JP2021062704A - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP2021062704A JP2021062704A JP2019187820A JP2019187820A JP2021062704A JP 2021062704 A JP2021062704 A JP 2021062704A JP 2019187820 A JP2019187820 A JP 2019187820A JP 2019187820 A JP2019187820 A JP 2019187820A JP 2021062704 A JP2021062704 A JP 2021062704A
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- 230000001133 acceleration Effects 0.000 claims description 69
- 230000007423 decrease Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 10
- 230000006866 deterioration Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 240000004050 Pentaglottis sempervirens Species 0.000 description 4
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
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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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- 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
- 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
-
- 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
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
- B60T7/18—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle operated by wayside apparatus
-
- 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
- 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
- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
-
- 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
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
-
- 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
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0012—Feedforward or open loop 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
- 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
- B60W2050/0022—Gains, weighting coefficients or weighting functions
- B60W2050/0024—Variable gains
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Feedback Control In General (AREA)
Abstract
Description
1 …運転支援装置
10 …速度センサ
11 …加速度センサ
12 …カメラ
13 …クリアランスソナー
14 …舵角センサ
20 …制御装置
21 …プロセッサ
22 …記憶装置
30 …車両アクチュエータ
31 …駆動アクチュエータ
32 …制動アクチュエータ
33 …舵角アクチュエータ
TT …目標軌道
Claims (4)
- 車両の運動状態を表す制御量の実値を目標値に一致させるように制動アクチュエータと駆動アクチュエータの各操作量を演算するフィードバック制御系を有し、前記車両を目標停止位置に停止させるように前記制御量の前記目標値を設定する運転支援装置であって、
前記車両の現在位置から前記目標停止位置までの残距離が第1の距離の場合、前記残距離が前記第1の距離より大きい第2の距離の場合と比較して、前記フィードバック制御系のフィードバックゲインを大きくする
ことを特徴とする運転支援装置。 - 前記フィードバックゲインは、前記残距離の減少につれて単調増加する
ことを特徴とする請求項1に記載の運転支援装置。 - 前記フィードバックゲインは、上限値を有する
ことを特徴とする請求項2に記載の運転支援装置。 - 前記フィードバック制御系は、前記車両の速度をフィードバックする速度フィードバック系と、前記車両の加速度をフィードバックする加速度フィードバック系の少なくとも一方を含み、
前記フィードバックゲインは、前記速度フィードバック系の速度フィードバックゲインと、前記加速度フィードバック系の加速度フィードバックゲインの少なくとも一方を含む
ことを特徴とする請求項1乃至3の何れか1項に記載の運転支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019187820A JP7298434B2 (ja) | 2019-10-11 | 2019-10-11 | 運転支援装置 |
US17/026,795 US11702074B2 (en) | 2019-10-11 | 2020-09-21 | Driving support apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019187820A JP7298434B2 (ja) | 2019-10-11 | 2019-10-11 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021062704A true JP2021062704A (ja) | 2021-04-22 |
JP7298434B2 JP7298434B2 (ja) | 2023-06-27 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2019187820A Active JP7298434B2 (ja) | 2019-10-11 | 2019-10-11 | 運転支援装置 |
Country Status (2)
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US (1) | US11702074B2 (ja) |
JP (1) | JP7298434B2 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20220146263A (ko) * | 2021-04-23 | 2022-11-01 | 현대자동차주식회사 | 차로 유지 제어 장치, 그를 포함한 차량 시스템 및 그 방법 |
CN113771828A (zh) * | 2021-09-29 | 2021-12-10 | 采埃孚商用车系统(青岛)有限公司 | 一种自动驾驶定点停车的控制方法及系统 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08282330A (ja) * | 1995-04-17 | 1996-10-29 | Nissan Motor Co Ltd | 車両用追従走行制御装置 |
JP2008137442A (ja) * | 2006-11-30 | 2008-06-19 | Toyota Motor Corp | 走行制御装置 |
JP2013049389A (ja) * | 2011-08-31 | 2013-03-14 | Nissan Motor Co Ltd | 車両の制駆動力制御装置及び制駆動力制御方法 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3700045B2 (ja) | 1998-12-21 | 2005-09-28 | トヨタ自動車株式会社 | 車両走行制御方法およびシステム |
CN101005981B (zh) * | 2004-08-06 | 2010-06-16 | 本田技研工业株式会社 | 车辆的控制装置 |
US8155852B2 (en) * | 2005-12-27 | 2012-04-10 | Honda Motor Co., Ltd. | Vehicle control device |
US7739014B2 (en) * | 2006-08-30 | 2010-06-15 | Ford Global Technolgies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine a final linear lateral velocity |
JP2009051401A (ja) * | 2007-08-28 | 2009-03-12 | Denso Corp | 車両用制御装置及び制御システム |
JP5494332B2 (ja) * | 2010-07-27 | 2014-05-14 | トヨタ自動車株式会社 | 車両制御システム |
JP5999047B2 (ja) * | 2013-07-31 | 2016-09-28 | 株式会社アドヴィックス | 車両制御装置 |
JP6213020B2 (ja) * | 2013-07-31 | 2017-10-18 | 株式会社アドヴィックス | 車両制御装置 |
US10401875B2 (en) * | 2014-07-31 | 2019-09-03 | The Boeing Company | Electronic stopper in actuator control |
US9623859B2 (en) * | 2015-04-03 | 2017-04-18 | Ford Global Technologies, Llc | Trailer curvature control and mode management with powertrain and brake support |
JP6341137B2 (ja) * | 2015-04-08 | 2018-06-13 | トヨタ自動車株式会社 | 車両の運転支援制御装置 |
JP6394497B2 (ja) * | 2015-05-25 | 2018-09-26 | トヨタ自動車株式会社 | 車両の自動運転システム |
US9981662B2 (en) * | 2015-10-15 | 2018-05-29 | Ford Global Technologies, Llc | Speed limiting comfort enhancement |
CA3101582C (en) * | 2018-06-08 | 2023-10-03 | Thales Canada Inc. | Controller, system and method for vehicle control |
US10836395B2 (en) * | 2018-11-16 | 2020-11-17 | Great Wall Motor Company Limited | Efficient optimal control with dynamic model for autonomous vehicle |
JP7327285B2 (ja) * | 2020-06-01 | 2023-08-16 | トヨタ自動車株式会社 | 制動制御装置及び制動制御方法 |
JP7429172B2 (ja) * | 2020-09-03 | 2024-02-07 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
US11427305B1 (en) * | 2021-09-16 | 2022-08-30 | Beta Air, Llc | Methods and systems for flight control for managing actuators for an electric aircraft |
-
2019
- 2019-10-11 JP JP2019187820A patent/JP7298434B2/ja active Active
-
2020
- 2020-09-21 US US17/026,795 patent/US11702074B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08282330A (ja) * | 1995-04-17 | 1996-10-29 | Nissan Motor Co Ltd | 車両用追従走行制御装置 |
JP2008137442A (ja) * | 2006-11-30 | 2008-06-19 | Toyota Motor Corp | 走行制御装置 |
JP2013049389A (ja) * | 2011-08-31 | 2013-03-14 | Nissan Motor Co Ltd | 車両の制駆動力制御装置及び制駆動力制御方法 |
Also Published As
Publication number | Publication date |
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US20210107481A1 (en) | 2021-04-15 |
JP7298434B2 (ja) | 2023-06-27 |
US11702074B2 (en) | 2023-07-18 |
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