CN115707333B - 驾驶控制方法及驾驶控制装置 - Google Patents

驾驶控制方法及驾驶控制装置 Download PDF

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Publication number
CN115707333B
CN115707333B CN202180004780.5A CN202180004780A CN115707333B CN 115707333 B CN115707333 B CN 115707333B CN 202180004780 A CN202180004780 A CN 202180004780A CN 115707333 B CN115707333 B CN 115707333B
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China
Prior art keywords
upper limit
acceleration
control device
acceleration upper
host vehicle
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CN202180004780.5A
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English (en)
Chinese (zh)
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CN115707333A (zh
Inventor
斋藤信弥
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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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
    • 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
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • 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
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
CN202180004780.5A 2021-05-28 2021-05-28 驾驶控制方法及驾驶控制装置 Active CN115707333B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/020563 WO2022249490A1 (ja) 2021-05-28 2021-05-28 運転制御方法及び運転制御装置

Publications (2)

Publication Number Publication Date
CN115707333A CN115707333A (zh) 2023-02-17
CN115707333B true CN115707333B (zh) 2023-08-22

Family

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Application Number Title Priority Date Filing Date
CN202180004780.5A Active CN115707333B (zh) 2021-05-28 2021-05-28 驾驶控制方法及驾驶控制装置

Country Status (5)

Country Link
US (1) US12012104B2 (enExample)
EP (1) EP4349674B1 (enExample)
JP (1) JP7211551B1 (enExample)
CN (1) CN115707333B (enExample)
WO (1) WO2022249490A1 (enExample)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11520338B2 (en) * 2020-02-27 2022-12-06 Uatc, Llc Systems and methods for vehicle spatial path sampling
JP7505448B2 (ja) * 2021-06-08 2024-06-25 株式会社アイシン 運転支援装置
JP7613344B2 (ja) * 2021-11-17 2025-01-15 トヨタ自動車株式会社 先行車選定装置、先行車選定方法及び先行車選定用コンピュータプログラム

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1139599A (ja) * 1997-07-16 1999-02-12 Nissan Motor Co Ltd 自動運転車両の自動合流システム
JP2006323686A (ja) * 2005-05-19 2006-11-30 Toyota Motor Corp 運転支援装置
CN101367382A (zh) * 2007-07-31 2009-02-18 日产自动车株式会社 车辆行驶控制装置及车辆行驶控制方法
JP2009137550A (ja) * 2007-12-10 2009-06-25 Toyota Motor Corp 走行制御装置
JP2009262895A (ja) * 2008-04-30 2009-11-12 Nissan Motor Co Ltd 車両用走行制御装置
JP2010076584A (ja) * 2008-09-25 2010-04-08 Hitachi Automotive Systems Ltd 加減速制御装置
JP2015102893A (ja) * 2013-11-21 2015-06-04 日産自動車株式会社 合流支援システム
JP2018118568A (ja) * 2017-01-24 2018-08-02 スズキ株式会社 走行制御装置
JP2019175097A (ja) * 2018-03-28 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の運転支援システム
CN110799399A (zh) * 2017-08-10 2020-02-14 日立汽车系统株式会社 车辆运动控制装置及其方法、和目标轨道生成装置及其方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1142955A (ja) * 1997-07-25 1999-02-16 Toyota Motor Corp 車両走行制御装置
JP2001030797A (ja) * 1999-07-26 2001-02-06 Mazda Motor Corp 車両の走行制御装置
US7092815B2 (en) * 2003-12-17 2006-08-15 Vrbia, Inc. Traffic control systems for vehicle spacing to dissipate traffic gridlock
SE1450601A1 (sv) * 2014-05-21 2015-11-22 Scania Cv Ab Förfarande och system för anpassning av ett fordons framförande på en vägbana i samband med kurvkörning
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
CN110770105B (zh) 2017-07-03 2022-07-05 日产自动车株式会社 驾驶辅助车辆的目标车速生成方法及目标车速生成装置
DE102018002335A1 (de) * 2018-03-21 2019-09-26 Zf Active Safety Gmbh Steuerungssystem und Steuerungsverfahren zum vorausschauenden Begrenzen einer Fahrzeugbeschleunigung
JP7137332B2 (ja) 2018-03-27 2022-09-14 株式会社Subaru 車両の走行制御装置
US11561548B2 (en) * 2020-09-11 2023-01-24 Uatc, Llc Systems and methods for generating basis paths for autonomous vehicle motion control

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1139599A (ja) * 1997-07-16 1999-02-12 Nissan Motor Co Ltd 自動運転車両の自動合流システム
JP2006323686A (ja) * 2005-05-19 2006-11-30 Toyota Motor Corp 運転支援装置
CN101367382A (zh) * 2007-07-31 2009-02-18 日产自动车株式会社 车辆行驶控制装置及车辆行驶控制方法
JP2009137550A (ja) * 2007-12-10 2009-06-25 Toyota Motor Corp 走行制御装置
JP2009262895A (ja) * 2008-04-30 2009-11-12 Nissan Motor Co Ltd 車両用走行制御装置
JP2010076584A (ja) * 2008-09-25 2010-04-08 Hitachi Automotive Systems Ltd 加減速制御装置
JP2015102893A (ja) * 2013-11-21 2015-06-04 日産自動車株式会社 合流支援システム
JP2018118568A (ja) * 2017-01-24 2018-08-02 スズキ株式会社 走行制御装置
CN110799399A (zh) * 2017-08-10 2020-02-14 日立汽车系统株式会社 车辆运动控制装置及其方法、和目标轨道生成装置及其方法
JP2019175097A (ja) * 2018-03-28 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の運転支援システム

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Publication number Publication date
JPWO2022249490A1 (enExample) 2022-12-01
US20230382387A1 (en) 2023-11-30
WO2022249490A1 (ja) 2022-12-01
JP7211551B1 (ja) 2023-01-24
EP4349674A4 (en) 2024-07-24
EP4349674A1 (en) 2024-04-10
EP4349674B1 (en) 2025-08-27
US12012104B2 (en) 2024-06-18
CN115707333A (zh) 2023-02-17

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