-08-28 |
WO2002076780A1 (de) | 2002-10-03 |
JP2004525814A (ja) | 2004-08-26 |
DE50213218D1 (de) | 2009-03-05 |
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