JP2017193189A - 走行制御装置 - Google Patents
走行制御装置 Download PDFInfo
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- JP2017193189A JP2017193189A JP2016082574A JP2016082574A JP2017193189A JP 2017193189 A JP2017193189 A JP 2017193189A JP 2016082574 A JP2016082574 A JP 2016082574A JP 2016082574 A JP2016082574 A JP 2016082574A JP 2017193189 A JP2017193189 A JP 2017193189A
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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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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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
- B60W30/10—Path keeping
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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
- B60W30/18—Propelling the vehicle
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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
- 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
- B60W40/072—Curvature of the road
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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
- 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
- B60W40/10—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 vehicle motion
- B60W40/107—Longitudinal acceleration
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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
- 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
- B60W40/10—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 vehicle motion
- B60W40/109—Lateral acceleration
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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
- 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
- B60W40/10—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 vehicle motion
- B60W40/114—Yaw movement
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- 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
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- 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
- 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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
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Abstract
Description
この変曲部は、点でもよいし、線でもよい。
1.接続点を通ること。
操舵装置18はEPS(電動パワーステアリング)を備える。EPSは、運転者による操舵力を増幅するパワーステアリングとしての機能に加えて、走行制御装置15が送信する制御指令を受信して、能動的なアクチュエータとして運転者の操作に依存せずに左前輪11と右前輪12を操舵する機能を有する。
11 左前輪
12 右前輪
13 左後輪
14 右後輪
15 走行制御装置
16 慣性センサ
17 GPSセンサ
18 操舵装置
19 駆動装置
20 制動制御装置
21 左前輪制動装置
22 右前輪制動装置
23 左後輪制動装置
24 右後輪制動装置
25 減速機
26 ドライブシャフト
27 操舵角センサ
28 カメラ
29 側方画像センサ
31 左前輪車輪速センサ
32 右前輪車輪速センサ
33 左後輪車輪速センサ
34 右後輪車輪速センサ
Claims (7)
- 進行方向に対して横方向への移動を伴う場合に、曲率単調変化軌道と曲率一定軌道とが曲率の変化率において連続している軌道を走行し、曲率単調変化軌道が変曲部を有するように車両を制御する走行制御装置。
- 車両の横運動に応じて前後運動を制御する、請求項1に記載の走行制御装置。
- 前記曲率単調変化軌道では、前記変曲部に至るまで車両に発生する前後加速度の絶対値が一定または増加し、前記変曲部通過後には車両に発生する前後加速度の絶対値が一定もしくは減少するよう前後加速度を制御する請求項2に記載の走行制御装置。
- 前記曲率単調変化軌道では、前記車両の速度を前記軌道の曲率の時間変化に基づいて制御する請求項2に記載の走行制御装置。
- 前記曲率単調変化軌道では、前記変曲点に至るまで操舵速度が一定または増加し、前記変曲点通過後には操舵速度が一定もしくは減少するように操舵速度を制御する請求項2に記載の走行制御装置。
- 進行方向に対して横方向への移動を伴う場合に、曲率単調変化軌道と曲率一定軌道とが曲率の変化率において連続している軌道を走行すると、実際の道路形状に基づく軌道を走行する場合に対しての誤差が所定値を超える場合には、実際の道路形状に基づく軌道を走行するように車両を制御する請求項1乃至5の何れかに記載の走行制御装置。
- 前記軌道は、地図情報もしくは走行中に外界情報として取得した車両前方の道路形状の情報、もしくはその両方に基づいて作成される、請求項1乃至5の何れかに記載の走行制御装置。
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JP2016082574A JP6655455B2 (ja) | 2016-04-18 | 2016-04-18 | 走行制御装置 |
PCT/JP2017/014480 WO2017183486A1 (ja) | 2016-04-18 | 2017-04-07 | 走行制御装置 |
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JP2016082574A JP6655455B2 (ja) | 2016-04-18 | 2016-04-18 | 走行制御装置 |
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JP2017193189A true JP2017193189A (ja) | 2017-10-26 |
JP6655455B2 JP6655455B2 (ja) | 2020-02-26 |
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JP2016082574A Active JP6655455B2 (ja) | 2016-04-18 | 2016-04-18 | 走行制御装置 |
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Cited By (10)
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CN108622104A (zh) * | 2018-05-07 | 2018-10-09 | 湖北汽车工业学院 | 一种用于无人驾驶车辆的轨迹跟踪控制方法 |
JPWO2017208781A1 (ja) * | 2016-05-31 | 2018-12-06 | 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 |
JP2019082806A (ja) * | 2017-10-30 | 2019-05-30 | 株式会社デンソー | 運転支援装置及び自動運転システム |
CN111071247A (zh) * | 2018-10-18 | 2020-04-28 | 歌乐株式会社 | 自动驾驶控制装置以及自动驾驶路径运算方法 |
JP2020124995A (ja) * | 2019-02-04 | 2020-08-20 | 日産自動車株式会社 | 車両運動制御方法及び車両運動制御装置 |
JPWO2020249995A1 (ja) * | 2019-06-14 | 2020-12-17 | ||
CN112441012A (zh) * | 2019-09-05 | 2021-03-05 | 北京地平线机器人技术研发有限公司 | 车辆行驶轨迹预测方法和装置 |
WO2021085638A1 (ja) * | 2019-10-31 | 2021-05-06 | 株式会社三英技研 | 走行軌道修正装置および走行軌道修正方法 |
JP2021075256A (ja) * | 2019-10-31 | 2021-05-20 | 株式会社 三英技研 | 走行軌道修正装置および走行軌道修正方法 |
JP7459445B2 (ja) | 2020-04-01 | 2024-04-02 | マツダ株式会社 | 走行経路生成システム及び車両運転支援システム |
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JP6970008B2 (ja) * | 2017-12-25 | 2021-11-24 | トヨタ自動車株式会社 | 車両制御システム |
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JPWO2017208781A1 (ja) * | 2016-05-31 | 2018-12-06 | 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 |
JP7009919B2 (ja) | 2017-10-30 | 2022-01-26 | 株式会社デンソー | 運転支援装置及び自動運転システム |
JP2019082806A (ja) * | 2017-10-30 | 2019-05-30 | 株式会社デンソー | 運転支援装置及び自動運転システム |
CN108622104A (zh) * | 2018-05-07 | 2018-10-09 | 湖北汽车工业学院 | 一种用于无人驾驶车辆的轨迹跟踪控制方法 |
CN111071247A (zh) * | 2018-10-18 | 2020-04-28 | 歌乐株式会社 | 自动驾驶控制装置以及自动驾驶路径运算方法 |
JP7206971B2 (ja) | 2019-02-04 | 2023-01-18 | 日産自動車株式会社 | 車両運動制御方法及び車両運動制御装置 |
JP2020124995A (ja) * | 2019-02-04 | 2020-08-20 | 日産自動車株式会社 | 車両運動制御方法及び車両運動制御装置 |
WO2020249995A1 (ja) * | 2019-06-14 | 2020-12-17 | 日産自動車株式会社 | 走行支援方法および走行支援装置 |
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CN114287025A (zh) * | 2019-06-14 | 2022-04-05 | 日产自动车株式会社 | 行驶辅助方法及行驶辅助装置 |
JP7226545B2 (ja) | 2019-06-14 | 2023-02-21 | 日産自動車株式会社 | 走行支援方法および走行支援装置 |
CN112441012A (zh) * | 2019-09-05 | 2021-03-05 | 北京地平线机器人技术研发有限公司 | 车辆行驶轨迹预测方法和装置 |
CN112441012B (zh) * | 2019-09-05 | 2023-05-12 | 北京地平线机器人技术研发有限公司 | 车辆行驶轨迹预测方法和装置 |
WO2021085638A1 (ja) * | 2019-10-31 | 2021-05-06 | 株式会社三英技研 | 走行軌道修正装置および走行軌道修正方法 |
JP2021075256A (ja) * | 2019-10-31 | 2021-05-20 | 株式会社 三英技研 | 走行軌道修正装置および走行軌道修正方法 |
JP7459445B2 (ja) | 2020-04-01 | 2024-04-02 | マツダ株式会社 | 走行経路生成システム及び車両運転支援システム |
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