JP2020152279A - 車両 - Google Patents
車両 Download PDFInfo
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- JP2020152279A JP2020152279A JP2019053709A JP2019053709A JP2020152279A JP 2020152279 A JP2020152279 A JP 2020152279A JP 2019053709 A JP2019053709 A JP 2019053709A JP 2019053709 A JP2019053709 A JP 2019053709A JP 2020152279 A JP2020152279 A JP 2020152279A
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- vehicle
- deceleration
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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
- 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
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0007—Measures or means for preventing or attenuating collisions
- B60L3/0015—Prevention of collisions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- 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
- 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
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Mechanical Control Devices (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
このため、本実施形態の車両1では、自車両の進行方向に先行車両などが存在していたとしても、より適切に停止することが可能となる。
16 共通ペダル
40 減速度導出部
42 予想停止距離導出部
44 目標停止距離導出部
46 減速度補正部
Claims (4)
- 踏込み量に従った加速操作および減速操作を受け付ける共通ペダルと、
前記共通ペダルの減速操作に基づく自車両の減速度を導出する減速度導出部と、
前記自車両の速度に基づいて、前記自車両の現在の位置と、前記減速度導出部で導出された減速度で前記自車両が進行した場合に停止すると予想される予想停止位置との間の距離である予想停止距離を導出する予想停止距離導出部と、
前記自車両の現在の位置と停止すべき目標停止位置との間の距離である目標停止距離を導出する目標停止距離導出部と、
前記予想停止距離と前記目標停止距離とに基づいて、前記自車両の減速度を補正する減速度補正部と、
を備える車両。 - 前記減速度補正部は、前記予想停止距離が前記目標停止距離よりも長い場合、前記自車両の減速度を、前記減速度導出部で導出された減速度よりも増加させる請求項1に記載の車両。
- 前記減速度補正部は、前記予想停止距離と前記目標停止距離との差分である停止距離差に基づいて、前記自車両の減速度の補正量を異ならせる請求項1または2に記載の車両。
- 前記目標停止距離導出部は、予め設定された停止時の車間距離である設定車間距離に基づいて前記目標停止距離を導出する請求項1から3のいずれか1項に記載の車両。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019053709A JP7290964B2 (ja) | 2019-03-20 | 2019-03-20 | 車両 |
CN201911291889.2A CN111731290A (zh) | 2019-03-20 | 2019-12-16 | 车辆 |
DE102020100052.9A DE102020100052A1 (de) | 2019-03-20 | 2020-01-03 | Fahrzeug |
US16/736,530 US11524586B2 (en) | 2019-03-20 | 2020-01-07 | Vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019053709A JP7290964B2 (ja) | 2019-03-20 | 2019-03-20 | 車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020152279A true JP2020152279A (ja) | 2020-09-24 |
JP7290964B2 JP7290964B2 (ja) | 2023-06-14 |
Family
ID=72334396
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019053709A Active JP7290964B2 (ja) | 2019-03-20 | 2019-03-20 | 車両 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11524586B2 (ja) |
JP (1) | JP7290964B2 (ja) |
CN (1) | CN111731290A (ja) |
DE (1) | DE102020100052A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022251014A1 (en) * | 2021-05-28 | 2022-12-01 | Zoox, Inc. | Vehicle deceleration planning |
WO2024025827A1 (en) * | 2022-07-29 | 2024-02-01 | Zoox, Inc. | Systems and methods for rapid deceleration |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7167880B2 (ja) * | 2019-08-27 | 2022-11-09 | トヨタ自動車株式会社 | 停止線位置推定装置及び車両制御システム |
US20220105925A1 (en) * | 2020-10-01 | 2022-04-07 | GM Global Technology Operations LLC | One pedal driving |
CN112622614A (zh) * | 2020-12-18 | 2021-04-09 | 的卢技术有限公司 | 一种单踏板控制系统及其控制方法 |
US20230311882A1 (en) * | 2022-03-29 | 2023-10-05 | Lenovo (United States) Inc. | Assisting one-pedal driving |
CN115234123B (zh) * | 2022-07-04 | 2024-02-27 | 上海默控智能科技有限公司 | 一种通风柜自动视窗位置的控制方法 |
Citations (9)
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JP2002059820A (ja) * | 2000-08-18 | 2002-02-26 | Nissan Motor Co Ltd | 車両用衝突防止装置 |
JP2006168497A (ja) * | 2004-12-15 | 2006-06-29 | Toyota Motor Corp | 車両用走行制御装置 |
JP2007008203A (ja) * | 2005-06-28 | 2007-01-18 | Aisin Aw Co Ltd | 車両制御補助装置及び車両制御補助方法 |
JP2008024107A (ja) * | 2006-07-19 | 2008-02-07 | Fuji Heavy Ind Ltd | 車両のブレーキ制御装置 |
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JP2018154186A (ja) * | 2017-03-16 | 2018-10-04 | 株式会社Subaru | 車両の制御装置 |
JP2019028754A (ja) * | 2017-07-31 | 2019-02-21 | トヨタ自動車株式会社 | 走行支援装置 |
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JP7167880B2 (ja) * | 2019-08-27 | 2022-11-09 | トヨタ自動車株式会社 | 停止線位置推定装置及び車両制御システム |
-
2019
- 2019-03-20 JP JP2019053709A patent/JP7290964B2/ja active Active
- 2019-12-16 CN CN201911291889.2A patent/CN111731290A/zh active Pending
-
2020
- 2020-01-03 DE DE102020100052.9A patent/DE102020100052A1/de active Pending
- 2020-01-07 US US16/736,530 patent/US11524586B2/en active Active
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JP2002059820A (ja) * | 2000-08-18 | 2002-02-26 | Nissan Motor Co Ltd | 車両用衝突防止装置 |
JP2006168497A (ja) * | 2004-12-15 | 2006-06-29 | Toyota Motor Corp | 車両用走行制御装置 |
JP2007008203A (ja) * | 2005-06-28 | 2007-01-18 | Aisin Aw Co Ltd | 車両制御補助装置及び車両制御補助方法 |
JP2008024107A (ja) * | 2006-07-19 | 2008-02-07 | Fuji Heavy Ind Ltd | 車両のブレーキ制御装置 |
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JP2018154186A (ja) * | 2017-03-16 | 2018-10-04 | 株式会社Subaru | 車両の制御装置 |
JP2019028754A (ja) * | 2017-07-31 | 2019-02-21 | トヨタ自動車株式会社 | 走行支援装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022251014A1 (en) * | 2021-05-28 | 2022-12-01 | Zoox, Inc. | Vehicle deceleration planning |
WO2024025827A1 (en) * | 2022-07-29 | 2024-02-01 | Zoox, Inc. | Systems and methods for rapid deceleration |
Also Published As
Publication number | Publication date |
---|---|
JP7290964B2 (ja) | 2023-06-14 |
US20200298709A1 (en) | 2020-09-24 |
DE102020100052A1 (de) | 2020-09-24 |
CN111731290A (zh) | 2020-10-02 |
US11524586B2 (en) | 2022-12-13 |
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