DE112017001962T5 - Fahrzeugsteuerungsapparat - Google Patents

Fahrzeugsteuerungsapparat Download PDF

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Publication number
DE112017001962T5
DE112017001962T5 DE112017001962.1T DE112017001962T DE112017001962T5 DE 112017001962 T5 DE112017001962 T5 DE 112017001962T5 DE 112017001962 T DE112017001962 T DE 112017001962T DE 112017001962 T5 DE112017001962 T5 DE 112017001962T5
Authority
DE
Germany
Prior art keywords
vehicle
section
control
collision
road surface
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.)
Ceased
Application number
DE112017001962.1T
Other languages
German (de)
English (en)
Inventor
Yasuhiko Mukai
Tetsuya Tokuda
Masanobu Yamaguchi
Noriyasu Noto
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.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Publication of DE112017001962T5 publication Critical patent/DE112017001962T5/de
Ceased legal-status Critical Current

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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
    • 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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/068—Road friction coefficient
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2555/20—Ambient conditions, e.g. wind or rain

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Regulating Braking Force (AREA)
DE112017001962.1T 2016-04-11 2017-04-07 Fahrzeugsteuerungsapparat Ceased DE112017001962T5 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2016-079121 2016-04-11
JP2016079121A JP6460033B2 (ja) 2016-04-11 2016-04-11 車両制御装置
PCT/JP2017/014527 WO2017179505A1 (ja) 2016-04-11 2017-04-07 車両制御装置

Publications (1)

Publication Number Publication Date
DE112017001962T5 true DE112017001962T5 (de) 2018-12-20

Family

ID=60042415

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112017001962.1T Ceased DE112017001962T5 (de) 2016-04-11 2017-04-07 Fahrzeugsteuerungsapparat

Country Status (5)

Country Link
US (1) US20190143966A1 (https=)
JP (1) JP6460033B2 (https=)
CN (1) CN108885840A (https=)
DE (1) DE112017001962T5 (https=)
WO (1) WO2017179505A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110040134B (zh) * 2019-03-13 2020-06-16 重庆邮电大学 考虑环境因素的车辆碰撞时间计算方法
CN110403781B (zh) * 2019-08-08 2021-02-09 山东大学 一种病床的原地转弯控制系统及控制方法
JP7593815B2 (ja) * 2021-01-25 2024-12-03 トヨタ自動車株式会社 車両衝突回避支援装置
JP7559656B2 (ja) * 2021-04-05 2024-10-02 トヨタ自動車株式会社 車両衝突回避支援装置
JP7512984B2 (ja) 2021-08-30 2024-07-09 トヨタ自動車株式会社 車両用衝突回避支援装置及び車両用衝突回避支援プログラム
JP7402912B2 (ja) * 2022-03-18 2023-12-21 本田技研工業株式会社 運転支援装置、車両制御システム、運転支援方法、およびプログラム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0558319A (ja) 1991-08-27 1993-03-09 Mazda Motor Corp 車両の接触防止装置
JP2015232825A (ja) 2014-06-10 2015-12-24 株式会社デンソー 衝突回避装置
JP2016079121A (ja) 2014-10-15 2016-05-16 石原産業株式会社 ヘテロアリールスルホンアミド系化合物又はそれらを含有する除草剤

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DE19650475C1 (de) * 1996-12-05 1998-04-16 Daimler Benz Ag Fahrzeuglenkung
JP3319984B2 (ja) * 1997-07-09 2002-09-03 本田技研工業株式会社 車両の衝突回避装置
JP3555450B2 (ja) * 1998-06-18 2004-08-18 日産自動車株式会社 車両用走行制御装置
JP3525872B2 (ja) * 2000-08-01 2004-05-10 トヨタ自動車株式会社 車輌用自動操舵装置
JP4169065B2 (ja) * 2006-02-13 2008-10-22 株式会社デンソー 車両制御装置
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JP4980076B2 (ja) * 2007-01-11 2012-07-18 富士重工業株式会社 車両の運転支援装置
EP2085279B1 (en) * 2008-01-29 2011-05-25 Ford Global Technologies, LLC A system for collision course prediction
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DE102009046966B4 (de) * 2009-11-23 2019-01-31 Robert Bosch Gmbh Verfahren zur Unterstützung des Fahrers eines Fahrzeugs
DE102010032929A1 (de) * 2010-07-30 2012-02-02 Lucas Automotive Gmbh Verfahren zum Betreiben eines elektrisch steuerbaren Bremssystems
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JP5796632B2 (ja) * 2011-09-26 2015-10-21 トヨタ自動車株式会社 車両の運転支援システム
US9674490B2 (en) * 2013-04-18 2017-06-06 Magna Electronics Inc. Vision system for vehicle with adjustable cameras
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JP2015154632A (ja) * 2014-02-17 2015-08-24 トヨタ自動車株式会社 電動車両
KR102350043B1 (ko) * 2015-11-20 2022-01-12 주식회사 만도 자동 조향 제어 시스템 및 방법
WO2017200835A1 (en) * 2016-05-15 2017-11-23 Mechanical Simulation Corporation A system and method to stabilize motorcycles
JP6512539B2 (ja) * 2016-06-06 2019-05-15 日本精工株式会社 電動パワーステアリング装置
CN107873008B (zh) * 2016-07-28 2019-05-07 日本精工株式会社 电动助力转向装置
JP6601345B2 (ja) * 2016-08-24 2019-11-06 株式会社デンソー 車両制御装置
EP3299993A1 (en) * 2016-09-22 2018-03-28 OmniKlima AB Method and arrangement for determining a condition of a road surface
US20180217050A1 (en) * 2017-01-30 2018-08-02 GM Global Technology Operations LLC Invasive active dynamic tests to determine surface coefficient of friction
US11260875B2 (en) * 2017-12-07 2022-03-01 Uatc, Llc Systems and methods for road surface dependent motion planning

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0558319A (ja) 1991-08-27 1993-03-09 Mazda Motor Corp 車両の接触防止装置
JP2015232825A (ja) 2014-06-10 2015-12-24 株式会社デンソー 衝突回避装置
JP2016079121A (ja) 2014-10-15 2016-05-16 石原産業株式会社 ヘテロアリールスルホンアミド系化合物又はそれらを含有する除草剤

Also Published As

Publication number Publication date
US20190143966A1 (en) 2019-05-16
WO2017179505A1 (ja) 2017-10-19
JP2017191383A (ja) 2017-10-19
CN108885840A (zh) 2018-11-23
JP6460033B2 (ja) 2019-01-30

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