JP2019089522A - 車両の車線逸脱防止制御装置 - Google Patents
車両の車線逸脱防止制御装置 Download PDFInfo
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- JP2019089522A JP2019089522A JP2017221584A JP2017221584A JP2019089522A JP 2019089522 A JP2019089522 A JP 2019089522A JP 2017221584 A JP2017221584 A JP 2017221584A JP 2017221584 A JP2017221584 A JP 2017221584A JP 2019089522 A JP2019089522 A JP 2019089522A
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- lane
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- departure prevention
- yaw rate
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- 230000002265 prevention Effects 0.000 title claims abstract description 101
- 230000004044 response Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 15
- 238000004891 communication Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
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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
- 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
- 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
- B60W30/12—Lane keeping
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
-
- 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
- B62D6/003—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 in order to control vehicle yaw movement, i.e. around a vertical axis
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- 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
- B60W2520/14—Yaw
-
- 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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
x=AL・z2+BL・z+CL …(1)
x=AR・z2+BR・z+CR …(2)
κ=(2・AL+2・AR)/2=AL+AR …(3)
θyaw=tan-1((BL+BR)/2) …(4)
Ttlc=L/(V・sinθyaw) …(5)
γtgt_lane=κ・V …(6)
γtgt_turn_1=θyaw/Ttlc …(7)
γtgt_turn_2=−Kyawfb・(θend−θyaw)/Tend …(8)
T=(θtgt−θ)/(γーκ・V) …(9)
Ttgt=−θ/(γーκ・V) …(10)
θ=θyaw+∫(γーκ・V)dt …(11)
γtgt=γtgt_lane+γtgt_turn …(12)
Tp_ff_lane=Kyawr_to_trq・γtgt_lane …(13)
Tp_ff_turn=Kyawr_to_trq・γtgt_turn …(14)
Tp_fb=Kp・(γtgt−γ)+Ki・∫(γtgt−γ)dt+Kd・d(γtgt−γ)/dt…(15)
Tp_fb=0 …(16)
Tp=Tp_ff_lane+Tp_ff_turn+Tp_fb …(17)
11 アシスト伝達機構
12 電動パワーステアリングモータ(EPSモータ)
21 舵角センサ
22 トルクセンサ
23 回転角センサ
24 車速センサ
25 ヨーレートセンサ
50 操舵制御装置
60 目標ヨーレート算出部
61 車線曲率旋回目標ヨーレート算出部
62a 第1逸脱防止挙動生成目標ヨーレート算出部(第1目標旋回量算出部)
62b 第2逸脱防止挙動生成目標ヨーレート算出部(第2目標旋回量算出部)
63 逸脱防止挙動生成目標ヨーレート切換判定部(目標旋回量切換判定部)
70 目標トルク算出部
71 フィードフォワードトルク算出部
72 フィードバックトルク算出部
150 外部環境認識装置
Claims (4)
- 自車両が走行する車線からの逸脱を防止する車線逸脱防止制御を実行する車両の車線逸脱防止制御装置であって、
自車両が前記車線を逸脱するまでの時間と自車両のヨー角とに基づいて、前記車線逸脱防止制御を開始してから第1目標点に達するまでの第1目標旋回量を算出する第1目標旋回量算出部と、
前記第1目標点から前記車線逸脱防止制御の終了点となる第2目標点に達するまでの時間と自車両のヨー角とに基づいて、前記第1目標点から前記第2目標点までの自車両の姿勢を決定するための第2目標旋回量を算出する第2目標旋回量算出部と、
前記車線の曲率と自車両のヨー角とに基づいて、前記車線逸脱防止制御を開始してから前記第1目標点に達するまでの到達時間を推定し、推定した到達時間を閾値と比較して前記第1目標旋回量から前記第2目標旋回量への切り換えタイミングを判定する目標旋回量切換判定部と
を備えることを特徴とする車両の車線逸脱防止制御装置。 - 前記目標旋回量切換判定部は、前記ヨー角を、前記ヨー角の検出値の出力遅延時間分で補正することを特徴とする請求項1に記載の車両の車線逸脱防止制御装置。
- 前記目標旋回量切換判定部は、前記ヨー角を、前記ヨー角の検出値に対して車両のヨー応答時間経過後のヨー角として推定することを特徴とする請求項1に記載の車両の車線逸脱防止制御装置。
- 前記目標旋回量切換判定部は、前記ヨー角を、前記ヨー角の検出値の出力遅延時間と車両のヨー応答時間とを合算した時間後のヨー角として推定することを特徴とする請求項1に記載の車両の車線逸脱防止制御装置。
Priority Applications (2)
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JP2017221584A JP6611275B2 (ja) | 2017-11-17 | 2017-11-17 | 車両の車線逸脱防止制御装置 |
US16/153,044 US10647318B2 (en) | 2017-11-17 | 2018-10-05 | Lane deviation prevention control device for vehicle |
Applications Claiming Priority (1)
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JP2017221584A JP6611275B2 (ja) | 2017-11-17 | 2017-11-17 | 車両の車線逸脱防止制御装置 |
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JP2019089522A true JP2019089522A (ja) | 2019-06-13 |
JP6611275B2 JP6611275B2 (ja) | 2019-11-27 |
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JP (1) | JP6611275B2 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3778327B1 (en) * | 2018-03-27 | 2022-04-13 | Nissan Motor Co., Ltd. | Method and device for controlling autonomous driving vehicle |
US11964667B2 (en) * | 2019-01-21 | 2024-04-23 | Hitachi Astemo, Ltd. | Vehicle control device, vehicle control method, and vehicle control system |
JP7260385B2 (ja) * | 2019-04-24 | 2023-04-18 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP7116012B2 (ja) * | 2019-06-06 | 2022-08-09 | 本田技研工業株式会社 | 車両制御装置、車両、車両制御装置の動作方法およびプログラム |
GB2591515B (en) * | 2020-01-31 | 2023-07-12 | Mclaren Automotive Ltd | Track assistant |
CN112040507B (zh) * | 2020-11-03 | 2021-01-26 | 南京华苏科技有限公司 | 一种基于终端采样数据aoa的方位角的预测方法 |
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JP2015191316A (ja) * | 2014-03-27 | 2015-11-02 | 富士重工業株式会社 | 車両の車線逸脱防止制御装置 |
JP2016175570A (ja) * | 2015-03-20 | 2016-10-06 | 富士重工業株式会社 | 車両の車線逸脱防止制御装置 |
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US20190152476A1 (en) | 2019-05-23 |
JP6611275B2 (ja) | 2019-11-27 |
US10647318B2 (en) | 2020-05-12 |
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