JP7077990B2 - 車両 - Google Patents
車両 Download PDFInfo
- Publication number
- JP7077990B2 JP7077990B2 JP2019028919A JP2019028919A JP7077990B2 JP 7077990 B2 JP7077990 B2 JP 7077990B2 JP 2019028919 A JP2019028919 A JP 2019028919A JP 2019028919 A JP2019028919 A JP 2019028919A JP 7077990 B2 JP7077990 B2 JP 7077990B2
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- vehicle
- steering
- locus
- steering wheel
- cpu
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000002245 particle Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 9
- 230000002452 interceptive effect Effects 0.000 description 7
- 230000000052 comparative effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 101001108245 Cavia porcellus Neuronal pentraxin-2 Proteins 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 102220613803 Angiotensin-converting enzyme 2_F40D_mutation Human genes 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J5/00—Doors
- B60J5/04—Doors arranged at the vehicle sides
- B60J5/06—Doors arranged at the vehicle sides slidable; foldable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
- E05D15/00—Suspension arrangements for wings
- E05D15/06—Suspension arrangements for wings for wings sliding horizontally more or less in their own plane
- E05D15/10—Suspension arrangements for wings for wings sliding horizontally more or less in their own plane movable out of one plane into a second parallel plane
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/45—Control modes
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/52—Safety arrangements associated with the wing motor
- E05Y2400/53—Wing impact prevention or reduction
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
本実施形態の車両10は完全自動運転を可能とする電気自動車である。図1及び図2に示されるように、車両10の外観は、ルーフ20B、前壁部20C、側壁部20D及び後壁部20Eに囲まれた略直方体形状であって、車両前方には操舵輪である前輪24Aが設けられ、車両後方には後輪24Bが設けられている。前輪24Aは後述するステアリングアクチュエータ46により転舵される。そして、舵角の付いた前輪24Aは側壁部20Dから張り出すように構成されている(図3参照)。
本実施形態の車両10は、舵角の付いた前輪24Aと開放状態OSのスライドドア26とが干渉する可能性がある場合に、CPU40Aの機能により両者の干渉が回避される。以下、干渉回避処理の流れを図7のフローチャートで説明する。
上述した実施形態では、車両前後方向にスライド移動するスライドドア26が前輪24Aに干渉する可能性のある場合について例示がこれに限らない。例えば、本発明は、前輪24Aの車両上方側から前輪24Aに向けてスライド移動するスライドドアに適用することができる。また、本発明は、前壁部20Cに設けられ、車体に沿って側壁部20D側に曲がりながらスライド移動するスライドドアに適用してよい。
24A 前輪(操舵輪)
25 乗降口(開口)
26 スライドドア
46 ステアリングアクチュエータ(操舵機構)
256 運転制御部
258 舵角調整部
260 ドア制御部
Claims (4)
- 閉鎖状態において車体に設けられた開口を塞ぎ、スライド移動する軌跡が転舵される操舵輪の軌跡と重なるスライドドアと、
前記操舵輪を転舵させる操舵機構と、
前記操舵機構を制御して自動運転を行う運転制御部と、
自動運転中において前記操舵輪が前記スライドドアの軌跡上にある場合、停車前に前記操舵機構を制御して前記操舵輪が前記スライドドアの軌跡上から離れるように前記操舵輪の舵角を調整する舵角調整部と、
を備える車両。 - 前記舵角調整部は、
自動運転に際して設定された目的地から所定の範囲内に前記車両が到達した場合に、前記操舵機構を制御して前記操舵輪が前記スライドドアの軌跡上から離れるように前記舵角を調整する請求項1に記載の車両。 - 前記舵角調整部は、
前記車両が減速を開始する前に、前記操舵機構を制御して前記操舵輪が前記スライドドアの軌跡上から離れ、かつ直進方向を向くように前記舵角を調整する請求項1又は2に記載の車両。 - 自動運転が規制された手動運転中において、前記操舵輪が前記スライドドアの軌跡上にある場合、開放される前記スライドドアを前記操舵輪と接触する手前の半開状態で停止させるドア制御部、をさらに備える請求項1~3の何れか1項に記載の車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019028919A JP7077990B2 (ja) | 2019-02-20 | 2019-02-20 | 車両 |
CN202010075583.XA CN111591116B (zh) | 2019-02-20 | 2020-01-22 | 车辆 |
US16/752,696 US11320824B2 (en) | 2019-02-20 | 2020-01-27 | Vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019028919A JP7077990B2 (ja) | 2019-02-20 | 2019-02-20 | 車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020131983A JP2020131983A (ja) | 2020-08-31 |
JP7077990B2 true JP7077990B2 (ja) | 2022-05-31 |
Family
ID=72040606
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019028919A Active JP7077990B2 (ja) | 2019-02-20 | 2019-02-20 | 車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11320824B2 (ja) |
JP (1) | JP7077990B2 (ja) |
CN (1) | CN111591116B (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20200073297A (ko) * | 2018-11-30 | 2020-06-24 | 현대자동차주식회사 | 대향형 슬라이딩 도어의 휠 간섭 방지 시스템 및 그 방법 |
US20220218541A1 (en) * | 2021-01-13 | 2022-07-14 | Toyota Jidosha Kabushiki Kaisha | Control device of vehicle, vehicle, and method of activating door to open and close and slope plate to deploy |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007120113A (ja) | 2005-10-27 | 2007-05-17 | Aisin Seiki Co Ltd | スライドドアシステム及びスライドドア操作制御方法 |
JP2010120499A (ja) | 2008-11-19 | 2010-06-03 | Honda Motor Co Ltd | 車両挙動制御装置 |
CN108725153A (zh) | 2017-04-20 | 2018-11-02 | 比亚迪股份有限公司 | 防止车门和轮胎干涉的方法、存储介质和轮式车辆 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001180276A (ja) * | 1999-12-24 | 2001-07-03 | Fuji Heavy Ind Ltd | バスの乗降扉構造 |
JP2006117089A (ja) * | 2004-10-21 | 2006-05-11 | Toyota Motor Corp | 車両用制御装置 |
JP2007038873A (ja) * | 2005-08-03 | 2007-02-15 | Nissan Motor Co Ltd | 車両用スライドドア装置 |
DE102007006360A1 (de) * | 2007-02-08 | 2008-08-21 | Dura Automotive Body & Glass Systems Gmbh | Schiebetüre für ein Kraftfahrzeug |
DE102012101477B4 (de) * | 2012-02-23 | 2016-04-28 | Gebr. Bode Gmbh & Co. Kg | Fahrzeugschiebetürvorrichtung mit schräger Führungsschiene |
JP6217913B2 (ja) * | 2013-10-31 | 2017-10-25 | 三菱自動車エンジニアリング株式会社 | 車両のスライドドア構造 |
JP2016147508A (ja) * | 2015-02-10 | 2016-08-18 | 本田技研工業株式会社 | 車両制御装置 |
US10384519B1 (en) * | 2016-01-12 | 2019-08-20 | Apple Inc. | Doors with adaptive positioning |
CN105464512A (zh) * | 2016-01-21 | 2016-04-06 | 林会明 | 车辆转向轮与车门的防干涉保护装置 |
JP6769383B2 (ja) | 2017-04-13 | 2020-10-14 | トヨタ自動車株式会社 | 自動運転装置、及び通知方法 |
-
2019
- 2019-02-20 JP JP2019028919A patent/JP7077990B2/ja active Active
-
2020
- 2020-01-22 CN CN202010075583.XA patent/CN111591116B/zh active Active
- 2020-01-27 US US16/752,696 patent/US11320824B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007120113A (ja) | 2005-10-27 | 2007-05-17 | Aisin Seiki Co Ltd | スライドドアシステム及びスライドドア操作制御方法 |
JP2010120499A (ja) | 2008-11-19 | 2010-06-03 | Honda Motor Co Ltd | 車両挙動制御装置 |
CN108725153A (zh) | 2017-04-20 | 2018-11-02 | 比亚迪股份有限公司 | 防止车门和轮胎干涉的方法、存储介质和轮式车辆 |
Also Published As
Publication number | Publication date |
---|---|
US11320824B2 (en) | 2022-05-03 |
JP2020131983A (ja) | 2020-08-31 |
US20200264617A1 (en) | 2020-08-20 |
CN111591116A (zh) | 2020-08-28 |
CN111591116B (zh) | 2023-08-29 |
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