JP6275213B2 - 車両の追従発進制御装置 - Google Patents
車両の追従発進制御装置 Download PDFInfo
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Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
Td…発進時ディレイ時間、
Td1〜Td5…第1〜第5発進ディレイ時間、
Tm1…即発進許可時間、
Tm2…自動発進許可時間、
Ts…停車時間、
Tα…発進加速抑制時間、
Tα1〜Td5…第1〜第5発進加速抑制時間、
αs…先行車加速度、
θhi…推定勾配、
1…自車両、
2…車載カメラ、
2a…メインカメラ、
2b…サブカメラ、
3…画像処理ユニット、
5…エンジン、
6…電子制御スロットル、
7…表示部、
12…ブレーキ駆動部、
16…車速センサ、
17…前後Gセンサ17、
18…アクセル開度センサ、
19…ブレーキスイッチ、
21…主ブレーキアクチュエータ、
22…補助ブレーキアクチュエータ
Claims (8)
- 自車両周辺の走行環境情報を取得する走行環境取得手段と、
前記走行環境取得手段で取得した前記走行環境情報に基づき前記自車両の前方を走行する先行車の先行車情報を取得する先行車情報取得手段と、
前記先行車情報取得手段で検出した前記先行車情報に基づき前記先行車と停車状態にある前記自車両との車間距離を求め、該車間距離の変化から前記先行車の発進を検出する先行車発進検出手段と、
前記先行車発進検出手段で前記先行車の発進を検出した場合、前記自車両を該先行車に対して追従発進させる追従発進制御手段と
を有する車両の追従発進制御装置において、
前記追従発進制御手段は、
前記走行環境取得手段で取得した前記走行環境情報に基づき前記自車両が停車している路面の推定勾配を設定する路面勾配情報設定手段と、
前記路面勾配情報設定手段で設定した前記推定勾配に基づき、該推定勾配が大きくなるに従い降坂路では長く、登坂路では短くなる第1ディレイ時間を設定する第1ディレイ時間設定手段と、
前記第1ディレイ時間設定手段で設定した前記第1ディレイ時間に基づき前記自車両を追従発進させる際のディレイ時間を設定するディレイ発進制御手段と
を備えることを特徴とする車両の追従発進制御装置。 - 前記走行環境取得手段で取得した前記走行環境情報と前記先行車情報取得手段で取得した前記先行車情報と前記自車両の停車時間との少なくとも1つに基づき、該自車両を追従発進させる際の各種ディレイ時間を設定する各種ディレイ時間設定手段を有し、
前記ディレイ発進制御手段は、前記第1ディレイ時間設定手段で設定した前記第1ディレイ時間と前記各種ディレイ時間設定手段で設定した前記各種ディレイ時間とを比較して、最も長いディレイ時間を前記ディレイ時間として設定する
ことを特徴とする請求項1記載の車両の追従発進制御装置。 - 前記走行環境取得手段で取得した前記走行環境情報に基づき前記自車両の走行している道路種別情報を取得する道路種別情報取得手段を有し、
前記各種ディレイ時間設定手段は、前記各種ディレイ時間として前記道路種別情報取得手段で取得した前記道路種別情報に基づき第2ディレイ時間を可変設定し、
前記ディレイ発進制御手段は、前記第1ディレイ時間設定手段で設定した第1ディレイ時間と前記各種ディレイ時間設定手段で設定した前記第2ディレイ時間とを比較して、最も長いディレイ時間を前記ディレイ時間として設定する
ことを特徴とする請求項2に記載の車両の追従発進制御装置。 - 前記走行環境取得手段で取得した前記走行環境に基づき前記自車両周辺の障害物検知情報を取得する障害物検知情報取得手段を有し、
前記各種ディレイ時間設定手段は、前記各種ディレイ時間として前記障害物検知情報取得手段で取得した前記障害物検知情報に基づき、検知した障害物の前記自車両に対する近接度が高くなるに従い長くなる第3ディレイ時間を設定し、
前記ディレイ発進制御手段は、少なくとも前記第1ディレイ時間設定手段で設定した第1ディレイ時間と前記各種ディレイ時間設定手段で設定した前記第3ディレイ時間とを比較して、最も長いディレイ時間を前記ディレイ時間として設定する
ことを特徴とする請求項2或いは3に記載の車両の追従発進制御装置。 - 前記自車両を停車状態から追従発進させるまでの停車時間を計測する停車時間計測手段を有し、
前記各種ディレイ時間設定手段は、前記各種ディレイ時間として前記停車時間計測手段で計測した前記停車時間に基づき、該停車時間が長くなるに従い長くなる第4ディレイ時間を設定し、
前記ディレイ発進制御手段は、少なくとも前記第1ディレイ時間設定手段で設定した第1ディレイ時間と前記各種ディレイ時間設定手段で設定した前記第4ディレイ時間とを比較して、最も長いディレイ時間を前記ディレイ時間として設定する
ことを特徴とする請求項2〜4の何れか1項に記載の車両の追従発進制御装置。 - 前記先行車情報取得手段で取得した前記先行車情報に基づき前記先行車の発進時の加速度を検出する先行車加速度検出手段を有し、
前記各種ディレイ時間設定手段は、前記各種ディレイ時間として前記先行車加速度検出手段で検出した前記先行車の加速度に基づき、該加速度が大きくなるに従い短くなる第5ディレイ時間を設定し、
前記ディレイ発進制御手段は、少なくとも前記第1ディレイ時間設定手段で設定した第1ディレイ時間と前記各種ディレイ時間設定手段で設定した前記第5ディレイ時間とを比較して、最も長いディレイ時間を前記ディレイ時間として設定する
ことを特徴とする請求項2〜5の何れか1項に記載の車両の追従発進制御装置。 - 運転者の顔位置を監視する顔位置監視手段を有し、
前記各種ディレイ時間設定手段は、前記各種ディレイ時間として前記顔位置監視手段で検出した前記運転者の顔位置に基づき、該顔位置が正面を向いている場合は短く、横を向いている場合は長い第6ディレイ時間を設定し、
前記ディレイ発進制御手段は、少なくとも前記第1ディレイ時間設定手段で設定した第1ディレイ時間と前記各種ディレイ時間設定手段で設定した前記第6ディレイ時間とを比較して、最も長いディレイ時間を前記ディレイ時間として設定する
ことを特徴とする請求項2〜6の何れか1項に記載の車両の追従発進制御装置。 - 前記自車両の追従発進時における発進加速時間が、前記自車両を停車状態から動き出させるまでの発進時ディレイ時間と、該自車両が動き出したときから設定車速に達するまでの発進加速抑制時間とで構成されており、
前記ディレイ発進制御手段で設定される前記ディレイ時間は前記発進時ディレイ時間と前記発進加速抑制時間との双方で設定される
ことを特徴とする請求項2〜7の何れか1項に記載の車両の追従発進制御装置。
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