JP2017206969A - 速度制御装置 - Google Patents
速度制御装置 Download PDFInfo
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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
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- 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
-
- 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
- B60W30/143—Speed control
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/24—Speed setting methods
- B60K2310/244—Speed setting methods changing target speed or setting a new target speed, e.g. changing algorithms
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0042—Transfer function lag; delays
-
- 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
- B60W2520/10—Longitudinal 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/16—Driving resistance
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Navigation (AREA)
Abstract
Description
複数の道路区間から構成され、各道路区間に対して目標速度が設定された走行経路に沿って走行する車両の速度を制御する速度制御装置であって、
前記車両の実際の速度である実速度を取得する実速度取得部と、
前記車両の実際の位置である実位置を取得する実位置取得部と、
前記実位置を含む前記道路区間に設定されている前記目標速度に前記実速度が追従するように、前記車両の加減速度を制御する加減速度制御部と、
前記車両が走行する際の走行抵抗を算出する走行抵抗算出部と、
を備え、
前記実位置が第1道路区間から第2道路区間に移動することに伴い前記目標速度が第1目標速度から第2目標速度に増大する場合、前記第2道路区間の開始位置から終了位置までの間において前記実速度が前記第1目標速度から前記第2目標速度に1次遅れで増大するように、前記第2道路区間における前記目標速度は設定され、
前記第2道路区間における前記目標速度は、前記車両の走行時間に対する前記1次遅れで増大する速度の変化量を、前記走行抵抗算出部により算出された前記走行抵抗が大きくなるほど減少させるように設定される。
目標速度=第1目標速度+(第2目標速度−第1目標速度)×(1−exp(−t/T))・・・(1)
ここで、t:実位置が第1道路区間から第2道路区間に移動した後の経過時間、T:1
次遅れの時定数(応答速度の目安)である。
1次遅れの時定数T=(第2目標速度−第1目標速度)/車両100の最大加速度・・・(2)
空気抵抗=λ×S×V2×g・・・(3)
ころがり抵抗=μ×W×g・・・(4)
勾配抵抗=W×sinθ×g・・・(5)
車両100の最大加速度=(車両100の最大駆動力−車両100の走行抵抗)/車両100の車重・・・(6)
120 地図情報記憶部
140 走行経路情報記憶部
160 実位置検出部
180 実速度検出部
200 速度制御装置
220 実位置取得部
240 実速度取得部
260 目標加減速度算出部
280 加減速度制御部
300 走行抵抗算出部
Claims (4)
- 複数の道路区間から構成され、各道路区間に対して目標速度が設定された走行経路に沿って走行する車両の速度を制御する速度制御装置であって、
前記車両の実際の速度である実速度を取得する実速度取得部と、
前記車両の実際の位置である実位置を取得する実位置取得部と、
前記実位置を含む前記道路区間に設定されている前記目標速度に前記実速度が追従するように、前記車両の加減速度を制御する加減速度制御部と、
前記車両が走行する際の走行抵抗を算出する走行抵抗算出部と、
を備え、
前記実位置が第1道路区間から第2道路区間に移動することに伴い前記目標速度が第1目標速度から第2目標速度に増大する場合、前記第2道路区間の開始位置から終了位置までの間において前記実速度が前記第1目標速度から前記第2目標速度に1次遅れで増大するように、前記第2道路区間における前記目標速度は設定され、
前記第2道路区間における前記目標速度は、前記車両の走行時間に対する前記1次遅れで増大する速度の変化量を、前記走行抵抗算出部により算出された前記走行抵抗が大きくなるほど減少させるように設定される、
速度制御装置。 - 前記加減速度制御部は、前記目標速度に前記実速度が追従するように前記車両の加減速度を制御し、前記実速度が前記第1目標速度から前記第2目標速度に増大する際、前記目標速度に前記実速度が達したタイミングで前記実速度と前記目標速度との偏差の積分値に制御ゲインを乗算した値を0に変更する、
請求項1に記載の速度制御装置。 - 前記1次遅れの時定数は、前記第2目標速度から前記第1目標速度を減算した値を前記車両の最大加速度で除算することによって算出される、
請求項1または請求項2に記載の速度制御装置。 - 前記走行抵抗は、前記車両の走行時における空気抵抗と、前記車両の走行時におけるころがり抵抗と、前記車両が走行する道路の勾配抵抗と和によって算出される、
請求項1〜3の何れか1項に記載の速度制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016098023A JP6747053B2 (ja) | 2016-05-16 | 2016-05-16 | 速度制御装置 |
US16/302,113 US11052911B2 (en) | 2016-05-16 | 2017-05-01 | Speed control device |
PCT/JP2017/017112 WO2017199742A1 (ja) | 2016-05-16 | 2017-05-01 | 速度制御装置 |
EP17799172.6A EP3460221B1 (en) | 2016-05-16 | 2017-05-01 | Speed control device |
CN201780028821.8A CN109154237B (zh) | 2016-05-16 | 2017-05-01 | 速度控制装置 |
Applications Claiming Priority (1)
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JP2016098023A JP6747053B2 (ja) | 2016-05-16 | 2016-05-16 | 速度制御装置 |
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JP2017206969A true JP2017206969A (ja) | 2017-11-24 |
JP6747053B2 JP6747053B2 (ja) | 2020-08-26 |
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US (1) | US11052911B2 (ja) |
EP (1) | EP3460221B1 (ja) |
JP (1) | JP6747053B2 (ja) |
CN (1) | CN109154237B (ja) |
WO (1) | WO2017199742A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020011555A (ja) * | 2018-07-17 | 2020-01-23 | 先進モビリティ株式会社 | 隊列走行システム |
KR20210020146A (ko) * | 2018-08-10 | 2021-02-23 | 바이에리쉐 모토렌 베르케 악티엔게젤샤프트 | 운전자 보조 시스템의 제어 변수에 대한 목표값의 제한 |
JP7436718B2 (ja) | 2018-07-31 | 2024-02-22 | 株式会社小松製作所 | 無人車両の制御システム |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110816530B (zh) * | 2019-11-14 | 2021-05-11 | 东风商用车有限公司 | 一种自适应巡航系统的速度跟随控制方法及系统 |
CN110979348B (zh) * | 2019-12-28 | 2021-08-24 | 重庆工商大学 | 一种工况法能耗测试的车速控制方法、装置及设备 |
KR20220145450A (ko) * | 2021-04-21 | 2022-10-31 | 현대자동차주식회사 | 차량의 주행 저항 계산 방법 및 그 계산 장치 |
KR20220154511A (ko) * | 2021-05-13 | 2022-11-22 | 현대자동차주식회사 | 차량의 주행 저항 계산 방법 및 그 계산 장치 |
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2016
- 2016-05-16 JP JP2016098023A patent/JP6747053B2/ja active Active
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2017
- 2017-05-01 WO PCT/JP2017/017112 patent/WO2017199742A1/ja unknown
- 2017-05-01 US US16/302,113 patent/US11052911B2/en active Active
- 2017-05-01 CN CN201780028821.8A patent/CN109154237B/zh active Active
- 2017-05-01 EP EP17799172.6A patent/EP3460221B1/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH03142507A (ja) * | 1989-10-27 | 1991-06-18 | Mitsubishi Electric Corp | 車両の自動運転装置 |
JPH0558193A (ja) * | 1990-07-19 | 1993-03-09 | Matsushita Electric Ind Co Ltd | 車両用定速走行制御装置 |
JP2003094983A (ja) * | 2001-09-26 | 2003-04-03 | Nissan Motor Co Ltd | 車両の駆動力制御装置 |
JP2009018681A (ja) * | 2007-07-11 | 2009-01-29 | Denso Corp | 車速制御装置及び車速制御プログラム |
JP2009264124A (ja) * | 2008-04-22 | 2009-11-12 | Aisin Aw Co Ltd | 運転支援装置、運転支援方法および運転支援プログラム |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2020011555A (ja) * | 2018-07-17 | 2020-01-23 | 先進モビリティ株式会社 | 隊列走行システム |
JP7195035B2 (ja) | 2018-07-17 | 2022-12-23 | 先進モビリティ株式会社 | 隊列走行システム |
JP7436718B2 (ja) | 2018-07-31 | 2024-02-22 | 株式会社小松製作所 | 無人車両の制御システム |
KR20210020146A (ko) * | 2018-08-10 | 2021-02-23 | 바이에리쉐 모토렌 베르케 악티엔게젤샤프트 | 운전자 보조 시스템의 제어 변수에 대한 목표값의 제한 |
KR102427502B1 (ko) | 2018-08-10 | 2022-07-29 | 바이에리쉐 모토렌 베르케 악티엔게젤샤프트 | 운전자 보조 시스템의 제어 변수에 대한 목표값의 제한 |
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EP3460221A4 (en) | 2019-05-22 |
WO2017199742A1 (ja) | 2017-11-23 |
CN109154237A (zh) | 2019-01-04 |
JP6747053B2 (ja) | 2020-08-26 |
EP3460221B1 (en) | 2020-06-24 |
CN109154237B (zh) | 2021-09-14 |
US11052911B2 (en) | 2021-07-06 |
US20190283750A1 (en) | 2019-09-19 |
EP3460221A1 (en) | 2019-03-27 |
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