JP2016060220A - 車両の制御装置 - Google Patents
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- JP2016060220A JP2016060220A JP2014186769A JP2014186769A JP2016060220A JP 2016060220 A JP2016060220 A JP 2016060220A JP 2014186769 A JP2014186769 A JP 2014186769A JP 2014186769 A JP2014186769 A JP 2014186769A JP 2016060220 A JP2016060220 A JP 2016060220A
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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
- B60W30/14—Adaptive cruise control
-
- 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
- B62D15/021—Determination of 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
- 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
- B60W10/20—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
- 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
-
- 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
-
- 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
- B62D15/027—Parking aids, e.g. instruction means
-
- 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
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- 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
- B60W2520/28—Wheel 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
【解決手段】実施形態の車両の制御装置14は、車両の操舵輪の舵角を制御する操舵制御部506と、車両を移動させる目標として設定された目標舵角を取得する取得部501と、取得部により取得された目標舵角に対して、車両の、第1の基準以上の舵角変化を抑止するために定められた第1のガード値を超えないように調整し、調整された目標舵角で制御するように操舵制御部に出力すると共に、当該第1のガード値を車両の状況に応じて変更する制御部と、を備える。
【選択図】図5
Description
上述した実施形態において、ガード値を変化させる際に、増減するガード値の幅が±3の場合について説明した。しかしながら、上述した実施形態は、増減するガード値の幅が±3に制限するものではない。そこで変形例ではガード値の幅を変更する例について説明する。なお、各構成については、上述した実施形態と同様として説明を省略する。
(付記)
制御部(例えば、舵角制御部)は、第1のガード値の単位時間当たりの変化幅を、車両の速度に応じて変更する。
Claims (5)
- 車両の操舵輪の舵角を制御する操舵制御部と、
前記車両を移動させる目標として設定された目標舵角を取得する取得部と、
前記取得部により取得された前記目標舵角に対して、前記車両の、第1の基準以上の舵角変化を抑止するために定められた第1のガード値を超えないように調整し、調整された目標舵角で制御するように前記操舵制御部に出力すると共に、当該第1のガード値を前記車両の状況に応じて変更する制御部と、
を備える車両の制御装置。 - 前記制御部は、前記車両の状況として、前記操舵制御部の制御結果である、前記車両の実舵角に基づいて、前記第1のガード値を変更する、
請求項1に記載の車両の制御装置。 - 前記制御部は、前記車両の状況として、前記操舵制御部の制御に従って、前記車両の実舵角が変化していく速度に基づいて、前記第1のガード値を変更する、
請求項2に記載の車両の制御装置。 - 前記制御部は、前記操舵制御部が制御した前記実舵角の時間当たりの変化量が増加していくに従って、当該第1のガード値の単位時間当たりの変化量が増加していくように、前記第1のガード値を設定する、
請求項2又は3に記載の車両の制御装置。 - 前記制御部は、さらに、前記目標舵角に対して、第1の方向側への前記車両の前記第1の基準以上の舵角変化を抑止するために定められた第1のガード値を超えないように調整した後、前記目標舵角の変化している方向が第1の方向から、当該第1の方向の反対方向である第2の方向に切り替わった際に、目標舵角に対して、当該第2の方向側への前記車両の第2の基準以上の舵角変化を抑止するために定められた第2のガード値を超えないように調整する、
請求項1乃至4のいずれか一つに記載の車両の制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014186769A JP6092825B2 (ja) | 2014-09-12 | 2014-09-12 | 車両の制御装置 |
CN201510573973.9A CN105416279B (zh) | 2014-09-12 | 2015-09-10 | 车辆的控制装置 |
US14/850,088 US9828027B2 (en) | 2014-09-12 | 2015-09-10 | Control system for vehicle |
DE102015115246.0A DE102015115246A1 (de) | 2014-09-12 | 2015-09-10 | Steuerungssystem für ein fahrzeug |
Applications Claiming Priority (1)
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JP2014186769A JP6092825B2 (ja) | 2014-09-12 | 2014-09-12 | 車両の制御装置 |
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JP2016060220A true JP2016060220A (ja) | 2016-04-25 |
JP6092825B2 JP6092825B2 (ja) | 2017-03-08 |
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JP2014186769A Active JP6092825B2 (ja) | 2014-09-12 | 2014-09-12 | 車両の制御装置 |
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US (1) | US9828027B2 (ja) |
JP (1) | JP6092825B2 (ja) |
CN (1) | CN105416279B (ja) |
DE (1) | DE102015115246A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017210217A (ja) * | 2016-05-27 | 2017-11-30 | 株式会社豊田中央研究所 | 運転支援装置 |
JP2023522904A (ja) * | 2020-04-20 | 2023-06-01 | ティッセンクルップ・プレスタ・アクチエンゲゼルシヤフト | ロードホイールアクチュエータのパワー制限のハンドリングを有するステアバイワイヤーステアリングシステム |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101677856B1 (ko) * | 2015-08-06 | 2016-11-18 | 연세대학교 산학협력단 | 차량용 후방 카메라 시스템 |
JP6494050B2 (ja) * | 2017-03-31 | 2019-04-03 | 株式会社Subaru | 自動操舵制御装置 |
DE102017209231B4 (de) * | 2017-05-31 | 2021-02-25 | Zf Friedrichshafen Ag | Verfahren und Anordnung zur Plausibilisierung und/oder (Re-) Initialisierung einer Hinterradlenkung |
LU101023B1 (en) * | 2018-12-03 | 2020-06-03 | Iee Sa | Capacitive Sensor Guard Diagnostics from Redundant Coupling Measurement |
JP6828857B2 (ja) * | 2019-01-31 | 2021-02-10 | 日本精工株式会社 | 車両の操舵に用いられるアクチュエータ制御装置 |
US11654956B2 (en) * | 2019-12-23 | 2023-05-23 | Robert Bosch Gmbh | Method and system for steering intervention by electronic power steering unit to prevent vehicle rollover or loss of control |
DE102021202482B4 (de) * | 2021-03-15 | 2023-06-29 | Continental Automotive Technologies GmbH | Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs |
Citations (3)
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JP2000066727A (ja) * | 1998-08-19 | 2000-03-03 | Honda Motor Co Ltd | 車両の走行安全装置 |
JP2005343210A (ja) * | 2004-05-31 | 2005-12-15 | Toyota Motor Corp | 運転支援装置 |
JP2014054885A (ja) * | 2012-09-11 | 2014-03-27 | Nsk Ltd | 電動パワーステアリング装置 |
Family Cites Families (10)
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CN1102516C (zh) * | 1997-05-19 | 2003-03-05 | 株式会社丰田自动织机制作所 | 转向助力装置中方向盘角度补偿装置 |
JP4321380B2 (ja) | 2004-06-28 | 2009-08-26 | トヨタ自動車株式会社 | 車両用走行支援装置 |
JP4636062B2 (ja) * | 2007-08-27 | 2011-02-23 | トヨタ自動車株式会社 | 車両の挙動制御装置 |
DE102008002699A1 (de) * | 2008-06-27 | 2009-12-31 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Steuern einer automatischen Lenkung eines Fahrzeugs und Vorrichtung und Verfahren zum Überprüfen einer Ausführbarkeit einer vorgegebenen Soll-Fahrtrichtungsgröße für ein Fahrzeug |
DE102010031672A1 (de) * | 2010-07-22 | 2012-01-26 | Robert Bosch Gmbh | Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs |
JP5854265B2 (ja) * | 2011-11-08 | 2016-02-09 | 株式会社ジェイテクト | 操舵機構の制御装置 |
JP5993135B2 (ja) * | 2011-11-29 | 2016-09-14 | Kyb株式会社 | 操舵制御装置 |
CN102490780B (zh) * | 2011-12-20 | 2014-11-05 | 奇瑞汽车股份有限公司 | 一种电动助力转向系统、转向控制方法以及汽车 |
JP2014148287A (ja) * | 2013-02-04 | 2014-08-21 | Jtekt Corp | 電動パワーステアリング装置 |
WO2014189877A1 (en) * | 2013-05-20 | 2014-11-27 | Robert Bosch Gmbh | Rear wheel steering control |
-
2014
- 2014-09-12 JP JP2014186769A patent/JP6092825B2/ja active Active
-
2015
- 2015-09-10 CN CN201510573973.9A patent/CN105416279B/zh active Active
- 2015-09-10 DE DE102015115246.0A patent/DE102015115246A1/de active Pending
- 2015-09-10 US US14/850,088 patent/US9828027B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2000066727A (ja) * | 1998-08-19 | 2000-03-03 | Honda Motor Co Ltd | 車両の走行安全装置 |
JP2005343210A (ja) * | 2004-05-31 | 2005-12-15 | Toyota Motor Corp | 運転支援装置 |
JP2014054885A (ja) * | 2012-09-11 | 2014-03-27 | Nsk Ltd | 電動パワーステアリング装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017210217A (ja) * | 2016-05-27 | 2017-11-30 | 株式会社豊田中央研究所 | 運転支援装置 |
JP2023522904A (ja) * | 2020-04-20 | 2023-06-01 | ティッセンクルップ・プレスタ・アクチエンゲゼルシヤフト | ロードホイールアクチュエータのパワー制限のハンドリングを有するステアバイワイヤーステアリングシステム |
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Publication number | Publication date |
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CN105416279A (zh) | 2016-03-23 |
JP6092825B2 (ja) | 2017-03-08 |
US9828027B2 (en) | 2017-11-28 |
US20160075373A1 (en) | 2016-03-17 |
CN105416279B (zh) | 2019-07-02 |
DE102015115246A1 (de) | 2016-03-17 |
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