CN111547130B - 车辆控制装置 - Google Patents

车辆控制装置 Download PDF

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Publication number
CN111547130B
CN111547130B CN202010078605.8A CN202010078605A CN111547130B CN 111547130 B CN111547130 B CN 111547130B CN 202010078605 A CN202010078605 A CN 202010078605A CN 111547130 B CN111547130 B CN 111547130B
Authority
CN
China
Prior art keywords
steering
reaction force
vehicle
control
target position
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.)
Expired - Fee Related
Application number
CN202010078605.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN111547130A (zh
Inventor
辻完太
石冈淳之
西田大树
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of CN111547130A publication Critical patent/CN111547130A/zh
Application granted granted Critical
Publication of CN111547130B publication Critical patent/CN111547130B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0255—Automatic changing of lane, e.g. for passing another 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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
    • 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
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN202010078605.8A 2019-02-08 2020-02-03 车辆控制装置 Expired - Fee Related CN111547130B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-021799 2019-02-08
JP2019021799A JP7099970B2 (ja) 2019-02-08 2019-02-08 車両制御装置

Publications (2)

Publication Number Publication Date
CN111547130A CN111547130A (zh) 2020-08-18
CN111547130B true CN111547130B (zh) 2022-06-07

Family

ID=71945824

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010078605.8A Expired - Fee Related CN111547130B (zh) 2019-02-08 2020-02-03 车辆控制装置

Country Status (3)

Country Link
US (1) US11225248B2 (enExample)
JP (1) JP7099970B2 (enExample)
CN (1) CN111547130B (enExample)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7256982B2 (ja) 2018-12-28 2023-04-13 スズキ株式会社 車両の走行制御装置
JP7205768B2 (ja) * 2019-03-08 2023-01-17 スズキ株式会社 車両の走行制御装置
JP7393730B2 (ja) 2019-09-26 2023-12-07 スズキ株式会社 車両の走行制御装置
CN116490415A (zh) * 2020-12-28 2023-07-25 本田技研工业株式会社 车辆控制装置、车辆控制方法及程序
US11993281B2 (en) * 2021-02-26 2024-05-28 Nissan North America, Inc. Learning in lane-level route planner
JP7613978B2 (ja) * 2021-03-26 2025-01-15 トヨタ自動車株式会社 走行制御装置
US11702075B2 (en) * 2021-04-30 2023-07-18 Nissan North America, Inc. System and method for proactive lane assist
US20220371585A1 (en) * 2021-05-21 2022-11-24 Robert Bosch Gmbh Customizable lane biasing for an automated vehicle
JP7582075B2 (ja) * 2021-06-03 2024-11-13 株式会社デンソー シート制御装置、シート制御プログラム、状態推定装置、及び状態推定プログラム
JP7645135B2 (ja) * 2021-06-08 2025-03-13 日立Astemo株式会社 走行支援装置
US12084075B2 (en) * 2021-12-01 2024-09-10 GM Global Technology Operations LLC Methods and systems for adaptive blending of driver and automated steering commands under external threat
JP2023139368A (ja) * 2022-03-22 2023-10-04 トヨタ自動車株式会社 車両制御装置
JP7448588B2 (ja) * 2022-06-23 2024-03-12 本田技研工業株式会社 運転支援装置、運転支援方法、およびプログラム
JP7715122B2 (ja) * 2022-10-31 2025-07-30 トヨタ自動車株式会社 運転支援装置
US12377811B2 (en) 2023-02-28 2025-08-05 Honda Motor Co., Ltd. Keyless dual power system control for electric motor vehicles
JP7650913B2 (ja) * 2023-03-30 2025-03-25 本田技研工業株式会社 車両用制御装置、車両制御方法、およびプログラム
WO2025158510A1 (ja) * 2024-01-22 2025-07-31 Ａｓｔｅｍｏ株式会社 運転制御装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104602989A (zh) * 2012-09-04 2015-05-06 日产自动车株式会社 稳定性控制装置
CN104703862A (zh) * 2012-10-01 2015-06-10 日产自动车株式会社 稳定性控制装置
CN106428193A (zh) * 2015-08-07 2017-02-22 丰田自动车株式会社 车辆的行驶控制装置
CN107531276A (zh) * 2015-04-09 2018-01-02 日产自动车株式会社 车道维持辅助装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012232704A (ja) 2011-05-09 2012-11-29 Jtekt Corp 車両用操舵装置
JP6082415B2 (ja) * 2015-03-03 2017-02-15 富士重工業株式会社 車両の走行制御装置
JP2017218020A (ja) * 2016-06-07 2017-12-14 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム
JP6573643B2 (ja) * 2017-03-27 2019-09-11 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
JP6643297B2 (ja) * 2017-11-16 2020-02-12 株式会社Ｓｕｂａｒｕ 運転支援装置
JP7074600B2 (ja) * 2018-07-18 2022-05-24 トヨタ自動車株式会社 運転支援装置
JP6637553B1 (ja) * 2018-07-26 2020-01-29 株式会社Ｓｕｂａｒｕ 車両制御装置
JP7211149B2 (ja) * 2019-02-21 2023-01-24 トヨタ自動車株式会社 電動パワーステアリング装置
JP7348775B2 (ja) * 2019-08-28 2023-09-21 株式会社Subaru 車両の車線逸脱抑制制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104602989A (zh) * 2012-09-04 2015-05-06 日产自动车株式会社 稳定性控制装置
CN104703862A (zh) * 2012-10-01 2015-06-10 日产自动车株式会社 稳定性控制装置
CN107531276A (zh) * 2015-04-09 2018-01-02 日产自动车株式会社 车道维持辅助装置
CN106428193A (zh) * 2015-08-07 2017-02-22 丰田自动车株式会社 车辆的行驶控制装置

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US11225248B2 (en) 2022-01-18
US20200255007A1 (en) 2020-08-13
JP7099970B2 (ja) 2022-07-12
JP2020128167A (ja) 2020-08-27
CN111547130A (zh) 2020-08-18

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