JP2017186011A - 車両の制御装置及び車両の走行制御システム - Google Patents
車両の制御装置及び車両の走行制御システム Download PDFInfo
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- 238000012887 quadratic function Methods 0.000 claims description 2
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- 230000001133 acceleration Effects 0.000 description 8
- 230000007423 decrease Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 5
- 238000002485 combustion reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
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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
- 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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- 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
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
また、この後、衝突危険度が低下した場合でも、この段階で制動制御を実施する場合と比較すると、ドライバに違和感を与えにくい。特に、本実施形 態で自車両201の駆動装置102に用いられているモータは、内燃機関と比較して出力トルクをリニアに調整することができるので、アクセル開度に応じた最終トルク指令(目標駆動力)を滑らかに低減させて加速応答を円滑 に弱める制御が可能であり、ドライバに違和感を与えることなく安全方向に制御することができる。
101 ・・・制御装置
102 ・・・駆動装置
112 ・・・トルク指令値算出手段
113 ・・・衝突危険度算出手段
122 ・・・モータ制御手段
201 ・・・自車両
202 ・・・予測進行路
301 ・・・障害物
301a ・・・他車両
301b ・・・歩行者
Claims (9)
- 外界認識装置から取得した外界認識情報に基づいて自車両が障害物と衝突する衝突危険度を算出する衝突危険度算出手段と、
該衝突危険度に応じて駆動装置の駆動特性を変更する駆動特性変更手段と、を有し、
前記駆動特性変更手段は、前記衝突危険度が予め設定された第1閾値よりも大きい場合に、アクセル開度に応じたトルク指令値のゲインを正の第1のゲインから正の第2のゲインへ変更し、
前記第2のゲインは前記第1のゲインより小さい、ことを特徴とする車両の制御装置。 - 前記駆動特性は、前記衝突危険度の大きい方が小さい方よりも前記ゲインを低減させる量が大きくなるように変更されることを特徴とする請求項1に記載の車両の制御装置。
- 前記駆動特性は、前記衝突危険度が大きくなるに応じて前記ゲインを低減させる量が漸次増大するように変更されることを特徴とする請求項2に記載の車両の制御装置。
- 前記駆動特性は、前記衝突危険度が大きくなるに応じて前記ゲインを低減させる量が二次関数的に増大するように変更されることを特徴とする請求項2に記載の車両の制御装置。
- 前記制御装置によりアクセル開度に応じて制御され、且つ、車両走行用のモータを有する駆動装置と、
外界を認識する外界認識装置と、を有し、
請求項1記載の前記制御装置は、前記モータを制御するモータ制御手段を有することを特徴とする車両の走行制御システム。 - 前記駆動特性変更手段は、車速とアクセル開度に基づいて前記モータのトルク指令値を算出するトルク指令値算出手段を有し、前記ゲインと前記トルク指令値と前記衝突危険度を用いて最終トルク指令値を算出して前記モータ制御手段に出力し、
前記モータ制御手段は、前記最終トルク指令値に応じた電流指令値を前記モータに出力することを特徴とする請求項5に記載の車両の走行制御システム。 - 前記外界認識装置は、ステレオカメラを有することを特徴とする請求項5に記載の車両の走行制御システム。
- 前記車両を制動させる制動装置を有し、
前記制御装置は、前記衝突危険度が予め設定された第2閾値よりも高い場合に前記制動装置の制動制御を行うことを特徴とする請求項5に記載の走行制御システム。 - 前記車両を制動させる制動装置を有し、
前記制御装置は、衝突予測時間が予め設定された第2閾値よりも高い場合に前記制動装置の制動制御を行うことを特徴とする請求項5に記載の走行制御システム。
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JP2013115603 | 2013-05-31 |
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JP2015519701A Division JPWO2014192368A1 (ja) | 2013-05-31 | 2014-03-14 | 車両の制御装置及び車両の走行制御システム |
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JP2017123832A Active JP6539307B2 (ja) | 2013-05-31 | 2017-06-26 | 車両の制御装置 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109733391A (zh) * | 2018-12-10 | 2019-05-10 | 北京百度网讯科技有限公司 | 车辆的控制方法、装置、设备、车辆及存储介质 |
JP7094418B1 (ja) | 2021-04-16 | 2022-07-01 | 三菱電機株式会社 | 交通管制装置および交通管制システム |
Families Citing this family (6)
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DE102015201569A1 (de) * | 2015-01-29 | 2016-08-04 | Continental Teves Ag & Co. Ohg | Fahrzeugsteuervorrichtung und verfahren |
JP6090381B2 (ja) * | 2015-07-29 | 2017-03-08 | 横浜ゴム株式会社 | 衝突防止システム |
US20190016339A1 (en) * | 2016-02-16 | 2019-01-17 | Honda Motor Co., Ltd. | Vehicle control device, vehicle control method, and vehicle control program |
JP6770393B2 (ja) * | 2016-10-04 | 2020-10-14 | 株式会社豊田中央研究所 | トラッキング装置及びプログラム |
WO2018158875A1 (ja) * | 2017-03-01 | 2018-09-07 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
WO2022208675A1 (ja) * | 2021-03-30 | 2022-10-06 | 三菱電機株式会社 | 運転支援装置、運転支援システム、運転支援方法、及び、運転支援プログラム |
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JP2005063021A (ja) * | 2003-08-08 | 2005-03-10 | Nissan Motor Co Ltd | 車両用運転操作補助装置および車両用運転操作補助装置を備える車両 |
JP2006007926A (ja) * | 2004-06-24 | 2006-01-12 | Nissan Motor Co Ltd | 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両 |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109733391A (zh) * | 2018-12-10 | 2019-05-10 | 北京百度网讯科技有限公司 | 车辆的控制方法、装置、设备、车辆及存储介质 |
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JP2022164163A (ja) * | 2021-04-16 | 2022-10-27 | 三菱電機株式会社 | 交通管制装置および交通管制システム |
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