JP2022099423A - 車両制御装置 - Google Patents
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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- B60W30/18154—Approaching an intersection
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- B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2552/00—Input parameters relating to infrastructure
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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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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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
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- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
-
- 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
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- B60W2720/103—Speed profile
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
である。アクチュエータACには、図1に示すエンジン1のスロットルバルブ11の開度(スロットル開度)を調整するスロットル用アクチュエータ、係合要素21への油の流れを制御して変速機2の変速段を変更する変速用アクチュエータ、車両100を減速させるブレーキ装置(制動装置)4を作動するブレーキ用アクチュエータ、およびステアリング装置を駆動する操舵用アクチュエータなどが含まれる。
ば0.1秒)毎に設定される走行計画データ、すなわち単位時間Δt毎の時刻に対応付けて設定される走行計画データが含まれる。走行計画データは、単位時間毎の車両100の位置データと車両状態のデータとを含む。位置データは、例えば道路上の2次元座標位置を示す目標点のデータであり、車両状態のデータは、車速を表す車速データと車両100の向きを表す方向データなどである。走行計画は単位時間毎に更新される。
(1)車両制御装置10は、走行中の自車両(車両100)の位置を検出する測位センサ34と、自車両の走行速度を検出する内部センサ群32と、自車両の進行方向に位置し、進行許可を表す第1表示形態と、停止線(図3の停止線SL)での停止指示を表す第3表示形態と、第1表示形態から第3表示形態への切換の予告を表す第2表示形態と、に表示形態を切り換え可能に構成された信号機(図3の信号機SG)の切換予定情報を取得する取得部451と、取得部451により取得された切換予定情報に含まれる第1表示形態から第3表示形態に切り換わるまでに要する余裕時間と、自車両の位置および走行速度とに基づいて、自車両を停止線で停止させる停止動作を行うか否かを判定する判定部452と、判定部452により停止動作を行うと判定されると、第1表示形態から第2表示形態に切り換わるまで所定減速度以下の減速度で自車両を減速させ、第2表示形態に切り換わった後、自車両が停止線で停止するように自車両を減速させる走行制御部46と、を備える。これにより、交差点において信号機が赤色に切り換わるときに、乗員に違和感を生じさせることなく自車両を停止させることができる。
Claims (5)
- 走行中の自車両の位置および走行速度を検出する検出部と、
前記自車両の進行方向に位置し、進行許可を表す第1表示形態と、停止線での停止指示を表す第3表示形態と、前記第1表示形態から前記第3表示形態への切換の予告を表す第2表示形態と、に表示形態を切り換え可能に構成された信号機の切換予定情報を取得する取得部と、
前記取得部により取得された切換予定情報に含まれる前記第1表示形態から前記第3表示形態に切り換わるまでに要する余裕時間と、前記自車両の位置および走行速度とに基づいて、前記自車両を前記停止線で停止させる停止動作を行うか否かを判定する判定部と、
前記判定部により停止動作を行うと判定されると、前記第1表示形態から前記第2表示形態に切り換わるまで所定減速度以下の減速度で前記自車両を減速させ、前記第2表示形態に切り換わった後、前記自車両が前記停止線で停止するように前記自車両を減速させる停止制御部と、を備えることを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
走行駆動力を発生する駆動力発生部を備え、
前記停止制御部は、前記判定部により停止動作を行うと判定されると、前記第1表示形態から前記第2表示形態に切り換わるまでの間、走行駆動力が減少するように前記駆動力発生部を制御して、前記所定減速度以下の減速度で前記自車両を減速させることを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置において、
前記自車両を減速させる制動装置を備え、
前記停止制御部は、前記判定部により停止動作を行うと判定されると、前記第1表示形態から前記第2表示形態に切り換わるまでの間、前記制動装置を作動させることなく、前記駆動力発生部を制御して前記自車両を減速させ、前記第2表示形態に切り換わった後、前記制動装置を作動させて前記自車両を減速させることを特徴とする車両制御装置。 - 請求項1から請求項3のうちのいずれか1項に記載の車両制御装置において、
前記停止制御部は、前記判定部により停止動作を行うと判定されると、前記第1表示形態から前記第2表示形態に切り換わる時点における前記自車両の走行速度の目標値を決定し、前記第1表示形態から前記第2表示形態に切り換わる時点で前記自車両の走行速度が目標値になるように、前記所定減速度以下の減速度で前記自車両を減速させることを特徴とする車両制御装置。 - 請求項1から請求項4のうちのいずれか1項に記載の車両制御装置において、
前記停止制御部は、減速度の変化率であるジャークが所定範囲以下となるように、前記自車両の停止動作を制御することを特徴とする車両制御装置。
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JP2020213183A JP7177818B2 (ja) | 2020-12-23 | 2020-12-23 | 車両制御装置 |
CN202111532137.8A CN114655245A (zh) | 2020-12-23 | 2021-12-14 | 车辆控制装置 |
US17/551,575 US20220194376A1 (en) | 2020-12-23 | 2021-12-15 | Vehicle control apparatus |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2011070356A (ja) * | 2009-09-25 | 2011-04-07 | Toyota Motor Corp | 車両の走行支援システム及び方法 |
JP2012121405A (ja) * | 2010-12-07 | 2012-06-28 | Toyota Motor Corp | 車両制御装置 |
JP2020184178A (ja) * | 2019-05-08 | 2020-11-12 | 株式会社デンソー | 車両の制御方法および制御システム |
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US9827955B2 (en) * | 2015-03-06 | 2017-11-28 | Ford Global Technologies, Llc | Systems and methods to improve fuel economy using adaptive cruise in a hybrid electric vehicle when approaching traffic lights |
US10239526B2 (en) * | 2015-03-30 | 2019-03-26 | GM Global Technology Operations LLC | Adaptive cruise control system |
JP2017144935A (ja) * | 2016-02-19 | 2017-08-24 | いすゞ自動車株式会社 | 走行制御装置及び走行制御方法 |
EP3707046B1 (en) * | 2017-11-10 | 2023-01-11 | C.R.F. Società Consortile per Azioni | Adjusting the longitudinal motion control of a host motor vehicle based on the estimation of the travel trajectory of a leading motor vehicle |
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JP2011070356A (ja) * | 2009-09-25 | 2011-04-07 | Toyota Motor Corp | 車両の走行支援システム及び方法 |
JP2012121405A (ja) * | 2010-12-07 | 2012-06-28 | Toyota Motor Corp | 車両制御装置 |
JP2020184178A (ja) * | 2019-05-08 | 2020-11-12 | 株式会社デンソー | 車両の制御方法および制御システム |
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