CN101606112A - 自动操作控制装置、自动操作控制方法、车辆巡航系统和控制该车辆巡航系统的方法 - Google Patents
自动操作控制装置、自动操作控制方法、车辆巡航系统和控制该车辆巡航系统的方法 Download PDFInfo
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- CN101606112A CN101606112A CNA2007800416157A CN200780041615A CN101606112A CN 101606112 A CN101606112 A CN 101606112A CN A2007800416157 A CNA2007800416157 A CN A2007800416157A CN 200780041615 A CN200780041615 A CN 200780041615A CN 101606112 A CN101606112 A CN 101606112A
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- 238000000034 method Methods 0.000 title claims description 21
- 238000011156 evaluation Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 239000000446 fuel Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- 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
-
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future 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
- 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
- B60W2520/14—Yaw
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
-
- 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
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Mathematical Physics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
Description
Claims (14)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP305420/2006 | 2006-11-10 | ||
JP2006305420A JP4371137B2 (ja) | 2006-11-10 | 2006-11-10 | 自動運転制御装置 |
PCT/IB2007/004223 WO2008056262A2 (en) | 2006-11-10 | 2007-11-09 | Automatic operation control apparatus, automatic operation control method, vehicle cruise system, and method for controlling the vehicle cruise system |
Publications (2)
Publication Number | Publication Date |
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CN101606112A true CN101606112A (zh) | 2009-12-16 |
CN101606112B CN101606112B (zh) | 2012-11-28 |
Family
ID=39358828
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2007800416157A Expired - Fee Related CN101606112B (zh) | 2006-11-10 | 2007-11-09 | 自动操作控制装置、自动操作控制方法、车辆巡航系统和控制该车辆巡航系统的方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20100036578A1 (zh) |
EP (1) | EP2074489A2 (zh) |
JP (1) | JP4371137B2 (zh) |
CN (1) | CN101606112B (zh) |
WO (1) | WO2008056262A2 (zh) |
Cited By (9)
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CN102874255A (zh) * | 2011-07-14 | 2013-01-16 | 现代摩比斯株式会社 | 应用变曲率的智能型定速巡航系统及其方法 |
CN104639627A (zh) * | 2015-01-29 | 2015-05-20 | 中国科学院计算技术研究所 | 一种用于车联网的信息发送方法及相应的车载装置和车辆 |
CN104925057A (zh) * | 2015-06-26 | 2015-09-23 | 武汉理工大学 | 一种具有多模式切换体系的汽车自适应巡航系统及其控制方法 |
CN106184217A (zh) * | 2015-05-25 | 2016-12-07 | 丰田自动车株式会社 | 车辆的自动驾驶系统 |
CN107097787A (zh) * | 2013-05-03 | 2017-08-29 | 谷歌公司 | 对控制车辆的速度的预测性推理 |
CN107139931A (zh) * | 2016-03-01 | 2017-09-08 | 福特全球技术公司 | 基于交互式模型预测控制的自主车辆操作 |
CN108437983A (zh) * | 2018-03-29 | 2018-08-24 | 吉林大学 | 一种基于预测安全的智能车辆避障系统 |
CN108508883A (zh) * | 2017-02-28 | 2018-09-07 | 现代自动车株式会社 | 车辆位置估计设备和方法及使用其的车辆 |
CN110654386A (zh) * | 2019-10-10 | 2020-01-07 | 厦门大学 | 弯道下多智能电动汽车协作式巡航纵横向综合控制方法 |
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JP4582052B2 (ja) | 2006-06-07 | 2010-11-17 | トヨタ自動車株式会社 | 走行支援装置 |
US8446267B2 (en) * | 2007-08-09 | 2013-05-21 | Steven Schraga | Vehicle-mounted transducer |
JP4985388B2 (ja) * | 2007-12-25 | 2012-07-25 | トヨタ自動車株式会社 | 運転支援装置及び運転支援システム |
US8195358B2 (en) * | 2008-09-11 | 2012-06-05 | Deere & Company | Multi-vehicle high integrity perception |
DE112009004683B4 (de) * | 2009-04-21 | 2016-05-19 | Toyota Jidosha Kabushiki Kaisha | Fahrassistenzvorrichtung |
DE102010001581B4 (de) | 2010-02-04 | 2023-08-10 | Robert Bosch Gmbh | Fahrerassistenzsystem und Verfahren zur Fahrerassistenz zum automatischen Fahren |
KR101655467B1 (ko) * | 2010-06-23 | 2016-09-08 | 현대자동차주식회사 | 차량용 길 안내 시스템 |
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Also Published As
Publication number | Publication date |
---|---|
JP4371137B2 (ja) | 2009-11-25 |
CN101606112B (zh) | 2012-11-28 |
WO2008056262A2 (en) | 2008-05-15 |
EP2074489A2 (en) | 2009-07-01 |
JP2008123197A (ja) | 2008-05-29 |
US20100036578A1 (en) | 2010-02-11 |
WO2008056262A3 (en) | 2009-08-27 |
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