JP2021194971A - 車両用走行制御装置 - 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- B60W30/18154—Approaching an intersection
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- 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
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
-
- 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
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4045—Intention, e.g. lane change or imminent movement
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/50—Relative longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/92—Hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/18—Propelling the vehicle
- B60Y2300/182—Selecting between different operative modes, e.g. comfort and performance modes
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Hybrid Electric Vehicles (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
[第1実施形態]
図1〜図8に本発明の第1実施形態を示す。図6は交差点に進入する車両を示し、符号Mは自車両、Fは自車両Mが追従対象として補足した、直前を走行する先行車である。又、P1,P2は対向車線を走行する車両(対向車)である。尚、本実施形態では、便宜的に走行車線は左側通行が規定されている道路で説明し、対向車線を横断して進路を切り替える方向を右折と称する。従って、走行車線が右側通行に規定されている道路では、左右を逆に読み替えて適用する。
[第2実施形態]
図9に本発明の第2実施形態を示す。第1実施形態では先行車Fが対向車P1の通過を待って右折すると判定した場合は、目標車間距離LTを緩減速増加距離LG分だけ長く設定し、早めに減速させるようにした。これに対し、本実施形態では先行車Fに接近する際の加速度を制限するようにしたものである。尚、第1実施形態と同一の構成部分については同一の符号を付して説明を簡略、或いは省略する。
11…ACC制御ユニット、
12…エンジン制御ユニット、
13…モータ制御ユニット、
14…ブレーキ制御ユニット、
15…バッテリ制御ユニット、
16…ハイブリッド制御ユニット、
17…車内通信回線、
21…カメラユニット、
21a…メインカメララ、
21b…サブカメラ、
22…ACCスイッチ、
23…車速センサ、
25…情報受信部、
31…エンジン駆動用アクチュエータ、
32…モータ駆動用インバータ、
33…ブレーキアクチュエータ、
34…走行用バッテリ、
F…先行車、
GL…緩減速距離補正ゲイン、
Gα…加減速ゲイン、
LG…緩減速増加距離、
LT…目標車間距離、
Lo…基本緩減速増加距離、
Lm…車間距離、
M…自車両、
P1,P2…対向車、
SOC…充電率、
SOCL…走行可能充電率、
V…自車速、
α…目標加減速度
Claims (5)
- 追従対象の先行車を検出する先行車検出部と、
前記先行車の対向車線を横断する方向への進路切換を予測する進路切換予測部と、
前記対向車線を走行して前記先行車に接近する対向車を検出する対向車検出部と
を備える車両用走行制御装置において、
前記進路切換予測部が前記先行車の進路切換を予測し、且つ前記対向車検出部が前記先行車に接近する前記対向車を検出した場合、該対向車が前記先行車に達するまでの到達時間を算出する対向車到達時間算出部と、
前記対向車到達時間算出部で算出した前記到達時間と前記先行車が前記対向車線を渡りきるまでの必要横断時間とを比較し、該到達時間が該必要横断時間よりも短い場合、前記先行車は該対向車線を横断しないと予測する横断予測部と、
前記横断予測部で前記先行車が横断しないと予測した場合、自車両が該先行車に接近する際の減速度或いは加速度を低く設定する追従制御補正部と
を更に備えることを特徴とする車両用走行制御装置。 - 前記先行車と前記自車両との間の目標車間距離を設定する目標車間距離設定部を更に備え、
前記追従制御補正部は、前記横断予測部で前記先行車が横断しないと予測した場合、前記目標車間距離設定部で設定する前記目標車間距離に増加距離を加算し、新たな値として新たな目標車間距離を設定することで前記減速度を低くする
ことを特徴とする請求項1記載の車両用走行制御装置。 - 前記追従制御補正部は、前記増加距離を前記自車両の車速が低下するに従い次第に短く設定し、前記自車両の車速が0のときに前記増加距離が0となるように設定する
ことを特徴とする請求項2記載の車両用走行制御装置。 - 前記先行車と前記自車両との間の目標車間距離を設定する目標車間距離設定部を更に備え、
前記追従制御補正部は、前記目標車間距離設定部で設定した前記目標車間距離に対して実際の車間距離が長いために加速側に設定されている目標加減速度を制限し、新たな値として新たな目標加減速度を設定することで前記加速度を低くする
ことを特徴とする請求項1記載の車両用走行制御装置。 - 前記自車両は駆動源として少なくとも走行モータとを備えるハイブリッド車両であり、
前記追従制御補正部で新たな値が設定された際には、前記走行モータのみによる走行モードに設定する走行モード変更部を更に備える
ことを特徴とする請求項1〜4の何れか1項に記載の車両用走行制御装置。
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JP2020101497A JP7441124B2 (ja) | 2020-06-11 | 2020-06-11 | 車両用走行制御装置 |
US17/306,596 US11904860B2 (en) | 2020-06-11 | 2021-05-03 | Traveling control apparatus for vehicle |
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JP7504958B2 (ja) | 2022-09-28 | 2024-06-24 | 本田技研工業株式会社 | 車両の制御装置及び制御方法 |
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JP7125969B2 (ja) * | 2020-10-28 | 2022-08-25 | 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 |
US20230119659A1 (en) * | 2021-10-14 | 2023-04-20 | Tusimple, Inc. | Systems and methods for operating an autonomous vehicle |
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JP4200881B2 (ja) | 2003-11-07 | 2008-12-24 | 日産自動車株式会社 | 車両用走行制御装置 |
JP2010143551A (ja) | 2008-12-22 | 2010-07-01 | Toyota Motor Corp | 運転支援システム |
JP6381079B2 (ja) | 2016-06-17 | 2018-08-29 | 株式会社Subaru | 車両の走行制御装置 |
US20200108827A1 (en) * | 2017-03-22 | 2020-04-09 | Honda Motor Co., Ltd., | Vehicle control apparatus and vehicle control method |
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WO2021205192A1 (ja) * | 2020-04-06 | 2021-10-14 | 日産自動車株式会社 | 車両挙動推定方法、車両制御方法及び車両挙動推定装置 |
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