JP2021146835A - 車両制御装置 - Google Patents
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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
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
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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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/038—Limiting the input power, torque or speed
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- 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
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
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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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/021—Means for detecting failure or malfunction
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
Description
[構成]
図1は、実施形態に係る車両制御装置10を備える4輪の車両(自車)12の構成例を示すブロック図である。
基本的には、以上のように構成される車両制御装置10の自動駐車処理動作について図3に示すフローチャートを参照して説明する。なお、フローチャートに係るプログラムの実行主体は車両制御装置10(特に、行動計画部56)である。
ここで、上記実施形態から把握し得る発明について、以下に記載する。なお、理解の便宜のために構成要素には上記実施形態で用いた符号を付けているが、該構成要素は、その符号をつけたものに限定されない。
この構成により、転舵用モータ22の過熱が確実に抑制される。
この構成により、自動駐車用の移動経路80、82、82´の設定条件がより明確になる。
この構成により、共に、動力源として電池の電力により作動する走行用モータ18及び転舵用モータ22用の前記電池の定格(電力容量)を抑制(大型化を抑制、大重量化を抑制)することができる。また、環境に優しい。
14…ラック軸 16(16F、16R)…車輪(前輪、後輪)
18…走行用モータ 20…ブレーキ装置
21…転舵システム 22…転舵用モータ
24…外界センサ 26…車両センサ
28…ナビゲーション装置 30…運転操作装置
31…通信装置 33…スマートキー
34…ソナー 36…カメラ
37…タッチパネル 39…音発生装置
40…温度センサ 42…GPS受信部
44…地図記憶部 50…起動部
52…外界認識部 54…自車位置特定部
56…行動計画部 58…走行制御部
60…記憶部 70…道路
71〜74…車両(他車両) 75…囲い
76、76´…駐車スペース 78、78´…所定位置
80、82、82´…移動経路 84…後退走行経路
102…車速特性 104…モータ温度特性
Claims (4)
- 自車に備えられた外界センサの出力に基づき前記自車を駐車スペース内に自動的に駐車させる車両制御装置であって、
駐車スペースを選択する駐車スペース選択部と、
駐車開始位置から、選択された前記駐車スペース内までの駐車用の移動経路を生成する行動計画部と、
生成された前記移動経路に沿って、推進装置及び転舵用モータを制御する走行制御部と、
前記転舵用モータの温度を検出する温度センサと、を備え、
前記転舵用モータは、前記走行制御部からの転舵指示に基づく駆動力を生成してラック軸に転舵軸力を付与して車輪を転舵させるものであり、
前記行動計画部は、
前記移動経路を生成する際、前記転舵用モータの温度に依存する最大駆動力未満の範囲で、前記ラック軸にフル転舵軸力を付与可能な車速、転舵角に設定する、
車両制御装置。 - 請求項1に記載の車両制御装置において、
前記行動計画部は、
前記移動経路を生成する際、前記温度センサにより検出される温度が、前記転舵用モータに許容される閾値温度未満の温度で車速、転舵角を設定する、
車両制御装置。 - 請求項1又は2に記載の車両制御装置において、
前記行動計画部は、
生成した前記移動経路中、フル転舵軸力が、転舵用モータの最大駆動力を上回る閾値車速以下の移動経路では、前記転舵用モータによる前記フル転舵軸力の付与が禁止されている、
車両制御装置。 - 請求項1〜3のいずれか1項に記載の車両制御装置において、
前記推進装置が走行用モータである、
車両制御装置。
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JP2020047357A JP7475911B2 (ja) | 2020-03-18 | 2020-03-18 | 車両制御装置 |
US17/204,262 US11628833B2 (en) | 2020-03-18 | 2021-03-17 | Vehicle control device |
CN202110291980.5A CN113492834B (zh) | 2020-03-18 | 2021-03-18 | 车辆控制装置 |
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JP2020047357A JP7475911B2 (ja) | 2020-03-18 | 2020-03-18 | 車両制御装置 |
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JP7475911B2 JP7475911B2 (ja) | 2024-04-30 |
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US11608089B2 (en) * | 2020-11-09 | 2023-03-21 | GM Global Technology Operations LLC | Method and apparatus for automated lateral controls adaptation in response to rapid trajectory changes |
CN114889692B (zh) * | 2022-02-28 | 2023-07-25 | 东风汽车集团股份有限公司 | 一种eps自动泊车控制优化方法和系统 |
CN115285214A (zh) * | 2022-08-31 | 2022-11-04 | 文远苏行(江苏)科技有限公司 | 一种基于转向系统的车辆控制方法、装置及存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015110380A (ja) * | 2013-12-06 | 2015-06-18 | トヨタ自動車株式会社 | 駐車支援装置 |
JP2019064431A (ja) * | 2017-09-29 | 2019-04-25 | パナソニックIpマネジメント株式会社 | 駐車支援装置 |
JP2019081473A (ja) * | 2017-10-31 | 2019-05-30 | ダイハツ工業株式会社 | 運転支援装置 |
JP2019130994A (ja) * | 2018-01-30 | 2019-08-08 | トヨタ自動車株式会社 | 駐車支援装置 |
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JPH02227370A (ja) | 1989-03-01 | 1990-09-10 | Koyo Seiko Co Ltd | 動力舵取装置 |
JP2009190531A (ja) * | 2008-02-13 | 2009-08-27 | Jtekt Corp | 発進支援装置 |
JP6585473B2 (ja) * | 2015-11-09 | 2019-10-02 | 株式会社Subaru | 自動駐車制御装置 |
JP6801287B2 (ja) * | 2016-08-10 | 2020-12-16 | 株式会社ジェイテクト | モータ制御装置 |
DE102017204830A1 (de) * | 2017-03-22 | 2018-09-27 | Ford Global Technologies, Llc | Verfahren und Fahrerassistenzsystem zur Unterstützung des Ein- und/oder Ausparkens eines Kraftfahrzeugs |
DE102017215842A1 (de) * | 2017-09-08 | 2019-03-14 | Robert Bosch Gmbh | Verfahren zum Betrieb einer Lenkvorrichtung und Lenkvorrichtung |
JP6909168B2 (ja) * | 2018-01-23 | 2021-07-28 | 日立Astemo株式会社 | 駐車支援装置 |
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- 2021-03-17 US US17/204,262 patent/US11628833B2/en active Active
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2015110380A (ja) * | 2013-12-06 | 2015-06-18 | トヨタ自動車株式会社 | 駐車支援装置 |
JP2019064431A (ja) * | 2017-09-29 | 2019-04-25 | パナソニックIpマネジメント株式会社 | 駐車支援装置 |
JP2019081473A (ja) * | 2017-10-31 | 2019-05-30 | ダイハツ工業株式会社 | 運転支援装置 |
JP2019130994A (ja) * | 2018-01-30 | 2019-08-08 | トヨタ自動車株式会社 | 駐車支援装置 |
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Publication number | Publication date |
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CN113492834B (zh) | 2024-03-22 |
CN113492834A (zh) | 2021-10-12 |
US11628833B2 (en) | 2023-04-18 |
JP7475911B2 (ja) | 2024-04-30 |
US20210291811A1 (en) | 2021-09-23 |
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