JP2016150593A - Vehicle control device and vehicle control device - Google Patents

Vehicle control device and vehicle control device Download PDF

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Publication number
JP2016150593A
JP2016150593A JP2015027314A JP2015027314A JP2016150593A JP 2016150593 A JP2016150593 A JP 2016150593A JP 2015027314 A JP2015027314 A JP 2015027314A JP 2015027314 A JP2015027314 A JP 2015027314A JP 2016150593 A JP2016150593 A JP 2016150593A
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Prior art keywords
vehicle
control
steering
braking
speed
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JP2015027314A
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Japanese (ja)
Inventor
陽平 明石
Yohei Akashi
陽平 明石
敏英 佐竹
Toshihide Satake
敏英 佐竹
道年 東
Michitoshi Higashi
道年 東
佑 竹内
Yu Takeuchi
佑 竹内
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三菱電機株式会社
Mitsubishi Electric Corp
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Priority to JP2015027314A priority Critical patent/JP2016150593A/en
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Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control device which can smoothly park a vehicle while changing the speed of the vehicle in accordance with various kinds of parking spaces and peripheral environment of the vehicle by an easy operation by a driver.SOLUTION: A vehicle control device comprises: a periphery monitoring part which searches for a parking space in which a vehicle can be parked on the basis of an output of a sensor which is provided to the vehicle and monitors the periphery of the vehicle; a steering control part which sets a guide path for the vehicle to the parking space, calculates the position and attitude of the vehicle, and executes steering angle control of the vehicle; and a braking/driving control part which executes braking/driving control of the vehicle in such a manner that the vehicle travels along the guide path. When starting of automatic parking is instructed by a driver of the vehicle, the steering control part shifts the steering control of the vehicle from an assist mode to assist steering force of the driver to an automatic steering mode which does not require steering of a steering wheel by the driver, and the braking/driving control part shifts braking/driving control of the vehicle from a torque control to control the torque of the vehicle to a speed control to control the speed of the vehicle.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vehicle control device and a vehicle control method for setting a guidance route to a target parking space and performing steering angle control and braking / driving control of the vehicle so that the vehicle travels along the guidance route.

  In recent years, an electric power steering apparatus has an automatic steering function (automatic steering mode) that does not require steering by the driver in addition to a normal assist function (assist mode) that assists the steering force of the driver, and is automatic. There are an increasing number of steering control devices that enable parking support and lane-maintaining travel by a steering function.

  As such a steering control device, a route calculation unit that calculates a route from the initial position to the target position, an automatic steering unit that performs steering along the route and guides the vehicle, and a vehicle speed when the automatic steering unit is activated. And a warning device that issues a warning to the driver when the vehicle speed exceeds the set warning vehicle speed, and the route is composed of a steering region for changing the steering angle and a steering holding region for holding the steering angle. There is known a vehicular travel support device in which an alarm vehicle speed in a steering area is set larger than an alarm vehicle speed in a steering area (see, for example, Patent Document 1).

  Recently, not only the driver does not steer the steering wheel by the automatic steering function of the steering control device, but also the driver controls the accelerator and brake by the braking / driving control that controls the braking / driving device such as the engine and brake of the vehicle. A vehicle control device that enables parking of a vehicle without operation has been proposed.

  As such a vehicle control device, a distance measuring unit that measures a distance between the vehicle and an object existing in the surroundings, a distance between the vehicle and the object, and a parking support for the vehicle corresponding to the distance for each driver of the vehicle A speed profile storage unit that stores a relationship with a speed at a time as a speed profile, a driver specification unit that specifies a driver, and a speed profile corresponding to the specified driver stored in the speed profile storage unit There is known a parking assistance device that includes a parking assistance control unit that reads and controls parking assistance (see, for example, Patent Document 2).

JP 2005-14776 A JP 2013-82376 A

However, the prior art has the following problems.
In the vehicle travel support device of Patent Document 1, since the driver needs to control the vehicle speed at the time of parking, the driver must operate the accelerator and the brake while checking the surrounding environment of the vehicle. There is a problem that the driver's operation becomes complicated and smooth parking becomes difficult.

  Moreover, in the parking assistance apparatus of patent document 2, since the vehicle speed at the time of parking is controlled by the speed profile memorize | stored for every driver | operator, the driver does not need to operate an accelerator and a brake, There is a problem that the vehicle speed cannot be changed according to the parking space or the surrounding environment of the vehicle.

  The present invention has been made to solve the above-described problems, and allows the vehicle to be smoothly operated by changing the vehicle speed according to various parking spaces and the surrounding environment of the vehicle by a simple operation of the driver. It is an object to obtain a vehicle control device and a vehicle control method that can be parked.

  A vehicle control device according to the present invention includes a periphery monitoring unit that searches for a parking space in which a vehicle can be parked based on an output from a sensor that is provided in the vehicle and monitors the periphery of the vehicle, and the vehicle to the parking space A steering control unit that calculates the position and orientation of the vehicle, controls the steering angle of the vehicle, and braking / driving control that performs braking / driving control of the vehicle so that the vehicle travels along the guidance route And when the start of automatic parking is instructed by the driver of the vehicle, the steering control unit controls the steering angle of the vehicle from the assist mode that assists the driver's steering force. Shifting to the automatic steering mode that does not require steering of the steering wheel, the braking / driving control unit shifts the braking / driving control of the vehicle from the torque control that controls the torque of the vehicle to the speed control that controls the speed of the vehicle. is there

  Further, the vehicle control method according to the present invention includes a periphery monitoring step for searching for a parking space where the vehicle can be parked based on an output from a sensor provided on the vehicle and monitoring the periphery of the vehicle, and the parking space. The vehicle guidance route is set, the position and orientation of the vehicle are calculated, the steering control step for controlling the steering angle of the vehicle, and the braking / driving control for the vehicle so that the vehicle travels along the guidance route. Driving control step, and when the driver of the vehicle is instructed to start automatic parking, the steering angle control of the vehicle is changed from the assist mode that assists the steering force of the driver to the steering wheel by the driver. The step of shifting to the automatic steering mode that does not require steering and the step of shifting the braking / driving control of the vehicle from the torque control that controls the torque of the vehicle to the speed control that controls the speed of the vehicle. In which further comprises a flop, a.

According to the vehicle control device of the present invention, when the vehicle driver instructs the start of automatic parking, the steering control unit assists the steering force of the driver with the steering angle control of the vehicle. To the automatic steering mode that does not require steering of the steering wheel by the driver, and the braking / driving control unit controls the braking / driving control of the vehicle from the torque control for controlling the torque of the vehicle to the speed control for controlling the speed of the vehicle. Migrate to
Therefore, the vehicle can be parked smoothly by changing the vehicle speed according to various parking spaces and the surrounding environment of the vehicle by a simple operation of the driver.

It is a block block diagram which shows the automatic parking system with which the vehicle control apparatus which concerns on Embodiment 1 of this invention is applied. It is a block block diagram which shows the braking / driving control part of the vehicle control apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the process of the vehicle control apparatus which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the relationship between the target vehicle speed at the time of speed control of the vehicle control apparatus which concerns on Embodiment 1 of this invention, and an accelerator input. It is explanatory drawing which shows the relationship between the target vehicle speed at the time of speed control of the vehicle control apparatus which concerns on Embodiment 1 of this invention, and the distance of an obstruction and a vehicle.

  Hereinafter, preferred embodiments of a vehicle control device and a vehicle control method according to the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts will be described with the same reference numerals.

Embodiment 1 FIG.
1 is a block diagram showing an automatic parking system to which a vehicle control device according to Embodiment 1 of the present invention is applied. In FIG. 1, the automatic parking system includes an automatic parking switch 1 that is pressed at the start of automatic parking, a winker 2 that is a direction indicator, an accelerator pedal 3, and a brake pedal 4 as devices operated by the driver.

  The automatic parking system also includes an ultrasonic sensor 5, a camera 6, a wheel speed sensor 7, an acceleration sensor 8, a steering angle sensor 9, a steering torque sensor 10, and a shift as sensors for monitoring a vehicle and a state quantity around the vehicle. A position sensor 11 is provided.

  The ultrasonic sensor 5 detects an obstacle around the vehicle. The camera 6 detects white lines on the road, obstacles around the vehicle, pedestrians, and the like. The wheel speed sensor 7 detects the rotational speed of the vehicle wheel. The acceleration sensor 8 detects the acceleration and angular velocity of the vehicle. The handle angle sensor 9 detects the handle angle of the handle that is steered by the driver. The steering torque sensor 10 detects a steering wheel torque of the driver. The shift position sensor 11 detects a shift position of a shift described later.

  In addition, the automatic parking system includes a vehicle control device 20 that performs automatic parking processing based on a driver's operation input to these devices and a state quantity detected by the sensors and the surroundings of the vehicle. The vehicle control device 20 includes a periphery monitoring unit 21, a steering control unit 22, and a braking / driving control unit 23.

  The vehicle control device 20 includes a microprocessor having a CPU (Central Processing Unit) (not shown) and a storage unit storing a program. Each block constituting the vehicle control device 20 is stored as software in the storage unit.

  Further, in this parking system, as a control target of the vehicle control device 20, an HMI (Human Machine Interface) 31, which is a display device, a steering motor 32 constituting an electric power steering device (EPS: Electric Power Steering), a shift 33, A motor constituting the driving device, an engine 34, a brake constituting the braking device, and a motor 35 are provided.

  The periphery monitoring unit 21 searches for a parking space where the vehicle can be parked based on outputs from the devices and sensors, and calculates a distance to an obstacle around the vehicle. In addition, the periphery monitoring unit 21 controls the HMI 31 to notify the driver of the state of the vehicle during automatic parking.

  The steering control unit 22 sets the vehicle guidance route based on the above-described devices and sensors, and the output from the surrounding monitoring unit 21, calculates the position and orientation of the host vehicle, and controls the steering angle of the vehicle. Do. Specifically, the steering control unit 22 controls the HMI 31 to notify the driver of the state of the vehicle at the time of automatic parking, and based on the set guidance route and the calculated position and orientation, the steering motor 32 and shift 33 are controlled to control the trajectory of the vehicle.

  The braking / driving control unit 23 performs torque control or vehicle speed control of the vehicle based on the above-described devices and sensors, and outputs from the periphery monitoring unit 21 and the steering control unit 22. Specifically, the braking / driving control unit 23 controls the movement of the vehicle at the time of automatic parking by controlling the motor, the engine 34, the brake, and the motor 35, that is, by controlling the actuator serving as the braking / driving device.

  FIG. 2 is a block configuration diagram showing a braking / driving control unit of the vehicle control apparatus according to Embodiment 1 of the present invention. The braking / driving control unit 23 includes a torque control unit 231, a speed control unit 232, and a changeover switch 233.

  The braking / driving control unit 23 includes an accelerator input 41 from the accelerator pedal 3, a brake input 42 from the brake pedal 4, a vehicle speed 43 from the wheel speed sensor 7, an obstacle distance 44 from the periphery monitoring unit 21, and automatic parking. A switch input 45 from the switch 1, an override determination 46 from the steering torque sensor 10, and a handle angle 47 from the handle angle sensor 9 are input. The override determination is performed when a driver's steering wheel operation is performed during automatic parking.

  Here, the braking / driving control unit 23 is basically based on the driver's accelerator input 41, brake input 42, vehicle speed 43, and obstacle distance 44 in the torque control unit 231 except during automatic parking. Is calculated to control the motor, engine 34, brake, and motor 35.

  On the other hand, the braking / driving control unit 23 determines the target vehicle speed based on the driver's accelerator input 41 in the speed control unit 232 when the automatic parking switch 1 is pressed and the switch input 45 is received. The required braking / driving torque is calculated from the relationship with the current vehicle speed 43, and the motor, engine 34, brake, and motor 35 are controlled. The speed control unit 232 may determine the target vehicle speed based on the driver's brake input 42.

  The braking / driving torque calculated by the speed controller 232 is corrected by the handle angle 47. In other words, compared to the straight-ahead state where the steering wheel angle is zero, when the steering wheel is cut off, the running resistance received by the tire increases according to the steering wheel angle. Speed control that does not depend can be realized.

  The torque control by the torque control unit 231 and the speed control by the speed control unit 232 are switched by a changeover switch 233. Here, the changeover switch 233 basically switches to the speed control as the automatic parking is performed when the switch input 45 is received. However, the override determination 46 is performed when the driver steers even during the automatic parking. Switch to torque control according to

  Also, a selection switch for switching the changeover switch 233 by the driver's operation so that the driver can switch from torque control to speed control even when the vehicle is not in automatic parking, or can be switched from speed control to torque control even during automatic parking. May be provided.

  Finally, when the braking / driving torque calculated by the braking / driving control unit 23 is positive, the motor and the engine 34 constituting the driving device are operated, and when the braking / driving torque is negative, the braking device The braking / driving control of the vehicle is performed by operating the brake and motor 35 that constitute the vehicle.

  Next, specific processing of the braking / driving control unit 23 will be described with reference to the flowchart of FIG. FIG. 3 is a flowchart showing processing of the vehicle control device according to Embodiment 1 of the present invention. The flowchart of FIG. 3 is executed repeatedly by the braking / driving control unit 23 periodically.

  First, the periphery monitoring unit 21 searches for a parking space using the ultrasonic sensor 5 and the camera 6 attached to the side surface of the vehicle, and determines whether a target parking space has been detected (step S101). .

  If it is determined in step S101 that a parking space has been detected (ie, Yes), the steering control unit 22 searches for a guidance route and determines whether a guidance route has been set (step S102).

  If it is determined in step S102 that a guidance route has been set (ie, Yes), the steering control unit 22 calculates the target position and orientation of the host vehicle (step S103), and the braking / driving control unit 23 automatically It is determined whether or not the parking switch 1 has been pressed (step S104).

  If it is determined in step S104 that the automatic parking switch 1 has been pressed (that is, Yes), the braking / driving control unit 23 changes the control of the braking / driving device from normal torque control to speed control, and performs steering. The control unit 22 changes the EPS mode from the normal assist mode to the automatic steering mode, and starts automatic parking (step S105).

  On the other hand, if it is determined in step S101 that a parking space is not detected (ie, No), if it is determined in step S102 that a guidance route is not set (ie, No), and in step S104. If it is determined that the automatic parking switch 1 has not been pressed (that is, No), the processing of FIG.

  Subsequently, the braking / driving control unit 23 determines the target vehicle speed based on the accelerator input 41 and the obstacle distance 44 of the driver, calculates the acceleration / deceleration from the relationship with the vehicle speed 43, and approaches the calculated acceleration / deceleration. Thus, the speed of the braking / driving device is controlled (step S106). Specifically, when the acceleration / deceleration is positive, the power running torque and engine torque of the motor are controlled, and when the acceleration / deceleration is negative, the regenerative torque and brake of the motor are controlled.

  At this time, the steering control unit 22 calculates the position and orientation of the host vehicle, and performs EPS steering angle control according to the set guidance route (step S106).

  Next, the braking / driving control unit 23 determines whether there is a steering intervention by the driver, that is, whether there is an override determination 46 (step S107). The braking / driving control unit 23 always monitors the steering torque sensor 10 for a steering operation by the driver during automatic parking, and performs an override determination when the steering operation is performed.

  If it is determined in step S107 that the driver has intervened in steering (that is, Yes), the braking / driving control unit 23 changes the control of the braking / driving device from speed control to normal torque control, and performs steering. The control unit 22 changes the EPS mode from the automatic steering mode to the normal assist mode (step S108), and ends the process of FIG.

  On the other hand, if it is determined in step S107 that there is no driver intervention (ie, No), the steering control unit 22 sets the current position / posture of the host vehicle to the target position / posture calculated in step S103. It is determined whether or not it has been reached (step S109).

  If it is determined in step S109 that the position / posture of the host vehicle has reached the target position / posture (that is, Yes), the processing in FIG. 3 ends.

  On the other hand, if it is determined in step S109 that the position / posture of the host vehicle has not reached the target position / posture (that is, No), the process proceeds to step S106 and the braking / driving device is continued until the target position / posture is reached. Speed control and EPS steering angle control are repeated.

  Next, the target speed at the time of speed control will be described with reference to FIGS. FIG. 4 is an explanatory diagram showing the relationship between the target vehicle speed and the accelerator input during speed control of the vehicle control apparatus according to Embodiment 1 of the present invention. FIG. 5 is an explanatory diagram showing the relationship between the target vehicle speed during the speed control of the vehicle control device according to the first embodiment of the present invention and the distance between the obstacle and the vehicle.

  As shown in FIG. 4, the target vehicle speed at the time of speed control basically increases linearly with respect to the accelerator input 41 from the accelerator pedal 3 operated by the driver, and has a limit vehicle speed that is an upper limit. Yes. Here, the limited vehicle speed may be adjusted according to the preference of the driver and the surrounding environment of the vehicle by the driver operating an input switch provided in the vehicle.

  Further, as shown in FIG. 5, the target vehicle speed at the time of speed control is also changed according to the distance between the obstacle and the vehicle detected by the ultrasonic sensor 5 or the like, and the distance between the obstacle and the vehicle becomes closer. Thus, when the target vehicle speed decreases and the distance between the obstacle and the vehicle becomes closer than a distance threshold that is arbitrarily set, the target vehicle speed becomes zero.

  Therefore, by setting the minimum value of the target vehicle speed shown in FIG. 4 and FIG. 5, when the distance between the obstacle and the vehicle is short, the driver temporarily missed the obstacle and stepped on the accelerator pedal 3. Even at times, it is possible to prevent the vehicle from stopping and contacting an obstacle.

  Thus, during automatic parking, the vehicle speed is controlled based on the driver's accelerator input 41 and the vehicle braking / driving device is controlled, so that the driver keeps the vehicle speed constant only by operating the accelerator pedal. In addition, while ensuring the accuracy of automatic parking, it is easy for the driver to operate, simple and robust, and can perform automatic parking according to various parking spaces and the surrounding environment of the vehicle.

As described above, according to the first embodiment, when the start of automatic parking is instructed by the driver of the vehicle, the steering control unit assists the steering force of the driver with the steering angle control of the vehicle. Transition from the assist mode to an automatic steering mode that does not require steering of the steering wheel by the driver, the braking / driving control unit controls the braking / driving control of the vehicle, and the speed of the vehicle from the torque control that controls the torque of the vehicle. Transition to speed control.
Therefore, the vehicle can be parked smoothly by changing the vehicle speed according to various parking spaces and the surrounding environment of the vehicle by a simple operation of the driver.

  In the first embodiment, the ultrasonic sensor 5 and the camera 6 have been described as sensors for searching for parking spaces and detecting obstacles. However, the sensors include infrared radars, millimeter wave radars, laser radars, and the like. Any sensor may be used, and the same effect can be obtained by using any camera such as a monocular camera, a stereo camera, and an around view camera.

  In the first embodiment, an engine, a motor, and the like are cited as the driving device, and a brake, a motor, and the like are cited as the braking device. The present invention can be applied to any engine vehicle or hybrid vehicle including an engine and a motor. . Here, in the case of an engine vehicle, the engine is driven by the engine and braked by the brake. At this time, the brake is controlled by converting the negative braking / driving torque instruction into the deceleration. Further, in the case of a hybrid vehicle, whether to drive by an engine or motor or to brake by a brake or motor is selected depending on the vehicle state such as the state of a storage battery.

  1 automatic parking switch, 2 winker, 3 accelerator pedal, 4 brake pedal, 5 ultrasonic sensor, 6 camera, 7 wheel speed sensor, 8 acceleration sensor, 9 steering angle sensor, 10 steering torque sensor, 11 shift position sensor, 20 vehicle Control device, 21 Perimeter monitoring unit, 22 Steering control unit, 23 Braking / driving control unit, 31 HMI, 32 Steering motor, 33 Shift, 34 Motor, Engine, 35 Brake, Motor, 41 Accelerator input, 42 Brake input, 43 Vehicle speed 44, obstacle distance, 45 switch input, 46 override determination, 47 handle angle, 231 torque control unit, 232 speed control unit, 233 changeover switch.

A vehicle control device according to the present invention includes a periphery monitoring unit that searches for a parking space in which a vehicle can be parked based on an output from a sensor that is provided in the vehicle and monitors the periphery of the vehicle, and the vehicle to the parking space A steering control unit that calculates the position and orientation of the vehicle, controls the steering angle of the vehicle, and braking / driving control that performs braking / driving control of the vehicle so that the vehicle travels along the guidance route And when the start of automatic parking is instructed by the driver of the vehicle, the steering control unit controls the steering angle of the vehicle from the assist mode that assists the driver's steering force. shifts to the automatic steering mode that does not require steering wheel, the braking-driving control unit, the braking and driving control of the vehicle, the torque control for controlling the torque of the vehicle, the process proceeds to the speed control for controlling the speed of the vehicle, the braking Drive control Determines the target vehicle speed of the vehicle based on the input from the accelerator pedal or brake pedal of the vehicle during automatic parking, calculates the braking / driving torque according to the difference between the current vehicle speed and the target vehicle speed, It performs braking / driving control .

Further, the vehicle control method according to the present invention includes a periphery monitoring step for searching for a parking space where the vehicle can be parked based on an output from a sensor provided on the vehicle and monitoring the periphery of the vehicle, and the parking space. The vehicle guidance route is set, the position and orientation of the vehicle are calculated, the steering control step for controlling the steering angle of the vehicle, and the braking / driving control for the vehicle so that the vehicle travels along the guidance route. Driving control step, and when the driver of the vehicle is instructed to start automatic parking, the steering angle control of the vehicle is changed from the assist mode that assists the steering force of the driver to the steering wheel by the driver. The step of shifting to the automatic steering mode that does not require steering and the step of shifting the braking / driving control of the vehicle from the torque control that controls the vehicle torque to the speed control that controls the vehicle speed. And flop, during automatic parking, based on input from the accelerator pedal or the brake pedal of the vehicle, determines a target vehicle speed of the vehicle, and calculates the braking driving torque corresponding to the difference between the current vehicle speed and the target vehicle speed, vehicle And the step of performing the braking / driving control .

Claims (5)

  1. A periphery monitoring unit that searches for a parking space in which the vehicle can be parked based on an output from a sensor that is provided in the vehicle and monitors the periphery of the vehicle;
    A steering control unit that sets a guide route of the vehicle to the parking space, calculates a position and orientation of the vehicle, and performs steering angle control of the vehicle;
    A braking / driving control unit that performs braking / driving control of the vehicle so that the vehicle travels along the guidance route;
    When the start of automatic parking is instructed by the driver of the vehicle,
    The steering control unit shifts the steering angle control of the vehicle from an assist mode that assists the driver's steering force to an automatic steering mode that does not require steering of the steering wheel by the driver,
    The braking / driving control unit shifts the braking / driving control of the vehicle from torque control for controlling the torque of the vehicle to speed control for controlling the speed of the vehicle.
  2. The braking / driving control unit determines a target vehicle speed of the vehicle based on an input from an accelerator pedal or a brake pedal of the vehicle at the time of the automatic parking, and controls according to a difference between the current vehicle speed and the target vehicle speed. The vehicle control device according to claim 1, wherein a driving torque is calculated to perform braking / driving control of the vehicle.
  3. The vehicle control device according to claim 2, wherein the braking / driving torque is corrected according to a handle angle of the handle.
  4. The vehicle control device according to claim 2, wherein the target vehicle speed is determined based on a distance between an obstacle present around the vehicle detected by the sensor and the vehicle.
  5. A periphery monitoring step of searching for a parking space in which the vehicle can be parked based on an output from a sensor provided on the vehicle and monitoring the periphery of the vehicle;
    A steering control step of setting a guidance route of the vehicle to the parking space, calculating a position and orientation of the vehicle, and performing steering angle control of the vehicle;
    A braking / driving control step for performing braking / driving control of the vehicle so that the vehicle travels along the guidance route;
    When the start of automatic parking is instructed by the driver of the vehicle,
    Shifting the steering angle control of the vehicle from an assist mode that assists the steering force of the driver to an automatic steering mode that does not require steering of the steering wheel by the driver;
    Transitioning the braking / driving control of the vehicle from torque control for controlling the torque of the vehicle to speed control for controlling the speed of the vehicle.
JP2015027314A 2015-02-16 2015-02-16 Vehicle control device and vehicle control device Pending JP2016150593A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107719362A (en) * 2017-10-19 2018-02-23 北京新能源汽车股份有限公司 Vehicle automatic stop process, device, shutdown system and parking controller
CN108181906A (en) * 2018-01-07 2018-06-19 珠海上富电技股份有限公司 One kind is parked supplementary controlled system and method
WO2018230175A1 (en) 2017-06-16 2018-12-20 日立オートモティブシステムズ株式会社 Parking assistance device

Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH08200112A (en) * 1995-01-18 1996-08-06 Mitsubishi Motors Corp Acceleration slip controller of vehicle
JP2002089314A (en) * 2000-07-11 2002-03-27 Toyota Motor Corp Travel control device
JP2002274353A (en) * 2001-03-16 2002-09-25 Nissan Motor Co Ltd Vehicular braking/driving force control device
JP2013082376A (en) * 2011-10-12 2013-05-09 Denso Corp Parking assist device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08200112A (en) * 1995-01-18 1996-08-06 Mitsubishi Motors Corp Acceleration slip controller of vehicle
JP2002089314A (en) * 2000-07-11 2002-03-27 Toyota Motor Corp Travel control device
JP2002274353A (en) * 2001-03-16 2002-09-25 Nissan Motor Co Ltd Vehicular braking/driving force control device
JP2013082376A (en) * 2011-10-12 2013-05-09 Denso Corp Parking assist device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018230175A1 (en) 2017-06-16 2018-12-20 日立オートモティブシステムズ株式会社 Parking assistance device
CN107719362A (en) * 2017-10-19 2018-02-23 北京新能源汽车股份有限公司 Vehicle automatic stop process, device, shutdown system and parking controller
CN108181906A (en) * 2018-01-07 2018-06-19 珠海上富电技股份有限公司 One kind is parked supplementary controlled system and method

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