JP6515517B2 - 車両制御装置 - Google Patents
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Description
図1〜5を参照して、本実施形態にかかる車両制御装置100について説明する。本実施形態にかかる車両制御装置100は、車両の各車輪に備えられるタイヤの接地面における振動に基づいて走行中の路面状況を推定し、この推定結果に基づいて車両の加減速制御を行うものとして用いられる。
加減速指令部22fは、制動距離取得部22eから伝えられた制動距離の推定値と演算部22bで検出した車間距離およびTTCに基づいて、ACCや衝突被害軽減ブレーキシステムにおける加減速制御に関する指令を行う。例えば、車間距離が制動距離以下になると、前方車両との衝突を回避すべく減速指令を出す。また、車間距離が制動距離よりも大きく、前方車両との衝突可能性が低いときには加速指令を出す。
本発明は上記した実施形態に限定されるものではなく、特許請求の範囲に記載した範囲内において適宜変更が可能である。
Claims (3)
- 車両における車輪に備えられたタイヤ(3)のトレッド(31)の裏面に取り付けられ、前記タイヤの振動の大きさに応じた検出信号を出力する振動検出部(11)と、前記振動検出部の検出信号を信号処理して前記タイヤと路面との間の摩擦係数を示すデータであるμデータを生成する信号処理部(13)と、前記μデータを送信する送信機(14)と、を有するタイヤ側装置(1)を備えていると共に、
前記送信機から送信された前記μデータを受信する受信機(21)と、前記μデータから前記摩擦係数を推定する摩擦係数推定部(22c)、前記摩擦係数に基づいて前記車両の制動距離を取得する制動距離取得部(22e)および前記制動距離に応じて前記車両の加減速制御を行うことを行う加減速制御部(22g)を含む走行制御部(22)と、を有する車両側装置(2)を備え、
前記信号処理部は、前記トレッドのうち前記振動検出部の配置箇所と対応する部分が路面接地している区間を接地区間として、該接地区間中に前記検出信号に含まれる高周波成分を積分して算出される高周波成分のレベルを前記μデータとして生成し、
前記摩擦係数推定部は、前記μデータとして、前記高周波成分のレベルから前記摩擦係数を推定することを特徴とする車両制御装置。 - 前記走行制御部は、
前記車両と先行車両との間の車間距離を演算する演算部(22b)と、
前記車間距離が前記制動距離以下になると前記車両の減速を指令する加減速指令部(22f)と、を備えていることを特徴とする請求項1に記載の車両制御装置。 - 前記タイヤ側装置は、前記信号処理部にて、前記振動検出部の検出信号に基づいて前記タイヤにおける路面との接地長に関するデータである接地長データを出力すると共に、前記送信機を通じて前記接地長データを送信させ、
前記車両側装置は、前記車両の速度である車速を取得する車速取得部(22a)と、前記車速および前記接地長データに基づいて前記接地長を演算すると共に該接地長に基づいて接地荷重を演算する接地荷重演算部(22d)と、を有し、
前記制動距離取得部は、前記摩擦係数に加えて前記接地荷重に基づいて前記制動距離を推定することを特徴とする請求項1または2に記載の車両制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014251943A JP6515517B2 (ja) | 2014-12-12 | 2014-12-12 | 車両制御装置 |
PCT/JP2015/006103 WO2016092824A1 (ja) | 2014-12-12 | 2015-12-08 | 車両制御装置 |
US15/531,582 US10471959B2 (en) | 2014-12-12 | 2015-12-08 | Vehicle control device |
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US10247565B2 (en) | 2016-04-11 | 2019-04-02 | State Farm Mutual Automobile Insurance Company | Traffic risk avoidance for a route selection system |
US10233679B1 (en) | 2016-04-11 | 2019-03-19 | State Farm Mutual Automobile Insurance Company | Systems and methods for control systems to facilitate situational awareness of a vehicle |
US11851041B1 (en) * | 2016-04-11 | 2023-12-26 | State Farm Mutual Automobile Insurance Company | System for determining road slipperiness in bad weather conditions |
US10019904B1 (en) | 2016-04-11 | 2018-07-10 | State Farm Mutual Automobile Insurance Company | System for identifying high risk parking lots |
US10486708B1 (en) | 2016-04-11 | 2019-11-26 | State Farm Mutual Automobile Insurance Company | System for adjusting autonomous vehicle driving behavior to mimic that of neighboring/surrounding vehicles |
US10026309B1 (en) | 2016-04-11 | 2018-07-17 | State Farm Mutual Automobile Insurance Company | Networked vehicle control systems to facilitate situational awareness of vehicles |
US10222228B1 (en) | 2016-04-11 | 2019-03-05 | State Farm Mutual Automobile Insurance Company | System for driver's education |
US10872379B1 (en) | 2016-04-11 | 2020-12-22 | State Farm Mutual Automobile Insurance Company | Collision risk-based engagement and disengagement of autonomous control of a vehicle |
JP6551463B2 (ja) * | 2016-07-13 | 2019-07-31 | 株式会社デンソー | タイヤマウントセンサおよびそれを含む路面状態推定装置 |
JP6627670B2 (ja) * | 2016-07-13 | 2020-01-08 | 株式会社デンソー | タイヤマウントセンサおよびそれを含む路面状態推定装置 |
JP6624152B2 (ja) * | 2017-04-26 | 2019-12-25 | 株式会社Soken | タイヤ側装置およびそれを含むタイヤ装置 |
CN107264523B (zh) * | 2017-06-14 | 2019-06-04 | 北京新能源汽车股份有限公司 | 车辆控制方法及*** |
US10493988B2 (en) * | 2017-07-01 | 2019-12-03 | TuSimple | System and method for adaptive cruise control for defensive driving |
JP6969399B2 (ja) * | 2018-01-19 | 2021-11-24 | 株式会社Soken | タイヤシステム |
JP7047466B2 (ja) * | 2018-03-02 | 2022-04-05 | 株式会社Soken | 路面状態判別装置 |
CN108407810A (zh) * | 2018-04-13 | 2018-08-17 | 浙江吉利控股集团有限公司 | 跟车状态调整方法、装置及*** |
JP7087826B2 (ja) * | 2018-08-24 | 2022-06-21 | 株式会社アイシン | 走行支援装置 |
JP7335713B2 (ja) * | 2019-03-28 | 2023-08-30 | 株式会社Subaru | 路面判定装置 |
WO2021054211A1 (ja) * | 2019-09-19 | 2021-03-25 | 株式会社Jvcケンウッド | 運転支援装置、運転支援方法、及びプログラム |
JP7322649B2 (ja) * | 2019-10-09 | 2023-08-08 | 株式会社Soken | 安全距離決定装置および安全距離決定方法 |
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JP7463839B2 (ja) * | 2020-05-20 | 2024-04-09 | 株式会社デンソー | 判定装置 |
CN112644497B (zh) * | 2020-12-31 | 2022-04-29 | 东风汽车集团有限公司 | 一种基于运行工况的制动颤振抑制方法和装置 |
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JPH0454600A (ja) | 1990-06-21 | 1992-02-21 | Mazda Motor Corp | 車両用警報装置 |
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JP4136889B2 (ja) | 2003-06-16 | 2008-08-20 | 富士通テン株式会社 | 車両制御装置 |
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JP2006131136A (ja) * | 2004-11-08 | 2006-05-25 | Denso Corp | 車両用信号処理装置 |
JP4030572B2 (ja) * | 2006-01-24 | 2008-01-09 | 横浜ゴム株式会社 | 車両制動距離予測装置および車両制動距離予測方法 |
JP4388093B2 (ja) * | 2007-03-27 | 2009-12-24 | 株式会社東芝 | 磁気抵抗効果素子、磁気ヘッド、磁気記録再生装置 |
JP5173224B2 (ja) * | 2007-03-29 | 2013-04-03 | 株式会社コーセー | 化粧料 |
JP4497231B2 (ja) | 2007-10-09 | 2010-07-07 | 株式会社デンソー | 車両用速度制御装置 |
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US20180118209A1 (en) | 2018-05-03 |
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US10471959B2 (en) | 2019-11-12 |
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