JP6055848B2 - 走行制御装置及び走行制御システム - Google Patents
走行制御装置及び走行制御システム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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Description
エネルギー消費量評価値は、エネルギー使用量が少ないほど評価値が高くなるように演算する。
図10に時間毎流入比率の調整処理101から流入比率評価処理105を繰り返すロジックを含めたフローを示す。図9にも記載しているが、経路受付データベース3から取得する複数車両経路に基づき時間毎流入比率の予測処理201をする。
2 経路受付処理
3 経路受付データベース
4 最短経路算出処理
5 経路データベース
6 渋滞情報取得処理
7 渋滞データベース
8 経路通過車速算出処理
9 通路車速データベース
10 ホライズン長算出処理
11 ホライズン長データベース
12 目標車速度算出処理
13 最適目標車速データベース
14 目標制御量演算部
15 エンジンコントローラ
16 ブレーキコントローラ
17 統合コントローラ
Claims (8)
- 渋滞情報を考慮して生成された一定の距離までの通過車速パターンである経路通過速度パターンに基づいて目標車速度パターンを生成する目標車速度パターン調整処理部と、
将来起こりえる将来の渋滞情報を考慮して生成された最終点に到達するまでの時間を表すホライズン長と前記目標車速度パターンに基づいて評価値を算出する評価値算出部と、を有する目標車速度算出部と、
前記評価値に基づいて車両を制御する制御量を算出する目標制御量演算部と、
前記目標車速度パターンに基づいて車両挙動を算出する車両挙動算出部と、
前記評価値算出部は、前記目標車速度パターンと前記車両挙動に基づいてエネルギー消費量評価値を算出するエネルギー消費量評価値算出処理部と、を有し、
前記評価値は、前記エネルギー消費量評価値を用いて算出され、
前記評価値算出部は、前記車両挙動に基づいて乗心地評価値を算出する乗心地評価値算出処理部と、前記目標車速度パターンと前記車両挙動に基づいて安全性評価値を算出する安全性評価値算出処理部と、を有し、
前記評価値は、前記ホライズン長と前記エネルギー消費量評価値と前記乗心地評価値と前記安全性評価値に基づいて算出される走行制御装置。 - 請求項1記載の走行制御装置において、
前記渋滞情報は、現在の区間平均通過時間および過去の区間平均通過時間を含み、
前記区間平均通過時間は、所定の経路の開始点から行き先最終点までの間を複数の区間に分離し、1つの区間における車両の平均した通過時間であり、
前記過去の区間平均通過時間は、ある時間帯における平均通過時間の履歴である走行制御装置。 - 入力された車両の経路と現在の渋滞情報に基づいて将来の渋滞情報を予測し、前記将来の渋滞情報に基づいて将来の渋滞発生区間を通過する全車両のエネルギー消費量と行き先までの到達時間が最低になるように全車両分の最適経路を算出する最短経路算出処理部と、前記最適経路に基づいて将来起こりえる将来の渋滞情報を考慮して生成された最終点に到達するまでの時間を表すホライズン長を算出するホライズン長算出処理部と、前記最適経路と前記ホライズン長に基づいて、所定の経路を通過する場合の経路通過車速パターンを算出する経路通過車速算出処理部と、を有する情報処理装置と、
前記経路通過速度パターンに基づいて目標車速度パターンを生成する目標車速度パターン調整処理部と、前記ホライズン長と前記目標車速度パターンに基づいて評価値を算出する評価値算出部と、を有する目標車速度算出部と、前記評価値に基づいて車両を制御する制御量を算出する目標制御量演算部と、を有する走行制御装置と、を有し、
前記走行制御装置の前記評価値算出部は、前記車両挙動に基づいて乗心地評価値を算出する乗心地評価値算出処理部と、前記目標車速度パターンと前記車両挙動に基づいて安全性評価値を算出する安全性評価値算出処理部と、を有し、
前記評価値は、前記ホライズン長と前記エネルギー消費量評価値と前記乗心地評価値と前記安全性評価値に基づいて算出される走行制御システム。 - 請求項3記載の走行制御システムにおいて、
前記ホライズン長算出処理部は、前記最適経路と前記経路通過車速パターンに基づいてホライズン長を算出し、
前記経路通過車速算出処理部は、前記最適経路と前記ホライズン長に基づいて経路通過車速パターンを算出する走行制御システム。 - 請求項3記載の走行制御システムにおいて、
前記情報処理装置は、複数車両から入力された出発予定時間および行き先、行き先に至る経路を取得する経路受付処理部を有する走行制御システム。 - 請求項3記載の走行制御システムにおいて、
前記情報処理装置は、複数車両から入力された出発予定時間および行き先、行き先に至る経路が記憶された経路受付データベースと、
車両が走行する最適経路と将来の渋滞情報を保持する経路データベースと、
複数道路区間の現在の渋滞情報を保持する渋滞データベースと、
車両が走行する経路毎の経路通過車速パターンを保持する通過車速データベースと、
ホライズン長を保持するホライズン長データベースと、を有する走行制御システム。 - 請求項3記載の走行制御システムにおいて、
前記最短経路算出処理部は、入力された複数車両の経路と前記現在の渋滞情報に基づいて、時間毎の車両の流入比率を区間毎に予測する時間毎流入比率の予測処理部と、
前記時間毎流入比率に基づいて、時間毎の車両の流入数を算出する時間毎流入算出処理部と、
前記車両の流入数と前記現在の渋滞情報に基づいて、各区間における将来区間平均通過時間を算出する将来区間平均通過時間の算出処理部と、
前記将来区間平均通過時間と前記経路に基づいて総消費エネルギーを算出する総消費エネルギーの算出処理部と、
前記将来区間平均通過時間と前記総消費エネルギーに基づいて流入比率の評価値を算出する流入比率評価処理部と、
前記流入比率の評価値が最も小さくなる時間毎の流入比率を時間毎流入比率を抽出する時間毎流入比率の抽出処理部と、
抽出された前記時間毎流入比率に基づいて、各車両に対して、どの最適経路を割り当てるかを設定する経路割当処理部と、を有する走行制御システム。 - 請求項3記載の走行制御システムにおいて、
前記渋滞情報は、現在の区間平均通過時間および過去の区間平均通過時間を含み、
前記区間平均通過時間は、所定の経路の開始点から行き先最終点までの間を複数の区間に分離し、1つの区間における車両の平均した通過時間であり、
前記過去の区間平均通過時間は、ある時間帯における平均通過時間の履歴である走行制御システム。
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EP (1) | EP2953110B1 (ja) |
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WO2014118962A1 (ja) | 2014-08-07 |
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US9446766B2 (en) | 2016-09-20 |
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