JP2021534030A - 運転者支援システムの制御量についての目標値の制限 - Google Patents
運転者支援システムの制御量についての目標値の制限 Download PDFInfo
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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
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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
- B60W50/0097—Predicting future conditions
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- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W50/0225—Failure correction strategy
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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
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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
- 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
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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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0083—Setting, resetting, calibration
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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
- B60W2050/0215—Sensor drifts or sensor failures
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
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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
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/143—Speed control
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- Automation & Control Theory (AREA)
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
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Abstract
Description
Claims (9)
- 原動機付き車両(KFZ)を制御する運転者支援システム(FAS)であって、運転者支援システム(FAS)は、
−原動機付き車両(KFZ)の制御量についての目標値(vsoll)を決定又は受け取るように、
−原動機付き車両(KFZ)の制御量についての実際値(vist)を決定又は受け取るように、
−制御量についての目標値(vsoll)と制御量についての実際値(vist)の間の偏差に依存して、制御量についての目標値(vsoll)と制御量についての実際値(vist)の間の偏差を低減するための補正量(a)を決定するように、
−補正量(a)を第1の閾値(sw)と比較するように、及び
−制御量についての目標値(vsoll)と制御量についての実際値(vist)の間の偏差を拡大する、制御量についての目標値(vsoll)の将来の変化を、第1の閾値(sw)との補正量(a)の比較に依存して少なくとも制限するように
設置されていることを特徴とする運転者支援システム。 - 運転者支援システム(FAS)は、
−制御量についての目標値(vsoll)が制御量についての実際値(vist)よりも大きく、
−補正量(a)が第1の閾値(sw)以上である
場合に、
制御量についての目標値(vsoll)の将来の変化を少なくとも制限するように設置されていることを特徴とする請求項1に記載の運転者支援システム(FAS)。 - 運転者支援システム(FAS)が、制御量についての目標値(vsoll)の将来の変化を、補正量(a)の比較に依存してあらかじめ設定された期間少なくとも制限するように設置されていることを特徴とする請求項1又は2に記載の運転者支援システム(FAS)。
- 運転者支援システム(FAS)は、
−補正量(a)を第2の閾値(aw)と比較するように、及び
−制御量についての目標値(vsoll)の将来の変化の制限を、第2の閾値(aw)との補正量(a)の比較に依存して少なくとも部分的に取り消すように
設置されていることを特徴とする請求項1〜3のいずれか1項に記載の運転者支援システム(FAS)。 - 第1の閾値(sw)の大きさが第2の閾値(aw)の大きさよりも大きいことを特徴とする請求項4に記載の運転者支援システム(FAS)。
- −制御量が原動機付き車両(KFZ)の速度について特徴的であり、及び
−補正量が原動機付き車両(KFZ)の加速度について特徴的である
ことを特徴とする請求項1〜5のいずれか1項に記載の運転者支援システム(FAS)。 - −制御量が原動機付き車両(KFZ)の操舵角について特徴的であり、及び
−補正量が操舵角の時間微分について特徴的である
ことを特徴とする請求項1〜5のいずれか1項に記載の運転者支援システム(FAS)。 - 運転者支援システム(FAS)が、制御量についての目標値(vsoll)の変化が防止されるよう、制御量についての目標値(vsoll)の将来の変化を制限するように設置されていることを特徴とする請求項1〜7のいずれか1項に記載の運転者支援システム(FAS)。
- 原動機付き車両(KFZ)を制御する方法であって、方法は、以下のステップ:
−原動機付き車両(KFZ)の制御量についての目標値(vsoll)を決定又は受け取るステップと、
−原動機付き車両(KFZ)の制御量についての実際値(vist)を決定又は受け取るステップと、
−制御量についての目標値(vsoll)と制御量についての実際値(vist)の間の偏差に依存して、制御量についての目標値(vsoll)と制御量についての実際値(vist)の間の偏差を低減するための補正量(a)を決定するステップと、
−補正量(a)を第1の閾値(sw)と比較するステップと、
−制御量についての目標値(vsoll)と制御量についての実際値(vist)の間の偏差を拡大する、制御量についての目標値(vsoll)の将来の変化を、第1の閾値(sw)との補正量(a)の比較に依存して少なくとも制限するステップと
を含む方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102018213471.5A DE102018213471A1 (de) | 2018-08-10 | 2018-08-10 | Begrenzen eines Soll-Werts für eine Steuergröße eines Fahrerassistenzsystems |
DE102018213471.5 | 2018-08-10 | ||
PCT/DE2019/100682 WO2020030218A1 (de) | 2018-08-10 | 2019-07-24 | BEGRENZEN EINES SOLL-WERTS FÜR EINE STEUERGRÖßE EINES FAHRERASSISTENZSYSTEMS |
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JP2021534030A true JP2021534030A (ja) | 2021-12-09 |
JP7374178B2 JP7374178B2 (ja) | 2023-11-06 |
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JP2004217177A (ja) * | 2003-01-17 | 2004-08-05 | Toyota Motor Corp | 車間距離制御装置 |
JP2005280392A (ja) * | 2004-03-26 | 2005-10-13 | Komatsu Ltd | 作業車両の車速制御装置 |
JP2005306285A (ja) * | 2004-04-23 | 2005-11-04 | Nissan Motor Co Ltd | 減速制御装置 |
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KR102427502B1 (ko) | 2022-07-29 |
CN112384426A (zh) | 2021-02-19 |
KR20210020146A (ko) | 2021-02-23 |
CN112384426B (zh) | 2023-10-20 |
JP7374178B2 (ja) | 2023-11-06 |
US20210316725A1 (en) | 2021-10-14 |
US11654907B2 (en) | 2023-05-23 |
DE102018213471A1 (de) | 2020-02-13 |
WO2020030218A1 (de) | 2020-02-13 |
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