BR112020000079A2 - método de geração de velocidade alvo do veículo e dispositivo de geração de velocidade alvo do veículo para veículos com direção assistida - Google Patents
método de geração de velocidade alvo do veículo e dispositivo de geração de velocidade alvo do veículo para veículos com direção assistida Download PDFInfo
- Publication number
- BR112020000079A2 BR112020000079A2 BR112020000079-5A BR112020000079A BR112020000079A2 BR 112020000079 A2 BR112020000079 A2 BR 112020000079A2 BR 112020000079 A BR112020000079 A BR 112020000079A BR 112020000079 A2 BR112020000079 A2 BR 112020000079A2
- Authority
- BR
- Brazil
- Prior art keywords
- vehicle
- speed
- target
- speed limit
- target speed
- Prior art date
Links
- 230000001133 acceleration Effects 0.000 abstract 5
- 238000006073 displacement reaction Methods 0.000 abstract 2
- 230000035807 sensation Effects 0.000 abstract 1
Classifications
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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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- 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
-
- 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
- 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
- B60W40/076—Slope angle 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
- 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
- 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
- B60W40/107—Longitudinal acceleration
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- 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
- B60W2520/125—Lateral 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/406—Traffic density
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2720/103—Speed profile
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/143—Speed control
- B60Y2300/146—Speed limiting
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A presente revelação impede que um passageiro sinta sensações desagradáveis e também evita perturbações de fluxos de tráfego durante o deslocamento com assistência de direção, em correspondência com uma variedade de estradas que possuem diferentes limites de velocidade.
Um dispositivo para a geração de uma velocidade alvo do veículo de um veículo com direção autônoma (veículo com direção assistida) equipado com uma unidade de controle de direção autônoma (2) (controlador) para a geração de uma velocidade alvo do veículo de um veículo hospedeiro em conformidade com um limite de velocidade de um trajeto de deslocamento do veículo hospedeiro, em que a unidade de controle de direção autônoma (2) compreende uma unidade de aquisição de informações de limite de velocidade (22) e uma unidade de geração de velocidade alvo do veículo (23). A unidade de aquisição de informações de limite de velocidade (22) adquire o limite de velocidade do trajeto de deslocamento do veículo hospedeiro durante o deslocamento. A unidade de geração da velocidade alvo do veículo (23) gera uma aceleração alvo junto com a geração da velocidade alvo do veículo de acordo com o limite de velocidade. A unidade de geração da velocidade alvo do veículo (23) tem uma primeira unidade de computação do limitador de aceleração (231b) que, durante a geração da aceleração alvo, define um limitador de aceleração para aumentar em um sentido de relaxar uma limitação na aceleração de modo correspondente com um aumento no limite de velocidade (figura 6).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/024401 WO2019008649A1 (ja) | 2017-07-03 | 2017-07-03 | 運転支援車両の目標車速生成方法及び目標車速生成装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112020000079A2 true BR112020000079A2 (pt) | 2020-07-07 |
Family
ID=64949790
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112020000079-5A BR112020000079A2 (pt) | 2017-07-03 | 2017-07-03 | método de geração de velocidade alvo do veículo e dispositivo de geração de velocidade alvo do veículo para veículos com direção assistida |
Country Status (10)
Country | Link |
---|---|
US (1) | US11400932B2 (pt) |
EP (1) | EP3650294B1 (pt) |
JP (1) | JP6760502B2 (pt) |
KR (1) | KR20200022482A (pt) |
CN (1) | CN110770105B (pt) |
BR (1) | BR112020000079A2 (pt) |
CA (1) | CA3068955A1 (pt) |
MX (1) | MX2019015812A (pt) |
RU (1) | RU2750871C1 (pt) |
WO (1) | WO2019008649A1 (pt) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7263946B2 (ja) * | 2019-07-03 | 2023-04-25 | トヨタ自動車株式会社 | 車両 |
JP7047824B2 (ja) | 2019-09-12 | 2022-04-05 | トヨタ自動車株式会社 | 車両制御装置 |
CN111179590B (zh) * | 2019-12-24 | 2020-11-20 | 山东国惠安创智能物联发展有限公司 | 一种电动车行车速度的远程控制方法及服务器 |
JP7327210B2 (ja) * | 2020-02-28 | 2023-08-16 | いすゞ自動車株式会社 | 運転支援装置 |
JP7140153B2 (ja) * | 2020-03-03 | 2022-09-21 | トヨタ自動車株式会社 | 表示制御装置 |
US11623662B2 (en) * | 2020-05-08 | 2023-04-11 | Baidu Usa Llc | Planning system for speed limit changes for autonomous vehicles |
JP7154256B2 (ja) * | 2020-07-06 | 2022-10-17 | 本田技研工業株式会社 | 制御装置、制御方法、およびプログラム |
US11681780B2 (en) | 2020-09-30 | 2023-06-20 | Nissan North America, Inc. | Annotation and mapping for vehicle operation in low-confidence object detection conditions |
CN112477630B (zh) * | 2020-12-04 | 2022-06-24 | 江苏科技大学 | 一种提升电动车起步舒适度的控制方法 |
CN115707333B (zh) * | 2021-05-28 | 2023-08-22 | 日产自动车株式会社 | 驾驶控制方法及驾驶控制装置 |
US20230117152A1 (en) * | 2021-10-18 | 2023-04-20 | Kawasaki Motors, Ltd. | Control requirement determiner, rough terrain vehicle, and control requirement determining method |
CN113895446B (zh) * | 2021-12-13 | 2022-02-22 | 智道网联科技(北京)有限公司 | 自动驾驶车辆速度确定方法、装置、设备及存储介质 |
Family Cites Families (17)
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JP3656464B2 (ja) * | 1999-06-15 | 2005-06-08 | 日産自動車株式会社 | 先行車追従制御装置 |
DE19938266A1 (de) * | 1999-08-12 | 2001-02-15 | Volkswagen Ag | Verfahren und Einrichtung zur elektronischen bzw. elektronisch visuellen Erkennung von Verkehrszeichen |
DE10241059A1 (de) * | 2002-09-05 | 2004-03-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Begrenzung der Geschwindigkeit eines Fahrzeugs |
DE10358968B4 (de) * | 2003-12-16 | 2012-04-26 | Bayerische Motoren Werke Aktiengesellschaft | Fahrgeschwindigkeitsregelvorrichtung für ein Kraftfahrzeug, die mit einem Navigationssystem verbunden ist |
JP4807107B2 (ja) * | 2006-03-02 | 2011-11-02 | 日産自動車株式会社 | 車両用走行制御装置 |
JP2007255382A (ja) * | 2006-03-24 | 2007-10-04 | Toyota Motor Corp | 車両走行制御装置および車両走行制御方法 |
US8055427B2 (en) * | 2008-12-18 | 2011-11-08 | GM Global Technology Operations LLC | Method and apparatus for speed-limit following cruise control |
JP5146420B2 (ja) * | 2009-07-14 | 2013-02-20 | トヨタ自動車株式会社 | 走行支援装置 |
GB2499657B (en) * | 2012-02-27 | 2018-07-11 | Ford Global Tech Llc | Vehicle speed control apparatus and method |
DE102012104069B3 (de) * | 2012-05-09 | 2013-03-14 | Continental Teves Ag & Co. Ohg | Verfahren zur Ermittlung einer Geschwindigkeitsempfehlung |
KR101358330B1 (ko) * | 2012-09-26 | 2014-02-12 | 현대모비스 주식회사 | 차속 제어 장치, 이를 포함하는 차속 제어 시스템 및 그 제어 방법 |
DE102014215671A1 (de) * | 2014-08-07 | 2016-02-11 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem in einem Kraftfahrzeug |
JP6191644B2 (ja) | 2015-03-26 | 2017-09-06 | トヨタ自動車株式会社 | 車速制限装置 |
JP5982034B1 (ja) * | 2015-03-30 | 2016-08-31 | 富士重工業株式会社 | 車両の運転支援システム |
JP6418062B2 (ja) | 2015-05-19 | 2018-11-07 | トヨタ自動車株式会社 | 車速制御装置及び車両 |
JP2017001485A (ja) * | 2015-06-09 | 2017-01-05 | トヨタ自動車株式会社 | 車両の運転支援装置 |
EP3144197B1 (de) * | 2015-09-15 | 2021-07-14 | Ford Global Technologies, LLC | Verfahren zur automatischen beschleunigungsanpassung bei einem kraftfahrzeug |
-
2017
- 2017-07-03 WO PCT/JP2017/024401 patent/WO2019008649A1/ja unknown
- 2017-07-03 RU RU2020104286A patent/RU2750871C1/ru active
- 2017-07-03 BR BR112020000079-5A patent/BR112020000079A2/pt active Search and Examination
- 2017-07-03 CN CN201780091967.7A patent/CN110770105B/zh active Active
- 2017-07-03 US US16/617,012 patent/US11400932B2/en active Active
- 2017-07-03 CA CA3068955A patent/CA3068955A1/en not_active Abandoned
- 2017-07-03 EP EP17917114.5A patent/EP3650294B1/en active Active
- 2017-07-03 KR KR1020207002732A patent/KR20200022482A/ko not_active Application Discontinuation
- 2017-07-03 JP JP2019528216A patent/JP6760502B2/ja active Active
- 2017-07-03 MX MX2019015812A patent/MX2019015812A/es unknown
Also Published As
Publication number | Publication date |
---|---|
CN110770105A (zh) | 2020-02-07 |
US11400932B2 (en) | 2022-08-02 |
EP3650294B1 (en) | 2022-03-23 |
JPWO2019008649A1 (ja) | 2020-03-19 |
EP3650294A1 (en) | 2020-05-13 |
US20210276550A1 (en) | 2021-09-09 |
EP3650294A4 (en) | 2020-08-26 |
CN110770105B (zh) | 2022-07-05 |
KR20200022482A (ko) | 2020-03-03 |
JP6760502B2 (ja) | 2020-09-23 |
WO2019008649A1 (ja) | 2019-01-10 |
RU2750871C1 (ru) | 2021-07-05 |
MX2019015812A (es) | 2020-02-07 |
CA3068955A1 (en) | 2019-01-10 |
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B06W | Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette] | ||
B09A | Decision: intention to grant [chapter 9.1 patent gazette] | ||
B09W | Correction of the decision to grant [chapter 9.1.4 patent gazette] |
Free format text: RETIFICACAO DO DESPACHO 9.1 PUBLICADO NA RPI 2744 DE 08/08/2023 |