JP6915578B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP6915578B2 JP6915578B2 JP2018071891A JP2018071891A JP6915578B2 JP 6915578 B2 JP6915578 B2 JP 6915578B2 JP 2018071891 A JP2018071891 A JP 2018071891A JP 2018071891 A JP2018071891 A JP 2018071891A JP 6915578 B2 JP6915578 B2 JP 6915578B2
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- 238000004364 calculation method Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 description 34
- 238000001514 detection method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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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
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- 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
- B60W40/02—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 ambient conditions
- B60W40/04—Traffic conditions
-
- 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
-
- 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
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
-
- 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
-
- 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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
-
- 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
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
実施形態に係る車両制御装置の構成について図1を参照して説明する。図1は、実施形態に係る車両制御装置の構成を示すブロック図である。
次に、上述の如く構成された車両制御装置100が実行する減速支援処理について説明する。本実施形態では特に、車両制御装置100を搭載する車両1の走行時に、複数の減速対象が検出された場合の減速支援処理について、図2乃至図4を参照して説明する。
当該車両制御装置100では、一の減速対象が減速支援制御の減速対象であるときに、他の減速対象に係る要求減速度と、一の減速対象に係る要求減速度に所定の減速度を加えた値である支援対象切替閾値との比較結果に基づいて、減速支援制御の減速対象を、一の減速対象から他の減速対象へ切り替えるか否かが判定される。
Claims (3)
- 自車両の進行方向前方に前記自車両が減速すべき対象である減速対象が存在することを条件に、前記自車両を減速する減速支援制御を行う車両制御装置であって、
前記自車両の進行方向前方に前記減速対象が複数存在する場合、前記複数の減速対象各々に対応して前記自車両を減速するための複数の制御量を演算する演算手段と、
前記複数の制御量のうち一の制御量を選択して出力する出力手段と、
前記一の制御量に基づいて前記減速支援制御を行う制御手段と、
を備え、
前記出力手段は、前記一の制御量としての第1制御量に基づいて前記減速支援制御が行われているときに、前記複数の制御量のうち前記第1制御量とは異なる第2制御量が、前記第1制御量よりも第1所定値だけ大きい値である切替制御量より大きいことを条件に、前記第1制御量に代えて前記第2制御量を、前記一の制御量として出力する
ことを特徴とする車両制御装置。 - 前記出力手段は、前記一の制御量として前記第1制御量に代えて前記第2制御量を出力するときに、前記一の制御量に係る単位時間当たりの変化量が時間変化閾値より大きいことを条件に、前記一の制御量に係る単位時間当たりの変化量が前記時間変化閾値以下となるように、前記第1制御量及び前記第2制御量の少なくとも一方に基づいて前記一の制御量を調整することを特徴とする請求項1に記載の車両制御装置。
- 前記出力手段は、前記切替制御量が第2所定値より大きい場合は、前記切替制御量が前記第2所定値より小さい場合に比べて、前記時間変化閾値を大きくすることを特徴とする請求項2に記載の車両制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018071891A JP6915578B2 (ja) | 2018-04-03 | 2018-04-03 | 車両制御装置 |
CN201910188221.9A CN110356375B (zh) | 2018-04-03 | 2019-03-13 | 车辆控制装置 |
US16/367,770 US10946860B2 (en) | 2018-04-03 | 2019-03-28 | Vehicle control apparatus |
DE102019108555.1A DE102019108555A1 (de) | 2018-04-03 | 2019-04-02 | Fahrzeugsteuerungsvorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018071891A JP6915578B2 (ja) | 2018-04-03 | 2018-04-03 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2019182040A JP2019182040A (ja) | 2019-10-24 |
JP6915578B2 true JP6915578B2 (ja) | 2021-08-04 |
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JP2018071891A Active JP6915578B2 (ja) | 2018-04-03 | 2018-04-03 | 車両制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10946860B2 (ja) |
JP (1) | JP6915578B2 (ja) |
CN (1) | CN110356375B (ja) |
DE (1) | DE102019108555A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11001263B2 (en) | 2018-03-07 | 2021-05-11 | Toyota Jidosha Kabushiki Kaisha | Braking force control system, device, and method |
JP7140092B2 (ja) | 2019-11-07 | 2022-09-21 | トヨタ自動車株式会社 | 運転支援装置 |
JP7205444B2 (ja) * | 2019-11-13 | 2023-01-17 | トヨタ自動車株式会社 | 運転支援装置 |
JP7279654B2 (ja) | 2020-01-29 | 2023-05-23 | トヨタ自動車株式会社 | 運転支援システム |
JP7276181B2 (ja) * | 2020-01-29 | 2023-05-18 | トヨタ自動車株式会社 | 運転支援システム |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
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DE10321412B4 (de) * | 2003-05-13 | 2015-07-16 | Robert Bosch Gmbh | Vorrichtung zur Längsführung eines Kraftfahrzeugs |
JP2007076472A (ja) * | 2005-09-13 | 2007-03-29 | Fuji Heavy Ind Ltd | 車両の運転支援装置 |
JP5066437B2 (ja) * | 2007-12-21 | 2012-11-07 | 富士重工業株式会社 | 車両の走行制御装置 |
US9050951B2 (en) * | 2011-01-25 | 2015-06-09 | Nissan Motor Co., Ltd. | Vehicle deceleration control unit, vehicle deceleration control method |
JP6065018B2 (ja) | 2012-11-13 | 2017-01-25 | トヨタ自動車株式会社 | 運転支援装置及び運転支援方法 |
JP5406395B1 (ja) * | 2013-03-28 | 2014-02-05 | 富士重工業株式会社 | 車両用制御装置 |
JP6105439B2 (ja) * | 2013-08-22 | 2017-03-29 | アイシン・エィ・ダブリュ株式会社 | 減速度設定システム、方法およびプログラム |
US20170123430A1 (en) * | 2015-10-30 | 2017-05-04 | Ford Global Technologies, Llc | In-path target selection during lane change |
JP6706196B2 (ja) * | 2016-12-26 | 2020-06-03 | 株式会社デンソー | 走行制御装置 |
-
2018
- 2018-04-03 JP JP2018071891A patent/JP6915578B2/ja active Active
-
2019
- 2019-03-13 CN CN201910188221.9A patent/CN110356375B/zh active Active
- 2019-03-28 US US16/367,770 patent/US10946860B2/en active Active
- 2019-04-02 DE DE102019108555.1A patent/DE102019108555A1/de active Pending
Also Published As
Publication number | Publication date |
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JP2019182040A (ja) | 2019-10-24 |
DE102019108555A1 (de) | 2019-10-10 |
US20190299995A1 (en) | 2019-10-03 |
CN110356375A (zh) | 2019-10-22 |
CN110356375B (zh) | 2021-05-04 |
US10946860B2 (en) | 2021-03-16 |
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