JP5108424B2 - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
- Publication number
- JP5108424B2 JP5108424B2 JP2007232069A JP2007232069A JP5108424B2 JP 5108424 B2 JP5108424 B2 JP 5108424B2 JP 2007232069 A JP2007232069 A JP 2007232069A JP 2007232069 A JP2007232069 A JP 2007232069A JP 5108424 B2 JP5108424 B2 JP 5108424B2
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- JP
- Japan
- Prior art keywords
- driving force
- vehicle
- travel control
- target driving
- ecu
- Prior art date
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- 230000005856 abnormality Effects 0.000 description 40
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- 238000001514 detection method Methods 0.000 description 10
- 230000007423 decrease Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000994 depressogenic effect Effects 0.000 description 3
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- 230000003044 adaptive effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
-
- 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
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2710/10—Change speed gearings
- B60W2710/105—Output torque
-
- 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
- B60W2720/30—Wheel torque
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
2 自動走行制御スイッチ
3 車速センサ(車速検出手段)
4 Gセンサ(勾配検出手段)
5 ブレーキスイッチ(制動操作検出手段)
6 アクセルセンサ(加速操作量検出手段)
7 自動走行制御ECU
71 自動走行制御判定部
72 駆動力算出部
73 制動力算出部
8 エンジンECU
81 異常判定部
9 ブレーキECU
100 エンジン
200 ブレーキ装置
Claims (4)
- 車両の車速が予め設定された目標車速となるように、算出された目標駆動力または目標制動力に基づいてエンジンまたはブレーキ装置を制御する自動走行制御を行う車両走行制御装置において、
運転者による制動操作を検出する制動操作検出手段と、
前記車両が走行する路面の勾配を検出する勾配検出手段と、
前記車両の車速を検出する車速検出手段と、
を備え、
前記目標駆動力は、
前記検出された勾配において前記車両を停止保持することができる勾配目標駆動力と、
前記検出された車速が前記目標車速となるように算出された基準駆動力から前記勾配目標駆動力を引いた値であるフィードバック目標駆動力と、
からなり、
前記運転者により制動操作が行われても自動走行制御は維持され、
前記自動走行制御中に、前記車両が登坂路において前記運転者により制動操作がなされている間のみ、前記車両を停止保持することができる駆動力を前記目標駆動力として前記エンジンを制御することを特徴とする車両走行制御装置。 - 前記運転者による制動操作を検出した場合、フィードバック目標駆動力を0以下に算出することを特徴とする請求項1に記載の車両走行制御装置。
- フィードバック目標駆動力は、前記運転者による制動操作を検出した場合、前記検出された車速が0となるまで0から時間経過とともに減少して算出することを特徴とする請求項2に記載の車両走行制御装置。
- 前記車速制御装置を制御する第1ECUと、
制御開始トリガーに基づいて自動走行制御を開始し、前記勾配目標駆動力および前記フィードバック目標駆動力を算出し、前記第1ECUに出力する第2ECUと、
をさらに備え、
前記第1ECUは、前記第2ECUにおいて算出されたフィードバック目標駆動力が0を超える場合、前記目標駆動力に基づいた自動走行制御を行わないことを特徴とする請求項2または3に記載の車両走行制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007232069A JP5108424B2 (ja) | 2007-09-06 | 2007-09-06 | 車両走行制御装置 |
US12/230,747 US8355851B2 (en) | 2007-09-06 | 2008-09-04 | Vehicle cruise control apparatus and vehicle cruise control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007232069A JP5108424B2 (ja) | 2007-09-06 | 2007-09-06 | 車両走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009061941A JP2009061941A (ja) | 2009-03-26 |
JP5108424B2 true JP5108424B2 (ja) | 2012-12-26 |
Family
ID=40455454
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007232069A Active JP5108424B2 (ja) | 2007-09-06 | 2007-09-06 | 車両走行制御装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8355851B2 (ja) |
JP (1) | JP5108424B2 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5891875B2 (ja) * | 2012-03-19 | 2016-03-23 | 富士ゼロックス株式会社 | 情報処理装置及び情報処理プログラム |
US8521377B1 (en) * | 2012-05-14 | 2013-08-27 | GM Global Technology Operations LLC | OBD compliant rationality check system for adaptive cruise control |
US9050982B2 (en) * | 2013-01-11 | 2015-06-09 | Ford Global Technologies, Llc | Driver feedback for vehicle operation |
US8843288B1 (en) | 2013-03-14 | 2014-09-23 | Chrysler Group Llc | Vehicle speed control system and method |
JP6164141B2 (ja) * | 2014-03-31 | 2017-07-19 | 株式会社アドヴィックス | 車両の運転支援装置 |
US9272621B2 (en) * | 2014-04-24 | 2016-03-01 | Cummins Inc. | Systems and methods for vehicle speed management |
WO2016080452A1 (ja) * | 2014-11-19 | 2016-05-26 | エイディシーテクノロジー株式会社 | 自動運転制御装置 |
CN104385919B (zh) * | 2014-11-21 | 2017-01-25 | 东风柳州汽车有限公司 | 汽车定速巡航***及定速巡航方法 |
JP7127522B2 (ja) * | 2018-12-17 | 2022-08-30 | トヨタ自動車株式会社 | 車両用制動力制御装置 |
JP7215383B2 (ja) | 2019-09-20 | 2023-01-31 | トヨタ自動車株式会社 | 車両用ペダル装置 |
WO2021229790A1 (ja) * | 2020-05-15 | 2021-11-18 | 日産自動車株式会社 | 車両制御方法及び車両制御装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07137560A (ja) * | 1993-11-19 | 1995-05-30 | Aisin Seiki Co Ltd | 車両駆動出力制御装置 |
JPH0976792A (ja) * | 1995-09-18 | 1997-03-25 | Toyota Motor Corp | 定速走行装置 |
JP3843512B2 (ja) * | 1996-12-13 | 2006-11-08 | 株式会社デンソー | 車速制御方法および車速制御装置 |
JP3539217B2 (ja) * | 1998-06-25 | 2004-07-07 | 日産自動車株式会社 | 制駆動力制御装置 |
DE10019181A1 (de) * | 2000-04-17 | 2001-10-25 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Einstellung der Fahrzeuglängsgeschwindigkeit auf eine Sollgeschwindigkeit |
JP2003034240A (ja) * | 2001-07-25 | 2003-02-04 | Honda Motor Co Ltd | 車両の制動制御装置 |
DE10143735C1 (de) * | 2001-09-06 | 2003-09-11 | Siemens Ag | Verfahren zum Entlasten des Fahrers eines Kraftfahrzeuges und Vorrichtung zur Geschwindigkeitsregelung eines Kraftfahrzeuges |
JP2003237409A (ja) * | 2002-02-18 | 2003-08-27 | Hitachi Ltd | 車両の自動走行制御方法、システムおよびaccコントローラ |
JP2003320872A (ja) * | 2002-05-01 | 2003-11-11 | Mitsubishi Fuso Truck & Bus Corp | 車両の制御装置 |
JP4039184B2 (ja) * | 2002-08-29 | 2008-01-30 | 株式会社アドヴィックス | クリープ走行制御装置 |
JP4175227B2 (ja) * | 2003-09-22 | 2008-11-05 | トヨタ自動車株式会社 | 車両の制御装置 |
DE10360776A1 (de) * | 2003-12-23 | 2005-07-28 | Robert Bosch Gmbh | Geschwindigkeitsregler mit Stillstandsfunktion für Kraftfahrzeuge |
JP2005282453A (ja) * | 2004-03-30 | 2005-10-13 | Toyota Motor Corp | 車両の制御装置 |
JP2006131055A (ja) * | 2004-11-04 | 2006-05-25 | Denso Corp | 車両走行制御装置 |
JP4792801B2 (ja) * | 2005-04-21 | 2011-10-12 | 株式会社アドヴィックス | 車両の速度制御装置 |
-
2007
- 2007-09-06 JP JP2007232069A patent/JP5108424B2/ja active Active
-
2008
- 2008-09-04 US US12/230,747 patent/US8355851B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20090076701A1 (en) | 2009-03-19 |
US8355851B2 (en) | 2013-01-15 |
JP2009061941A (ja) | 2009-03-26 |
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