JP6628818B2 - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
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- JP6628818B2 JP6628818B2 JP2018004382A JP2018004382A JP6628818B2 JP 6628818 B2 JP6628818 B2 JP 6628818B2 JP 2018004382 A JP2018004382 A JP 2018004382A JP 2018004382 A JP2018004382 A JP 2018004382A JP 6628818 B2 JP6628818 B2 JP 6628818B2
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- 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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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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
- 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
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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
- 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
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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
- 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
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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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
-
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0071—Controller overrides driver automatically
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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
- 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
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2554/00—Input parameters relating to objects
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
(1)車両走行制御装置100は、走行駆動力を発生するためのエンジン1や変速機2等を制御するものであり、手動運転モードまたは自動運転モードを指令する手動自動切換スイッチ33bと、自動運転モードにおける行動計画を生成する行動計画生成部45と、車速Vを検出する車速センサ32aと、車速センサ32aにより検出された車速Vと行動計画生成部45により生成された行動計画に含まれる目標車速Vaとの偏差ΔVが所定値ΔV1以下であるか否かを判定するクルーズ判定部462と、自動運転モード時に行動計画生成部45で生成された行動計画に従いエンジン1(スロットル用アクチュエータ13)および変速機2(変速用アクチュエータ23)等を制御する走行制御部46とを備える(図5)。走行制御部46は、手動運転モードで加速走行中に手動自動切換スイッチ33bにより手動運転モードから自動運転モードへの切換が指令されると、手動運転モードから自動運転モードに切り換えるとともに、少なくとも車速の偏差ΔVが所定値ΔV1以下であると判定されるまで、手動運転モード時の加速度G1を維持するようにエンジン1と変速機2とを制御する(図7)。
Claims (1)
- 走行駆動力を発生するための機器を制御する車両走行制御装置であって、
手動運転モードまたは自動運転モードを指令する運転モード指令部と、
自動運転モードにおける行動計画を生成する行動計画生成部と、
車速を検出する車速検出部と、
前記車速検出部により検出された車速と前記行動計画生成部により生成された行動計画に含まれる目標車速との偏差が所定値以下であるか否かを判定する車速判定部と、
自動運転モード時に前記行動計画生成部で生成された行動計画に従い前記機器を制御する走行制御部と、を備え、
前記走行制御部は、手動運転モードで加速または減速走行中に前記運転モード指令部により手動運転モードから自動運転モードへの切換が指令されると、手動運転モードから自動運転モードに切り換えるとともに、少なくとも前記車速判定部により前記偏差が前記所定値以下であると判定されるまで、手動運転モード時の加速度を維持するように前記機器を制御することを特徴とする車両走行制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018004382A JP6628818B2 (ja) | 2018-01-15 | 2018-01-15 | 車両走行制御装置 |
CN201910008624.0A CN110040142B (zh) | 2018-01-15 | 2019-01-04 | 车辆行驶控制装置 |
US16/245,200 US10845801B2 (en) | 2018-01-15 | 2019-01-10 | Vehicle travel control apparatus |
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JP2018004382A JP6628818B2 (ja) | 2018-01-15 | 2018-01-15 | 車両走行制御装置 |
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JP2019123320A JP2019123320A (ja) | 2019-07-25 |
JP6628818B2 true JP6628818B2 (ja) | 2020-01-15 |
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US (1) | US10845801B2 (ja) |
JP (1) | JP6628818B2 (ja) |
CN (1) | CN110040142B (ja) |
Families Citing this family (4)
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JP6942236B1 (ja) * | 2020-12-28 | 2021-09-29 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
CN113085864B (zh) * | 2021-03-15 | 2022-12-13 | 江铃汽车股份有限公司 | 驾驶模式切换控制方法及*** |
JP2023031746A (ja) * | 2021-08-25 | 2023-03-09 | 株式会社デンソー | アクセルペダルシステム |
JP2023031685A (ja) * | 2021-08-25 | 2023-03-09 | 株式会社デンソー | アクセルペダルシステム |
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DE60121963T2 (de) * | 2001-10-15 | 2007-01-18 | Ford Global Technologies, LLC, Dearborn | Verfahren und Einrichtung zur Steuerung eines Fahrzeuges |
JP2003154871A (ja) * | 2001-11-20 | 2003-05-27 | Nissan Motor Co Ltd | 車両の駆動力制御装置 |
GB2519533B (en) * | 2013-10-23 | 2018-04-04 | Jaguar Land Rover Ltd | Vehicle speed control system |
JP6266491B2 (ja) * | 2014-11-06 | 2018-01-24 | 本田技研工業株式会社 | 自動運転制御装置 |
KR20160076262A (ko) * | 2014-12-22 | 2016-06-30 | 엘지전자 주식회사 | 차량의 주행 모드 전환 장치 및 그 방법 |
US9625906B2 (en) * | 2015-01-15 | 2017-04-18 | Nissan North America, Inc. | Passenger docking location selection |
JP6361567B2 (ja) * | 2015-04-27 | 2018-07-25 | トヨタ自動車株式会社 | 自動運転車両システム |
DE112016002177T5 (de) * | 2015-05-14 | 2018-01-25 | Honda Motor Co., Ltd. | Automatische Fahrtsteuerungsvorrichtung |
BR102016024151B1 (pt) * | 2016-01-06 | 2021-10-13 | Cnh Industrial America Llc | Meio legível por computador não transitório tangível, sistema e método para controlar pelo menos um veículo agrícola autônomo |
JP2017144776A (ja) * | 2016-02-15 | 2017-08-24 | 株式会社Subaru | 車両の走行制御装置 |
JP6528708B2 (ja) * | 2016-03-18 | 2019-06-12 | 株式会社アドヴィックス | 車両の制御装置 |
US10202112B2 (en) * | 2016-11-28 | 2019-02-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for preemptively modifying vehicle parameters according to predicted accelerations when merging |
US10353393B2 (en) * | 2016-12-29 | 2019-07-16 | Baidu Usa Llc | Method and system for improving stability of autonomous driving vehicles |
JP6546637B2 (ja) * | 2017-11-06 | 2019-07-17 | 本田技研工業株式会社 | 車両制御装置 |
JP6580108B2 (ja) * | 2017-11-06 | 2019-09-25 | 本田技研工業株式会社 | 自動運転車両の走行制御装置 |
JP6628819B2 (ja) * | 2018-01-15 | 2020-01-15 | 本田技研工業株式会社 | 車両走行制御装置 |
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2018
- 2018-01-15 JP JP2018004382A patent/JP6628818B2/ja active Active
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2019
- 2019-01-04 CN CN201910008624.0A patent/CN110040142B/zh active Active
- 2019-01-10 US US16/245,200 patent/US10845801B2/en active Active
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Publication number | Publication date |
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CN110040142A (zh) | 2019-07-23 |
US20190220007A1 (en) | 2019-07-18 |
US10845801B2 (en) | 2020-11-24 |
CN110040142B (zh) | 2022-05-10 |
JP2019123320A (ja) | 2019-07-25 |
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