JP6355728B2 - 自動車を案内する方法および該方法を実施する自動車 - Google Patents
自動車を案内する方法および該方法を実施する自動車 Download PDFInfo
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- JP6355728B2 JP6355728B2 JP2016523922A JP2016523922A JP6355728B2 JP 6355728 B2 JP6355728 B2 JP 6355728B2 JP 2016523922 A JP2016523922 A JP 2016523922A JP 2016523922 A JP2016523922 A JP 2016523922A JP 6355728 B2 JP6355728 B2 JP 6355728B2
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- 238000000034 method Methods 0.000 title claims description 93
- 230000007704 transition Effects 0.000 claims description 33
- 230000033001 locomotion Effects 0.000 claims description 23
- 230000011664 signaling Effects 0.000 claims description 4
- 230000005012 migration Effects 0.000 claims 1
- 238000013508 migration Methods 0.000 claims 1
- 230000001133 acceleration Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
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Classifications
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
-
- 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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/30—Controlling members actuated by foot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K2026/026—Adjusting of accelerator pedal positions
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0095—Automatic control mode change
- B60W2050/0096—Control during transition between modes
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Mechanical Control Devices (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
図1には、自動車1が運転者2と共に概略的な描写で示されている。この自動車1は、ステアリングホイール4と、自動車1の自動化方式での案内のための運転者支援システム6とを備えている。この運転者支援システム6は制御機器8を含んでいる。
Claims (7)
- 自動車(1)を案内する方法であって、
第1の方法ステップでは、前記自動車(1)は、運転者支援システム(6)を用いて自動化方式で案内され、前記第1の方法ステップに続く第2の方法ステップでは、前記自動車(1)は、運転者(2)によって非自動化方式で案内される、方法において、
前記第1の方法ステップから前記第2の方法ステップへの移行時に、前記自動車(1)のアクセルペダル(10)が、ペダルアクチュエータ(12)を用いて調整され、この調整によって前記アクセルペダル(10)が、前記第2の方法ステップの開始時点で、前記第1の方法ステップ終了時の自動車(1)の車両の動きに対応する移行ペダル位置をとるようにする、方法において、
前記第1の方法ステップは、前記第2の方法ステップの開始と共に終了する移行フェーズを含んでおり、前記アクセルペダル(10)は、前記移行フェーズ中に前記ペダルアクチュエータ(12)を用いて、ペダル休止位置から前記移行ペダル位置に調整される、
ことを特徴とする方法。 - 前記移行フェーズ中の前記アクセルペダル(10)は、前記ペダルアクチュエータ(12)を用いて前記自動車(1)の車両の動きに対応するように連続的に調整される、請求項1記載の方法。
- ペダル圧が作用していない前記アクセルペダル(10)において、アクセルペダル(10)に作用するペダル圧が、前記自動車(1)の非自動化方式の案内をスイッチオンする、請求項1または2の方法。
- 前記第2の方法ステップの開始時点において、前記運転者(2)に対し、前記アクセルペダル(10)による触覚的シグナリングが行われる、請求項1から3までのいずれか1項記載の方法。
- 前記第1の方法ステップに先行する方法ステップにおいて、前記自動車(1)は、前記運転者(2)によって非自動化方式で案内され、前記アクセルペダル(10)は、前記第1の方法ステップの開始時点で前記ペダルアクチュエータ(12)を用いて前記ペダル休止位置に調整される、請求項2から4までのいずれか1項記載の方法。
- 請求項1から5いずれか1項記載の方法を実施する自動車(1)であって、
前記自動車(1)は、当該自動車(1)を自動化方式で案内する運転者支援システム(6)と、
ペダルアクチュエータ(12)および該ペダルアクチュエータ(12)を駆動制御するアクチュエータ制御機器(14)を有するアクセルペダル(10)とを備えており、
前記アクセルペダル(10)は、前記アクチュエータ制御機器(14)によって駆動制御される前記ペダルアクチュエータ(12)を用いて、前記自動車(1)の運転者(2)に依存することなく調整可能であることを特徴とする自動車(1)。 - 前記ペダルアクチュエータ(12)は、電動アクチュエータである、請求項6記載の自動車(1)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201310220905 DE102013220905A1 (de) | 2013-10-15 | 2013-10-15 | Verfahren zum Führen eines Kraftfahrzeugs und Kraftfahrzeug zum Ausführen des Verfahrens |
DE102013220905.3 | 2013-10-15 | ||
PCT/EP2014/071961 WO2015055615A1 (de) | 2013-10-15 | 2014-10-14 | Verfahren zum führen eines kraftfahrzeugs und kraftfahrzeug zum ausführen des verfahrens |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016536192A JP2016536192A (ja) | 2016-11-24 |
JP6355728B2 true JP6355728B2 (ja) | 2018-07-11 |
Family
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Application Number | Title | Priority Date | Filing Date |
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JP2016523922A Active JP6355728B2 (ja) | 2013-10-15 | 2014-10-14 | 自動車を案内する方法および該方法を実施する自動車 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10059345B2 (ja) |
EP (1) | EP3057841B1 (ja) |
JP (1) | JP6355728B2 (ja) |
KR (1) | KR102228700B1 (ja) |
CN (1) | CN105636851B (ja) |
DE (1) | DE102013220905A1 (ja) |
WO (1) | WO2015055615A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE112021004823T5 (de) | 2020-09-16 | 2023-08-03 | Denso Corporation | Gaspedalvorrichtung |
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DE102015211010A1 (de) * | 2015-06-16 | 2016-12-22 | Continental Automotive Gmbh | Fahrpedal für die Steuerung einer Antriebsmaschine eines Kraftfahrzeugs mit verstellbarer Nullpunktposition |
DE102016203398A1 (de) | 2016-03-02 | 2017-09-07 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung zum Steuern der Längsführung eines zum zumindest teilautomatisierten Fahren ausgebildeten Fahrzeugs |
US10351147B2 (en) * | 2016-09-20 | 2019-07-16 | Ford Global Technologies, Llc | Autonomous sensing vehicle pedals |
JP6761324B2 (ja) * | 2016-10-31 | 2020-09-23 | 修一 田山 | 車輌用アクセルペダル装置 |
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JP2018149933A (ja) * | 2017-03-14 | 2018-09-27 | オムロン株式会社 | 制御装置、プログラム、支援装置および支援方法 |
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-
2013
- 2013-10-15 DE DE201310220905 patent/DE102013220905A1/de not_active Ceased
-
2014
- 2014-10-14 WO PCT/EP2014/071961 patent/WO2015055615A1/de active Application Filing
- 2014-10-14 EP EP14783871.8A patent/EP3057841B1/de active Active
- 2014-10-14 KR KR1020167012753A patent/KR102228700B1/ko active IP Right Grant
- 2014-10-14 CN CN201480056627.7A patent/CN105636851B/zh active Active
- 2014-10-14 US US15/029,537 patent/US10059345B2/en active Active
- 2014-10-14 JP JP2016523922A patent/JP6355728B2/ja active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112021004823T5 (de) | 2020-09-16 | 2023-08-03 | Denso Corporation | Gaspedalvorrichtung |
Also Published As
Publication number | Publication date |
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CN105636851A (zh) | 2016-06-01 |
US10059345B2 (en) | 2018-08-28 |
US20160251018A1 (en) | 2016-09-01 |
KR102228700B1 (ko) | 2021-03-16 |
EP3057841A1 (de) | 2016-08-24 |
KR20160072185A (ko) | 2016-06-22 |
WO2015055615A1 (de) | 2015-04-23 |
CN105636851B (zh) | 2018-01-02 |
DE102013220905A1 (de) | 2015-04-16 |
EP3057841B1 (de) | 2019-02-13 |
JP2016536192A (ja) | 2016-11-24 |
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