JP6989531B2 - 自動運転過程の間に自動車において縦方向動特性を制御するための方法および装置 - Google Patents
自動運転過程の間に自動車において縦方向動特性を制御するための方法および装置 Download PDFInfo
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- JP6989531B2 JP6989531B2 JP2018562214A JP2018562214A JP6989531B2 JP 6989531 B2 JP6989531 B2 JP 6989531B2 JP 2018562214 A JP2018562214 A JP 2018562214A JP 2018562214 A JP2018562214 A JP 2018562214A JP 6989531 B2 JP6989531 B2 JP 6989531B2
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- 230000008569 process Effects 0.000 title claims description 5
- 230000007246 mechanism Effects 0.000 claims description 63
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- 230000008859 change Effects 0.000 claims description 2
- 230000006641 stabilisation Effects 0.000 description 6
- 238000011105 stabilization Methods 0.000 description 6
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- 238000001514 detection method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
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Classifications
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
-
- 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
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- 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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
- B60T8/17636—Microprocessor-based systems
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
−周辺センサ機構を用いて、前記自動車の前を走行している先行車両の有無を検知し、
−前記周辺センサ機構を用いて、前記先行車両の車両縦方向動特性を記述する少なくとも1つの先行車両縦方向動特性量を検出し、
−前記先行車両縦方向動特性量に依存して、前記自動車のブレーキコントロールシステムに取り込む少なくとも1つの量を検出する、
ようにした方法に関する。
−ロックシーケンスの維持が保証されていなければならない。すなわち、後車軸車輪は前車軸の車輪が既にロックしているときに初めてロックしなければならない。
−自動車の操縦能を確保するため、車輪のロックは所定時間を超えてはならない。
−車両自動減速を実施するため、アクティブな圧力増大またはドライバーに依存しない圧力増大の可能性がなければならない。
502 先行車両縦方向動特性量を検出
503 ブレーキコントロールシステムに取り込む量を検出
Claims (6)
- 自動運転過程の間に自動車においてブレーキコントロールシステムにより縦方向動特性を制御するための方法において、
−周辺センサ機構を用いて、前記自動車の前を走行している先行車両の有無を検知し(501)、
−前記周辺センサ機構を用いて、前記先行車両の車両縦方向動特性を記述する少なくとも1つの前記先行車両の縦方向減速度(ax)を検出し(502)、
−前記縦方向減速度(ax)に依存して、前記自動車の前記ブレーキコントロールシステムに取り込む少なくとも1つの量を算出し(503)、
−前記自動車の前記ブレーキコントロールシステムに取り込む前記少なくとも1つの量が、前記縦方向減速度(ax)に対する縦方向減速度制限値であること、前記自動車の減速度の絶対値が該縦方向減速度制限値を越えないように、前記ブレーキコントロールシステムを用いて前記自動車の縦方向動特性にドライバーによるペダル操作に依存せずに介入させ、
−前記自動車の車輪に作用するブレーキトルクを、前記自動車の減速度の絶対値が前記縦方向減速度制限値に達するまで、第1の単位時間当たりの増大量で増大させ、次に前記自動車の減速度の絶対値が前記縦方向減速度制限値に到達した後は、前記ブレーキトルクを第2の単位時間当たりの増大量でさらに増大させ、その際前記第2の単位時間当たりの増大量は前記第1の単位時間当たりの増大量よりも小さく、
−前記自動車の前記ブレーキコントロールシステムが、緊急作動のために設けられる二次ブレーキコントロールシステムであり、該二次ブレーキコントロールシステムを、前記自動車の通常作動のために設けられるブレーキコントロールシステムが故障したときに作動させることを特徴とする、方法。 - 前記ブレーキコントロールシステムを用いて実施したドライバーに依存しない前記介入が、車両を停止させるブレーキングであることを特徴とする、請求項1に記載の方法。
- 前記周辺センサ機構が、ビデオセンサ機構またはレーダーセンサ機構であることを特徴とする、請求項1に記載の方法。
- 前記周辺センサ機構が、前記先行車両の現時点の車両減速度または前記先行車両の現時点の位置に関する情報を当該先行車両から無線経路で受信するセンサ機構であることを特徴とする、請求項1に記載の方法。
- 前記周辺センサ機構が、前記先行車両に対する距離の時間的変化を特定するためのセンサ機構であることを特徴とする、請求項1に記載の方法。
- 請求項1から5のいずれか1項記載の方法を実施するためのプログラムを記録した制御器。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016209733.4 | 2016-06-02 | ||
DE102016209733.4A DE102016209733A1 (de) | 2016-06-02 | 2016-06-02 | Verfahren und Vorrichtung zur Längsdynamikregelung bei einem Kraftfahrzeug während eines autonomen Fahrvorgangs |
PCT/EP2017/057748 WO2017207133A1 (de) | 2016-06-02 | 2017-03-31 | Verfahren und vorrichtung zur längsdynamikregelung bei einem kraftfahrzeug während eines autonomen fahrvorgangs |
Publications (2)
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JP2019517413A JP2019517413A (ja) | 2019-06-24 |
JP6989531B2 true JP6989531B2 (ja) | 2022-01-05 |
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JP2018562214A Active JP6989531B2 (ja) | 2016-06-02 | 2017-03-31 | 自動運転過程の間に自動車において縦方向動特性を制御するための方法および装置 |
Country Status (6)
Country | Link |
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US (1) | US11130478B2 (ja) |
EP (1) | EP3464004B1 (ja) |
JP (1) | JP6989531B2 (ja) |
CN (1) | CN109195848B (ja) |
DE (1) | DE102016209733A1 (ja) |
WO (1) | WO2017207133A1 (ja) |
Families Citing this family (3)
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DE102018211985A1 (de) * | 2018-07-18 | 2020-01-23 | Audi Ag | Verfahren und Vorrichtung zur Reduktion von Bremsgeräuschen |
DE102019118365A1 (de) * | 2019-07-08 | 2021-01-14 | Zf Active Safety Gmbh | Rückfallsicherungssystem für Platooningsysteme |
DE102022207471B3 (de) | 2022-07-21 | 2024-01-25 | Volkswagen Aktiengesellschaft | Platooningverfahren |
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JP3142635B2 (ja) | 1992-06-02 | 2001-03-07 | マツダ株式会社 | 車両の総合制御装置 |
JP3269204B2 (ja) | 1993-08-31 | 2002-03-25 | トヨタ自動車株式会社 | 車両用ブレーキ装置 |
US5382086A (en) * | 1994-05-03 | 1995-01-17 | Kelsey-Hayes Company | Vehicular antilock brake system incorporating improved adaptive control feature |
JP3610825B2 (ja) * | 1999-04-28 | 2005-01-19 | 日産自動車株式会社 | 車両用走行制御装置 |
JP2003260957A (ja) * | 2002-03-11 | 2003-09-16 | Hitachi Ltd | 車間制御システム |
DE102006060905A1 (de) * | 2006-12-20 | 2008-06-26 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren und Längsführungsassistent zur Unterstützung der Längsführung eines Fahrzeuges |
JP2008191781A (ja) * | 2007-02-01 | 2008-08-21 | Hitachi Ltd | 衝突回避システム |
DE102008003205A1 (de) * | 2008-01-04 | 2009-07-09 | Wabco Gmbh | Vorrichtung, Verfahren und Computerprogramm zur Kollisionsvermeidung oder zur Verminderung der Kollisionsschwere infolge einer Kollision für Fahrzeuge, insbesondere Nutzfahrzeuge |
WO2010116542A1 (ja) * | 2009-04-10 | 2010-10-14 | トヨタ自動車株式会社 | 車両の重量関連物理量推定装置及び制御装置 |
JP5672822B2 (ja) * | 2010-07-29 | 2015-02-18 | トヨタ自動車株式会社 | 車両制御システム |
JP5668359B2 (ja) * | 2010-08-11 | 2015-02-12 | トヨタ自動車株式会社 | 車両制御装置 |
JP5293699B2 (ja) | 2010-08-11 | 2013-09-18 | トヨタ自動車株式会社 | 車両制御装置 |
JP5549472B2 (ja) | 2010-08-11 | 2014-07-16 | トヨタ自動車株式会社 | 車両制御装置 |
WO2012117057A1 (de) | 2011-03-01 | 2012-09-07 | Continental Teves Ag & Co. Ohg | Sicherheitsvorrichtung für ein kraftfahrzeug und verfahren zum betrieb eines kraftfahrzeugs |
DE102011116112B4 (de) * | 2011-10-15 | 2023-06-07 | Continental Autonomous Mobility Germany GmbH | Adaptiver Notbremsassistent |
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DE102013007857B4 (de) | 2013-05-08 | 2022-02-03 | Audi Ag | Verfahren zum Betrieb eines Bremssystems beim vollautomatischen Fahren und Kraftfahrzeug |
US9656667B2 (en) * | 2014-01-29 | 2017-05-23 | Continental Automotive Systems, Inc. | Method for minimizing automatic braking intrusion based on collision confidence |
DE102014209015A1 (de) | 2014-05-13 | 2015-11-19 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Abstandsregelung für ein Fahrzeug |
DE102014221901A1 (de) * | 2014-10-28 | 2016-04-28 | Robert Bosch Gmbh | Verfahren zur Bereitstellung eines Sensorsignals im Bremssystem in einem Fahrzeug |
US10202144B2 (en) * | 2015-12-08 | 2019-02-12 | Ford Global Technologies, Llc | Vehicle curvature determination |
-
2016
- 2016-06-02 DE DE102016209733.4A patent/DE102016209733A1/de active Pending
-
2017
- 2017-03-31 US US16/304,799 patent/US11130478B2/en active Active
- 2017-03-31 CN CN201780034046.7A patent/CN109195848B/zh active Active
- 2017-03-31 WO PCT/EP2017/057748 patent/WO2017207133A1/de unknown
- 2017-03-31 JP JP2018562214A patent/JP6989531B2/ja active Active
- 2017-03-31 EP EP17715122.2A patent/EP3464004B1/de active Active
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Publication number | Publication date |
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US11130478B2 (en) | 2021-09-28 |
DE102016209733A1 (de) | 2017-12-07 |
US20200317173A1 (en) | 2020-10-08 |
WO2017207133A1 (de) | 2017-12-07 |
CN109195848A (zh) | 2019-01-11 |
JP2019517413A (ja) | 2019-06-24 |
EP3464004A1 (de) | 2019-04-10 |
CN109195848B (zh) | 2022-02-11 |
EP3464004B1 (de) | 2021-11-03 |
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