JP6222786B2 - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
- Publication number
- JP6222786B2 JP6222786B2 JP2015238722A JP2015238722A JP6222786B2 JP 6222786 B2 JP6222786 B2 JP 6222786B2 JP 2015238722 A JP2015238722 A JP 2015238722A JP 2015238722 A JP2015238722 A JP 2015238722A JP 6222786 B2 JP6222786 B2 JP 6222786B2
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- JP
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- Prior art keywords
- vehicle
- control
- preceding vehicle
- travel
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000005540 biological transmission Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
-
- 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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic 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
- 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
- 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
- B60W30/10—Path keeping
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Controls For Constant Speed Travelling (AREA)
- Traffic Control Systems (AREA)
Description
Δx=V・Δt・sinθ …(1)
Δz=V・Δt・cosθ …(2)
Xpre=(Xold・Δx)・cosθ−(Zold・Δz)・sinθ …(3)
Zpre=(Zold・Δx)・sinθ+(Zold・Δz)・cosθ …(4)
P=K1・Z2+K2・Z+K3 …(5)
αref=Gf・δx+Gff・K1+Gy・δyaw …(6)
但し、Gf :現在の操舵角で進行したときの自車両位置と制御目標点との偏差に対するフィードバックゲイン
Gff:走行軌跡の曲率に対するフィードフォワードゲイン
Gy :走行軌跡と自車両との相対ヨー角に対するフィードバックゲイン
Im=Kv・(Gp・(αref-αt)+Gi・∫(αref-αt)dt+Gd・d(αref-αt)/dt)…(7)
但し、Kv:モータ電圧−電流の変換係数
Gp:比例ゲイン
Gi:積分ゲイン
Gd:微分ゲイン
2 画像認識装置
10 走行制御システム
20 走行環境認識装置
30 地図情報処理装置
40 エンジン制御装置
50 変速機制御装置
60 ブレーキ制御装置
70 操舵制御装置
100 走行制御装置
101 制御部
102 制御目標点設定部
103 不感帯設定部
104 操舵制御量補正部
150 通信バス
C1 自車両
C2 先行車両
Claims (4)
- 自車両前方の先行車両に追従して走行する追従走行を制御する車両の走行制御装置であって、
前記先行車両の車幅方向の設定位置を前記追従走行の制御目標点として設定する制御目標点設定部と、
前記制御目標点への目標操舵角と実操舵角との偏差に基づいて、前記目標操舵角への操舵制御量を補正する操舵制御量補正部と
を備えることを特徴とする車両の走行制御装置。 - 自車両前方の先行車両に追従して走行する追従走行を制御する車両の走行制御装置であって、
前記先行車両の車幅方向の設定位置を前記追従走行の制御目標点として設定する制御目標点設定部と、
前記先行車両の形状データに基づいて、前記制御目標点への操舵制御における不感帯を設定する不感帯設定部と
を備えることを特徴とする車両の走行制御装置。 - 更に、前記先行車両の形状データに基づいて、前記制御目標点への操舵制御における不感帯を設定する不感帯設定部を備えることを特徴とする請求項1記載の車両の走行制御装置。
- 前記形状データは、前記先行車両の車幅であることを特徴とする請求項2又は3記載の車両の走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015238722A JP6222786B2 (ja) | 2015-12-07 | 2015-12-07 | 車両の走行制御装置 |
DE102016122819.2A DE102016122819B9 (de) | 2015-12-07 | 2016-11-25 | Fahrzeugfahrtsteuerungsvorrichtung |
CN201611093780.4A CN107010066B (zh) | 2015-12-07 | 2016-12-01 | 车辆的行驶控制装置 |
US15/369,288 US10286952B2 (en) | 2015-12-07 | 2016-12-05 | Vehicle traveling control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015238722A JP6222786B2 (ja) | 2015-12-07 | 2015-12-07 | 車両の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017105251A JP2017105251A (ja) | 2017-06-15 |
JP6222786B2 true JP6222786B2 (ja) | 2017-11-01 |
Family
ID=58722887
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015238722A Active JP6222786B2 (ja) | 2015-12-07 | 2015-12-07 | 車両の走行制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10286952B2 (ja) |
JP (1) | JP6222786B2 (ja) |
CN (1) | CN107010066B (ja) |
DE (1) | DE102016122819B9 (ja) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6222786B2 (ja) | 2015-12-07 | 2017-11-01 | 株式会社Subaru | 車両の走行制御装置 |
US10845813B2 (en) * | 2016-09-26 | 2020-11-24 | Nissan Motor Co., Ltd. | Route setting method and route setting device |
JP6924096B2 (ja) * | 2017-08-03 | 2021-08-25 | 株式会社Subaru | 牽引車両の操舵支援装置 |
JP6795792B2 (ja) * | 2017-09-28 | 2020-12-02 | トヨタ自動車株式会社 | 運転支援装置 |
US11012667B1 (en) | 2018-02-21 | 2021-05-18 | Alarm.Com Incorporated | Vehicle monitoring |
CN110155172B (zh) * | 2018-05-04 | 2021-12-17 | 腾讯大地通途(北京)科技有限公司 | 一种车辆行驶调整方法、装置、车辆控制***及存储介质 |
JP7268990B2 (ja) * | 2018-11-15 | 2023-05-08 | 株式会社Subaru | 車両の自動操舵制御装置 |
CN109682388B (zh) * | 2018-12-21 | 2020-12-25 | 北京智行者科技有限公司 | 跟随路径的确定方法 |
TWI691419B (zh) * | 2018-12-25 | 2020-04-21 | 宏碁股份有限公司 | 控制方法及車輛煞車系統 |
CN110221597A (zh) * | 2019-04-18 | 2019-09-10 | 河北汉光重工有限责任公司 | 一种用于无人靶标的路径规划方法及装置 |
CN110271534B (zh) * | 2019-06-14 | 2021-05-28 | 百度在线网络技术(北京)有限公司 | 自动驾驶车辆的控制方法、装置、计算机设备和存储介质 |
JP7109406B2 (ja) * | 2019-07-01 | 2022-07-29 | 本田技研工業株式会社 | 車両制御装置 |
JP7180574B2 (ja) * | 2019-09-24 | 2022-11-30 | いすゞ自動車株式会社 | 操舵制御装置及び操舵制御方法 |
JP2021142906A (ja) * | 2020-03-12 | 2021-09-24 | 本田技研工業株式会社 | 車両追従走行システム、車両制御装置、車両、および制御方法 |
DE102021202482B4 (de) * | 2021-03-15 | 2023-06-29 | Continental Automotive Technologies GmbH | Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs |
Family Cites Families (17)
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JP2004206275A (ja) * | 2002-12-24 | 2004-07-22 | Denso Corp | 自動運転制御システム |
JP3966219B2 (ja) | 2003-04-25 | 2007-08-29 | 三菱自動車工業株式会社 | 運転支援装置 |
JP4781707B2 (ja) * | 2005-04-15 | 2011-09-28 | 富士重工業株式会社 | 車両の運転支援装置 |
JP2007137148A (ja) * | 2005-11-16 | 2007-06-07 | Denso Corp | 車両の走行制御装置 |
JP2007261449A (ja) * | 2006-03-29 | 2007-10-11 | Fuji Heavy Ind Ltd | 走行目標点設定装置、車線追従支援装置および車線逸脱防止装置 |
JP4638370B2 (ja) * | 2006-03-29 | 2011-02-23 | 富士重工業株式会社 | 車線逸脱防止装置 |
JP4721279B2 (ja) * | 2006-03-29 | 2011-07-13 | 富士重工業株式会社 | 車線追従支援装置 |
DE102007050189A1 (de) | 2007-10-20 | 2009-04-23 | Daimler Ag | Fahrerassistenzsystem und Verfahren zur Unterstützung des Fahrers eines Fahrzeugs bei der Querführung des Fahrzeugs |
JP5137617B2 (ja) * | 2008-02-27 | 2013-02-06 | 富士重工業株式会社 | 操舵支援装置 |
JP5287441B2 (ja) * | 2009-04-06 | 2013-09-11 | トヨタ自動車株式会社 | 走行制御装置 |
JP5652364B2 (ja) * | 2011-09-24 | 2015-01-14 | 株式会社デンソー | 車両用挙動制御装置 |
JP5952859B2 (ja) * | 2014-06-23 | 2016-07-13 | 富士重工業株式会社 | 車両の運転支援装置 |
US9296411B2 (en) * | 2014-08-26 | 2016-03-29 | Cnh Industrial America Llc | Method and system for controlling a vehicle to a moving point |
JP6363516B2 (ja) * | 2015-01-21 | 2018-07-25 | 株式会社デンソー | 車両の走行制御装置 |
JP6520668B2 (ja) * | 2015-02-09 | 2019-05-29 | 株式会社デンソー | 車両用表示制御装置及び車両用表示ユニット |
RU2675760C1 (ru) * | 2015-09-28 | 2018-12-24 | Ниссан Мотор Ко., Лтд. | Устройство отображения транспортного средства и способ отображения для транспортного средства |
JP6222786B2 (ja) | 2015-12-07 | 2017-11-01 | 株式会社Subaru | 車両の走行制御装置 |
-
2015
- 2015-12-07 JP JP2015238722A patent/JP6222786B2/ja active Active
-
2016
- 2016-11-25 DE DE102016122819.2A patent/DE102016122819B9/de active Active
- 2016-12-01 CN CN201611093780.4A patent/CN107010066B/zh active Active
- 2016-12-05 US US15/369,288 patent/US10286952B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN107010066A (zh) | 2017-08-04 |
CN107010066B (zh) | 2019-04-19 |
US10286952B2 (en) | 2019-05-14 |
US20170158238A1 (en) | 2017-06-08 |
DE102016122819B4 (de) | 2020-04-23 |
DE102016122819A1 (de) | 2017-06-08 |
JP2017105251A (ja) | 2017-06-15 |
DE102016122819B9 (de) | 2020-07-09 |
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