JP2005067322A - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
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- JP2005067322A JP2005067322A JP2003297998A JP2003297998A JP2005067322A JP 2005067322 A JP2005067322 A JP 2005067322A JP 2003297998 A JP2003297998 A JP 2003297998A JP 2003297998 A JP2003297998 A JP 2003297998A JP 2005067322 A JP2005067322 A JP 2005067322A
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- 230000002159 abnormal effect Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 16
- 230000005856 abnormality Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
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Classifications
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- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/083—Lane monitoring; Lane Keeping Systems using active brake actuation
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
【解決手段】S205の判定で目標ノード偏差ΔDの値の微分値(dΔD/dt)が偏差閾値ΔDc以上、且つ、S206の判定で操舵トルクTHの絶対値|TH|が操舵トルク閾値Tc以上の場合に、予め設定しておいた減速度で減速するようにブレーキ制御装置3kに信号を出力し(S207)、電動パワーステアリング制御装置3lに信号を出力して自動操舵を解除させ通常のパワーステアリング状態とし(S208)、自動操縦をキャンセルさせる(S209)。
【選択図】図4
Description
図1〜図8は本発明の実施の形態を示し、図1は車両の走行制御装置の全体を示す概略説明図、図2は自動操縦制御の自動操舵のフローチャート、図3は自動操舵の原理の説明図、図4は自動運転診断プログラムのフローチャート、図5は目標進行路の曲率半径演算の説明図、図6は目標ノード偏差の変化の説明図、図7は偏差閾値と曲率半径のマップの説明図、図8は操舵トルク閾値と車速のマップの説明図である。
δh=Gp・ΔD+Gd・(d(ΔD)/dt) …(1)
ここで、Gpは比例項ゲインであり、Gdは微分項ゲインである。
Iδ=Kp・Δδ+Kd・(d(Δδ)/dt)+Ki・∫Δδdt …(2)
ここで、Kpは比例項ゲイン、Kdは微分項ゲイン、Kiは積分項ゲインである。
R=(A+B+C)/(4・Sa) …(3)
Sa=(λ・(λ−A)・(λ−B)・(λ−C))1/2 …(4)
但し、λ=(A+B+C)/2
A=((y2−y1)2+(x2−x1)2)1/2 …(5)
B=((y3−y2)2+(x3−x2)2)1/2 …(6)
C=((y1−y3)2+(x1−x3)2)1/2 …(7)
次に、S203に進み、目標ノード偏差ΔDの変化履歴、すなわち、図6における、ΔD1→ΔD2→ΔD3…となる目標ノード偏差ΔDの値の微分値(dΔD/dt)と比較する偏差閾値ΔDcを設定する。この偏差閾値ΔDcは、例えば、図7に示すマップのように、大きな曲率半径Rである程、小さな値に設定される。
2 基準局
2a GPSアンテナ
2b GPS受信機
2c 無線機
3 自車両
3a GPSアンテナ
3b GPS受信機(自車位置演算手段)
3c 無線機
3d 制御装置(自車進行路推定手段、目標進行路設定手段、走行制御手段)
3e 車速センサ
3f ハンドル角センサ
3g 操舵トルクセンサ
3h メインスイッチ
3i 液晶ディスプレイ
3j 電動スロットル弁制御装置
3k ブレーキ制御装置
3l 電動パワーステアリング制御装置
3m スロットル弁
代理人 弁理士 伊 藤 進
Claims (6)
- 自車両の走行すべき目標進行路を設定する目標進行路設定手段と、
自車位置を演算する自車位置演算手段と、
自車進行路を推定する自車進行路推定手段と、
上記自車位置と上記自車進行路と上記目標進行路とに応じて自車両の自動操縦制御を実行させる走行制御手段とを備えた車両の走行制御装置において、
上記走行制御手段は、前方における上記自車進行路の上記目標進行路からの距離の微分値が増加傾向で、且つ、操舵トルクが予め設定した値を超えている場合、上記自車両の走行制御を中止することを特徴とする車両の走行制御装置。 - 上記走行制御手段は、前方における上記自車進行路の上記目標進行路からの距離の微分値が増加傾向で、且つ、操舵トルクが予め設定した値を超えている場合、減速と自動操舵解除の少なくともどちらかを実行し、上記自車両の自動操縦制御を中止することを特徴とする請求項1記載の車両の走行制御装置。
- 上記走行制御手段は、前方における上記自車進行路の上記目標進行路からの距離の微分値が増加傾向であるか否かを、予め上記目標進行路の曲率半径に応じて可変設定する閾値と比較することにより判定することを特徴とする請求項1又は請求項2記載の車両の走行制御装置。
- 上記走行制御手段は、操舵トルクの判定に用いる上記予め設定した値を車速に応じて可変設定することを特徴とする請求項1乃至請求項3の何れか一つに記載の車両の走行制御装置。
- 上記自車位置演算手段は、地球を周回する衛星からの情報に基づいて上記自車位置の演算を行うことを特徴とする請求項1乃至請求項4の何れか一つに記載の車両の走行制御装置。
- 上記自車進行路推定手段は、上記自車位置の経時変化に基づいて自車進行路を推定することを特徴とする請求項1乃至請求項5の何れか一つに記載の車両の走行制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003297998A JP4435519B2 (ja) | 2003-08-21 | 2003-08-21 | 車両の走行制御装置 |
US10/923,428 US7177760B2 (en) | 2003-08-21 | 2004-08-20 | Driving control device for vehicle |
EP04255036A EP1508505B1 (en) | 2003-08-21 | 2004-08-20 | Driving control device for vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003297998A JP4435519B2 (ja) | 2003-08-21 | 2003-08-21 | 車両の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005067322A true JP2005067322A (ja) | 2005-03-17 |
JP4435519B2 JP4435519B2 (ja) | 2010-03-17 |
Family
ID=34056255
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003297998A Expired - Fee Related JP4435519B2 (ja) | 2003-08-21 | 2003-08-21 | 車両の走行制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7177760B2 (ja) |
EP (1) | EP1508505B1 (ja) |
JP (1) | JP4435519B2 (ja) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2006322753A (ja) * | 2005-05-17 | 2006-11-30 | Fuji Heavy Ind Ltd | 車両の走行制御装置 |
WO2013175593A1 (ja) * | 2012-05-23 | 2013-11-28 | トヨタ自動車株式会社 | 運転支援制御装置 |
US9643620B2 (en) | 2014-08-11 | 2017-05-09 | Honda Motor Co., Ltd. | Automatic operation vehicle control apparatus |
CN109415054A (zh) * | 2016-04-13 | 2019-03-01 | 雷诺股份公司 | 用于跟踪车辆路径的设备 |
US10429848B2 (en) | 2017-06-02 | 2019-10-01 | Toyota Jidosha Kabushiki Kaisha | Automatic driving system |
US10788824B2 (en) | 2015-05-14 | 2020-09-29 | Honda Motor Co., Ltd. | Automatic driving control device |
JP2020175893A (ja) * | 2015-11-04 | 2020-10-29 | トヨタ自動車株式会社 | 自動運転システム、自動運転装置、自動運転方法 |
WO2022215259A1 (ja) * | 2021-04-09 | 2022-10-13 | 日産自動車株式会社 | 車両の運転制御方法及び運転制御装置 |
US20230033041A1 (en) * | 2019-11-20 | 2023-02-02 | Robert Bosch Gmbh | Method for Operating a Vehicle |
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KR20120053713A (ko) * | 2010-11-18 | 2012-05-29 | 에스엘 주식회사 | 차량용 카메라의 제어 장치 및 방법 |
DE102010054066A1 (de) * | 2010-12-10 | 2012-06-14 | GM Global Technology Operations LLC | Verfahren zum Betreiben eines Sensors eines Fahrzeugs und Fahrerassistenzsystem für ein Fahrzeug |
US9333975B2 (en) | 2011-02-05 | 2016-05-10 | Ford Global Technologies, Llc | Method and system to detect and mitigate customer dissatisfaction with performance of automatic mode selection system |
US8965633B2 (en) * | 2011-09-02 | 2015-02-24 | GM Global Technology Operations LLC | System and method for speed adaptive steering override detection during automated lane centering |
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US9633564B2 (en) | 2012-09-27 | 2017-04-25 | Google Inc. | Determining changes in a driving environment based on vehicle behavior |
US8949016B1 (en) | 2012-09-28 | 2015-02-03 | Google Inc. | Systems and methods for determining whether a driving environment has changed |
JP5783204B2 (ja) * | 2013-05-01 | 2015-09-24 | トヨタ自動車株式会社 | 運転支援装置および運転支援方法 |
CN105377671A (zh) * | 2013-07-08 | 2016-03-02 | 日产自动车株式会社 | 车辆用掌舵控制装置及车辆用掌舵控制方法 |
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US9248834B1 (en) | 2014-10-02 | 2016-02-02 | Google Inc. | Predicting trajectories of objects based on contextual information |
DE102015201032B4 (de) | 2015-01-22 | 2018-12-20 | Volkswagen Aktiengesellschaft | Lenksystem für ein automatisiertes Fahren eines Kraftfahrzeuges |
WO2017013749A1 (ja) * | 2015-07-21 | 2017-01-26 | 日産自動車株式会社 | 運転計画装置、走行支援装置、運転計画方法 |
DE102016219757A1 (de) * | 2016-10-11 | 2018-04-12 | Volkswagen Aktiengesellschaft | Ausweichunterstützung für ein Fahrzeug |
CN107264534B (zh) * | 2017-05-23 | 2019-07-09 | 北京理工大学 | 基于驾驶员经验模型的智能驾驶控制系统和方法、车辆 |
JP6568559B2 (ja) * | 2017-09-13 | 2019-08-28 | 株式会社Subaru | 車両の走行制御装置 |
JP6691568B2 (ja) | 2018-03-29 | 2020-04-28 | 株式会社Subaru | 運転支援システム |
JP6655116B2 (ja) | 2018-03-29 | 2020-02-26 | 株式会社Subaru | 車両の運転支援システム |
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2003
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-
2004
- 2004-08-20 EP EP04255036A patent/EP1508505B1/en not_active Expired - Fee Related
- 2004-08-20 US US10/923,428 patent/US7177760B2/en active Active
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Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006322753A (ja) * | 2005-05-17 | 2006-11-30 | Fuji Heavy Ind Ltd | 車両の走行制御装置 |
WO2013175593A1 (ja) * | 2012-05-23 | 2013-11-28 | トヨタ自動車株式会社 | 運転支援制御装置 |
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US10788824B2 (en) | 2015-05-14 | 2020-09-29 | Honda Motor Co., Ltd. | Automatic driving control device |
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US20050043867A1 (en) | 2005-02-24 |
JP4435519B2 (ja) | 2010-03-17 |
EP1508505A2 (en) | 2005-02-23 |
EP1508505A3 (en) | 2009-09-30 |
EP1508505B1 (en) | 2013-01-30 |
US7177760B2 (en) | 2007-02-13 |
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