JP5074720B2 - 車間距離制御方法 - Google Patents
車間距離制御方法 Download PDFInfo
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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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
- B60W30/14—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
- 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
- B60W40/068—Road friction coefficient
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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
- B60W40/105—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
- 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
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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
- B60W2520/28—Wheel 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
- B60W2520/30—Wheel torque
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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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
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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
- B60W2552/00—Input parameters relating to infrastructure
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
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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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/16—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
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
- B60Y2400/3032—Wheel speed sensors
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Controls For Constant Speed Travelling (AREA)
- Traffic Control Systems (AREA)
Description
最大減速度=摩擦係数×重力加速度
最小安全距離演算部21は、現在の走行速度及び最大摩擦係数を考慮して、先行車両との最小安全距離を算出する。安全指数演算部22は、最小安全距離に対応する基準安全指数及び先行車両との距離に対応する現在の安全指数を算出して、プロセッサー23に印加する。
11 ブレーキ利得検出部
12 牽引力検出部
13 垂直力検出部
14 タイヤ有効半径(effective radius)検出部
15 スリップ演算部
16 車間距離センサー
17 ホイール角速度検出部
18 車速検出部
19 スリップ傾き検出部
20 最大摩擦係数演算部
21 最小安全距離演算部
22 安全指数演算部
23 プロセッサー
24 アクチュエータ
25 変速段トルク検出部
26 トルクコンバーターテーブル
27 エンジンマップ
Claims (1)
- 現在走行中の路面の状態及びタイヤの状態による路面及びタイヤの間の最大摩擦係数を算出する段階と、
前記算出された最大摩擦係数及び現在の走行速度に基づいて、最小停止距離に相当する先行車両との最小安全距離を算出する段階と、
前記算出された最小安全距離を現在の走行速度で走行するに必要な時間で定義される基準タイムギャップを用いた基準安全指数を設定する段階と、
先行車両との相対距離を現在の走行速度で走行するに必要な時間で定義される現在のタイムギャップを用いた現在の安全指数を算出する段階と、
前記現在のタイムギャップと前記基準タイムギャップとを比較して、前記現在のタイムギャップが基準タイムギャップより小さい場合には、衝突を警告した後、車間距離制御モードに入り、前記基準タイムギャップになるまで車間距離を制御する段階と、を備え、
前記最大摩擦係数を算出する段階は、
各車輪に装着された角速度センサーによって測定された車輪の角速度及びブレーキアクチュエータ作動によるブレーキ圧力によってブレーキ利得を算出する段階と、
スロットル開度及びエンジン回転数によって算出されるエンジントルクと、キャリア速度と、ギヤの状態とによって算出されるトルクコンバーターのトルク及び前記車輪の角速度によって算出される変速段トルクと前記ブレーキ利得とによって各車輪のタイヤに作用する牽引力を算出する段階と、
車両に積載された貨物、乗車した人員を含む車両の総重量及び車両の動力学によって算出され各車輪のタイヤに作用する垂直力を算出する段階と、
前記牽引力及び垂直力の関係から現在走行中の路面及びタイヤの間の摩擦係数を検出する段階と、
前記ブレーキ利得と、各車輪のタイヤに作用する前記牽引力及び前記垂直力と、各車輪の中心軸を基準にした路面との距離で定義されるタイヤの有効半径の情報とを含むタイヤの情報、及び前記各車輪の角速度と、変速機の出力軸に装着された車速センサーによって測定される現在の走行速度と、各車輪のスリップ率の情報とを含む路面の情報を検出する段階と、
前記各車輪の角速度と、前記現在の走行速度と、前記タイヤの有効半径とによって算出されるスリップ率からスリップ傾きを算出する段階と、
前記摩擦係数が、前記スリップ率が増加するほど増加し、前記スリップ率が大きくなりすぎる場合には再び減少する特性を適用して初期の前記摩擦係数及び前記スリップ傾きによって最大摩擦係数を算出する段階と、を含むことを特徴とする車間距離制御方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR1020050124968A KR100793869B1 (ko) | 2005-12-17 | 2005-12-17 | 차량의 차간거리 제어 시스템 |
KR10-2005-0124968 | 2005-12-17 |
Publications (2)
Publication Number | Publication Date |
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JP2007161225A JP2007161225A (ja) | 2007-06-28 |
JP5074720B2 true JP5074720B2 (ja) | 2012-11-14 |
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JP2006199036A Active JP5074720B2 (ja) | 2005-12-17 | 2006-07-21 | 車間距離制御方法 |
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US (1) | US7739023B2 (ja) |
JP (1) | JP5074720B2 (ja) |
KR (1) | KR100793869B1 (ja) |
DE (1) | DE102006036814B4 (ja) |
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US7739023B2 (en) | 2010-06-15 |
JP2007161225A (ja) | 2007-06-28 |
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US20070142996A1 (en) | 2007-06-21 |
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