JP7127489B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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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
- B60W30/18145—Cornering
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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
- B60W40/02—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
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision 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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/12—Lateral 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/12—Lateral speed
- B60W2720/125—Lateral acceleration
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
図1に、本実施形態の運転支援システムの全体構成を示す。同図に示すように、本運転支援システムは、VSC_ECU10、舵角センサ11、Gセンサ12、ヨーレートセンサ13、ENG_ECU14、CCDカメラ15、画像認識処理装置16、レーダ17、操作SW18、ナビゲーション装置19、及び車両制御ECU20によって構成される。
TTC=Do/(-Vr) …(3)
R={(D+b)^2-L^2}/2×L …(5)
車両制御ECU20は、旋回走行経路が、自車40の走行方向前方に存在する駐停車両や静止障害物等を回避するための旋回走行経路である場合においても、同様に、経路端距離D、経路幅W等のデータに基づいて、先読み曲率半径Rを算出し、加減速度Gx等を算出して、自車40の制御を実行できる。
車両制御ECU20は、旋回走行経路が、自車40の走行方向前方を走行する先行車を回避するための旋回走行経路である場合においても、自車40と先行車46との衝突点までの距離として設定した経路端距離Dと、経路幅W等のデータに基づいて、先読み曲率半径Rを算出し、加減速度Gx等を算出して、自車40の制御を実行できる。
=(Vp-Vr)×TTC
=V×TTC …(8)
Claims (7)
- 自車(40)の走行方向に位置する、前記自車が旋回して走行する旋回走行経路の端部と、前記自車との距離である経路端距離を取得する距離取得部(21)と、
前記旋回走行経路の経路幅を取得する経路幅取得部(22)と、
前記自車の速度を取得する速度取得部(23)と、
前記自車が旋回を開始するよりも前の旋回前位置にて取得された前記経路端距離と、前記経路幅とに基づいて、前記旋回前位置から前記旋回走行経路が開始したと仮定した先読み旋回走行経路の曲率半径である先読み曲率半径を取得する先読み曲率半径取得部(24)と、
前記先読み曲率半径と、前記自車の速度に基づいて設定した前記自車の走行方向に直交する目標加減速度の横方向成分である目標横加減速度とに基づいて、前記自車が前記旋回走行経路を走行する際の目標速度を設定する目標速度設定部(25)と、
前記自車の速度と、前記目標速度とに基づいて、前記自車を前記目標速度まで加減速するための目標加減速度を算出する目標加減速度算出部(26)と、
前記目標加減速度に基づいて、前記自車の加減速制御を実行する車両制御部(27)と、を備える車両制御装置(20)。 - 前記旋回走行経路の端部は、自車が走行しようとする道路の端部、もしくは、自車が回避しようとする物体の端部である請求項1に記載の車両制御装置。
- 前記旋回走行経路の端部は、自車の走行方向に沿って自車の横幅方向の中心軸の延長線上に位置する請求項1または2に記載の車両制御装置。
- 前記旋回走行経路の端部は、自車の横幅方向に所定の大きさを有し自車の走行方向に沿って延長する帯状領域において、自車との距離が最短となる位置である請求項1に記載の車両制御装置。
- 前記距離取得部は、前記旋回走行経路の端部を複数設定して、複数の前記端部についてそれぞれ前記経路端距離を取得する請求項1に記載の車両制御装置。
- 前記目標加減速度算出部は、前記自車の速度に基づいて、前記目標横加減速度を設定する請求項1~5のいずれかに記載の車両制御装置。
- 前記車両制御部は、前記目標横加減速度が所定の閾値を超える場合に、前記自車の加減速制御を実行する請求項1~6のいずれかに記載の車両制御装置。
Priority Applications (3)
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JP2018206060A JP7127489B2 (ja) | 2018-10-31 | 2018-10-31 | 車両制御装置 |
PCT/JP2019/041936 WO2020090666A1 (ja) | 2018-10-31 | 2019-10-25 | 車両制御装置 |
US17/242,613 US11878697B2 (en) | 2018-10-31 | 2021-04-28 | Vehicle control device |
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JP2018206060A JP7127489B2 (ja) | 2018-10-31 | 2018-10-31 | 車両制御装置 |
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JP2020069940A JP2020069940A (ja) | 2020-05-07 |
JP2020069940A5 JP2020069940A5 (ja) | 2021-02-04 |
JP7127489B2 true JP7127489B2 (ja) | 2022-08-30 |
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CN111114542B (zh) * | 2020-02-19 | 2021-07-02 | 北京百度网讯科技有限公司 | 自动驾驶车辆的弯道行驶控制方法、装置、设备和介质 |
US11897468B2 (en) * | 2020-03-03 | 2024-02-13 | Ford Global Technologies, Llc | Vehicle control system |
JP7501379B2 (ja) | 2021-01-12 | 2024-06-18 | 株式会社豊田自動織機 | 自律走行体 |
Citations (3)
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JP4232806B2 (ja) | 2006-09-04 | 2009-03-04 | 株式会社デンソー | 車両制御装置 |
JP2011079410A (ja) | 2009-10-06 | 2011-04-21 | Toyota Motor Corp | 車両の制御装置 |
JP2014058211A (ja) | 2012-09-18 | 2014-04-03 | Hitachi Automotive Systems Ltd | 車両制御装置 |
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JP2897080B2 (ja) | 1990-12-28 | 1999-05-31 | 株式会社小野測器 | 変位計調整方法及びその装置 |
JP3269897B2 (ja) | 1993-11-02 | 2002-04-02 | 本田技研工業株式会社 | オートクルーズ制御装置 |
JP3843502B2 (ja) * | 1996-09-30 | 2006-11-08 | マツダ株式会社 | 車両用動体認識装置 |
US6970779B2 (en) * | 2002-11-25 | 2005-11-29 | Denso Corporation | Vehicle speed control system and program |
JP3979400B2 (ja) * | 2004-04-23 | 2007-09-19 | 日産自動車株式会社 | 前方道路対応制御装置 |
JP4169065B2 (ja) | 2006-02-13 | 2008-10-22 | 株式会社デンソー | 車両制御装置 |
US10037535B2 (en) | 2006-08-31 | 2018-07-31 | Visa U.S.A. Inc. | Loyalty program parameter collaboration |
JP6190830B2 (ja) * | 2015-02-10 | 2017-08-30 | 本田技研工業株式会社 | 走行支援システム及び走行支援方法 |
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4232806B2 (ja) | 2006-09-04 | 2009-03-04 | 株式会社デンソー | 車両制御装置 |
JP2011079410A (ja) | 2009-10-06 | 2011-04-21 | Toyota Motor Corp | 車両の制御装置 |
JP2014058211A (ja) | 2012-09-18 | 2014-04-03 | Hitachi Automotive Systems Ltd | 車両制御装置 |
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WO2020090666A1 (ja) | 2020-05-07 |
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JP2020069940A (ja) | 2020-05-07 |
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