CN115552497B - 多用途车 - Google Patents

多用途车 Download PDF

Info

Publication number
CN115552497B
CN115552497B CN202080101384.XA CN202080101384A CN115552497B CN 115552497 B CN115552497 B CN 115552497B CN 202080101384 A CN202080101384 A CN 202080101384A CN 115552497 B CN115552497 B CN 115552497B
Authority
CN
China
Prior art keywords
vehicle
road surface
surface condition
travel
level
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.)
Active
Application number
CN202080101384.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN115552497A (zh
Inventor
石井宏志
岩本太郎
中岛健志
长坂和哉
佐野敦司
市川和宏
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.)
Kawasaki Motorcycle Co ltd
Original Assignee
Kawasaki Motorcycle 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 Kawasaki Motorcycle Co ltd filed Critical Kawasaki Motorcycle Co ltd
Publication of CN115552497A publication Critical patent/CN115552497A/zh
Application granted granted Critical
Publication of CN115552497B publication Critical patent/CN115552497B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • 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
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • 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
    • 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
    • B60W40/11—Pitch movement
    • 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
    • B60W40/112—Roll movement
    • 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
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W60/005—Handover processes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/18—Four-wheel drive vehicles
    • B60W2300/185—Off-road vehicles
    • 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
    • B60W2520/16—Pitch
    • 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
    • B60W2520/18—Roll
    • 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
    • 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)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
CN202080101384.XA 2020-05-28 2020-05-28 多用途车 Active CN115552497B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/021165 WO2021240742A1 (ja) 2020-05-28 2020-05-28 ユーティリティビークル

Publications (2)

Publication Number Publication Date
CN115552497A CN115552497A (zh) 2022-12-30
CN115552497B true CN115552497B (zh) 2025-03-25

Family

ID=78723179

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080101384.XA Active CN115552497B (zh) 2020-05-28 2020-05-28 多用途车

Country Status (5)

Country Link
US (1) US12344224B2 (https=)
EP (1) EP4160568B1 (https=)
JP (1) JP7437500B2 (https=)
CN (1) CN115552497B (https=)
WO (1) WO2021240742A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024024349A (ja) * 2022-08-09 2024-02-22 株式会社Subaru 車両制御装置
JP2024112485A (ja) * 2023-02-08 2024-08-21 トヨタ自動車株式会社 異常検知装置、異常検知方法及び異常検知用コンピュータプログラム
JP2025177619A (ja) * 2024-05-24 2025-12-05 Ａｓｔｅｍｏ株式会社 電子制御装置及び環境認識方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109733391A (zh) * 2018-12-10 2019-05-10 北京百度网讯科技有限公司 车辆的控制方法、装置、设备、车辆及存储介质

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4112738B2 (ja) 1999-04-20 2008-07-02 ヤンマー農機株式会社 移動農機
JP4403759B2 (ja) 2003-09-02 2010-01-27 カシオ計算機株式会社 ナビゲーション装置、ナビゲーションシステム、及び、プログラム
JP2005215742A (ja) 2004-01-27 2005-08-11 Yanmar Co Ltd 農業用作業車
JP2008185418A (ja) * 2007-01-29 2008-08-14 Toyota Motor Corp 道路形状算出装置及び車両センサ補正装置
JP2009006884A (ja) * 2007-06-28 2009-01-15 Nissan Motor Co Ltd 能動型サスペンション、及び車両の姿勢変化抑制方法
JP2009205652A (ja) 2008-02-29 2009-09-10 Nec Corp 移動体制御システム及び移動体制御方法
US8126642B2 (en) * 2008-10-24 2012-02-28 Gray & Company, Inc. Control and systems for autonomously driven vehicles
JP5878777B2 (ja) 2012-02-14 2016-03-08 日立建機株式会社 路面管理システム
CA3014660C (en) * 2016-02-15 2021-08-17 Allstate Insurance Company Early notification of non-autonomous area
US10699347B1 (en) * 2016-02-24 2020-06-30 Allstate Insurance Company Polynomial risk maps
JP6663366B2 (ja) * 2017-01-27 2020-03-11 ヤンマー株式会社 経路生成システム、及びそれによって生成された経路に沿って作業車両を走行させる自律走行システム
CN110546698A (zh) * 2017-06-27 2019-12-06 本田技研工业株式会社 车辆控制装置
JP7027142B2 (ja) 2017-12-06 2022-03-01 ヤンマーパワーテクノロジー株式会社 作業車両用の目標経路生成システム
JP6628819B2 (ja) * 2018-01-15 2020-01-15 本田技研工業株式会社 車両走行制御装置
SE542784C2 (en) * 2018-02-08 2020-07-07 Scania Cv Ab Method and a control device for determining vehicle operation of at least one vehicle
JP6937263B2 (ja) * 2018-03-26 2021-09-22 ヤンマーパワーテクノロジー株式会社 作業車両の走行制御システム
JP2020013379A (ja) 2018-07-19 2020-01-23 株式会社日立製作所 車両運行システム
US10852746B2 (en) * 2018-12-12 2020-12-01 Waymo Llc Detecting general road weather conditions
US11144053B2 (en) * 2019-04-04 2021-10-12 Toyota Research Institute, Inc. Controlling driving condition components of an autonomous vehicle based on a current driving mode and current conditions
JP2021022319A (ja) * 2019-07-30 2021-02-18 トヨタ自動車株式会社 車両走行制御装置
US20200101974A1 (en) * 2019-08-12 2020-04-02 Lg Electronics Inc. Device and method for selecting optimal travel route based on driving situation

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109733391A (zh) * 2018-12-10 2019-05-10 北京百度网讯科技有限公司 车辆的控制方法、装置、设备、车辆及存储介质

Also Published As

Publication number Publication date
EP4160568A4 (en) 2024-04-10
US20230202451A1 (en) 2023-06-29
EP4160568A1 (en) 2023-04-05
JPWO2021240742A1 (https=) 2021-12-02
WO2021240742A1 (ja) 2021-12-02
US12344224B2 (en) 2025-07-01
JP7437500B2 (ja) 2024-02-22
CN115552497A (zh) 2022-12-30
EP4160568B1 (en) 2025-12-10

Similar Documents

Publication Publication Date Title
US20230365136A1 (en) Road friction and wheel slippage assessment for autonomous vehicles
US12066836B2 (en) Detecting general road weather conditions
CN110481555B (zh) 车辆路径规划方法和乘坐舒适度处理器
US10915109B2 (en) Control of autonomous vehicle based on pre-learned passenger and environment aware driving style profile
US10871773B2 (en) Vehicle travel control apparatus
JP6360855B2 (ja) 車両のドライバ勧告システム
US12459497B2 (en) Systems and methods for updating the parameters of a model predictive controller with learned controls parameters generated using simulations and machine learning
US11975725B2 (en) Systems and methods for updating the parameters of a model predictive controller with learned external parameters generated using simulations and machine learning
US20210089039A1 (en) System and method for avoiding contact between autonomous and manned vehicles caused by loss of traction
KR20230124662A (ko) 첨단 운전자 보조 시스템용 지형 기반 인사이트용 시스템및 방법
CN115552497B (zh) 多用途车
WO2023129646A2 (en) Apparatus and methods for driver assistance and vehicle control
US11999378B2 (en) Control system for a vehicle
CN113329927A (zh) 基于激光雷达的挂车追踪
US12134394B2 (en) Vehicle dynamics emulation
US11414093B2 (en) System and method for transitioning a vehicle from an autonomous mode in response to a handover event
US20220242441A1 (en) Systems and methods for updating the parameters of a model predictive controller with learned operational and vehicle parameters generated using simulations and machine learning
US11763694B2 (en) Systems and methods for training a driver about automated driving operation using a reliability model
AU2024200931A1 (en) Road surface condition obtaining system
US11498564B2 (en) Controlling a vehicle that is skidding
CN115552499B (zh) 多用途车
US12145521B2 (en) Lateral vehicle position and seat orientation control
CN119527311A (zh) 车辆控制方法及装置、计算机可读存储介质和车辆
CN116135645A (zh) 用于对车辆的牵引座的位置进行闭环控制的方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant