JP4042979B2 - 車両操作支援装置 - Google Patents
車両操作支援装置 Download PDFInfo
- Publication number
- JP4042979B2 JP4042979B2 JP2004145304A JP2004145304A JP4042979B2 JP 4042979 B2 JP4042979 B2 JP 4042979B2 JP 2004145304 A JP2004145304 A JP 2004145304A JP 2004145304 A JP2004145304 A JP 2004145304A JP 4042979 B2 JP4042979 B2 JP 4042979B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- avoidance
- obstacle
- yaw rate
- momentum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance 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
- B60W2554/00—Input parameters relating to objects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
Description
Dt=(w/2)+(W/2)+α
により算出する。自車と障害物Oとの衝突を回避するのが最も困難なのは、自車の中心線上に障害物Oの中心がある場合、つまり自車の真正面に障害物Oがある場合であり、このような場合でも自車が上記目標横移動距離Dtだけ横方向に移動すれば、マージンαに相当する余裕を残して障害物Oの横をすり抜けることができる(図5参照)。
ここで、K1およびK2は車両の状態に応じて変化するヨーレートγおよび横加速度YGの重み付け係数である。
M5 回避操作判定手段
M8 アシストヨーレート算出手段(回避運動量算出手段)
M10 目標車両運動量設定手段
M11 実車両運動量算出手段
M12 車両運動制御手段
O 障害物
Sa 第1レーダー装置(障害物検知手段)
YG 横加速度
γ ヨーレート
Claims (2)
- 車両が障害物(O)を回避する回避操作と、それに続く復帰操作とを支援する車両操作支援装置において、
自車前方の障害物(O)を検知する障害物検知手段(Sa)と、
ドライバーによる障害物(O)の回避操作の開始を判定する回避操作判定手段(M5)と、
障害物検知手段(Sa)の出力に基づいて障害物(O)を回避するのに必要な回避運動量を算出する回避運動量算出手段(M8)と、
車両のヨーレート(γ)および横加速度(YG)から実車両運動量(D* )を算出する実車両運動量算出手段(M11)と、
回避操作判定手段(M5)がドライバーによる回避操作があったことを判定したときに、ドライバーの回避操作に基づく規範運動量を回避運動量算出手段(M8)が算出した回避運動量に持ち替える目標車両運動量設定手段(M10)と、
実車両運動量算出手段(M11)が算出した実車両運動量(D* )が前記回避運動量に一致するように車両の横運動を制御する車両運動制御手段(M12)と、
を備えたことを特徴とする車両操作支援装置。 - 実車両運動量算出手段(M11)は、前記回避操作の期間においては車両の横加速度(YG)を実車両運動量(D* )として算出し、前記復帰操作の期間においては車両の横加速度(YG)およびヨーレート(γ)の線型和を実車両運動量(D* )として算出するとともに、横加速度(YG)の比率を漸減させてヨーレート(γ)の比率を漸増させることを特徴とする、請求項1に記載の車両操作支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004145304A JP4042979B2 (ja) | 2004-05-14 | 2004-05-14 | 車両操作支援装置 |
US11/120,174 US7283907B2 (en) | 2004-05-14 | 2005-05-02 | Vehicle operation assisting system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004145304A JP4042979B2 (ja) | 2004-05-14 | 2004-05-14 | 車両操作支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005324700A JP2005324700A (ja) | 2005-11-24 |
JP4042979B2 true JP4042979B2 (ja) | 2008-02-06 |
Family
ID=35426496
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004145304A Expired - Fee Related JP4042979B2 (ja) | 2004-05-14 | 2004-05-14 | 車両操作支援装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US7283907B2 (ja) |
JP (1) | JP4042979B2 (ja) |
Families Citing this family (46)
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DE102009028880A1 (de) * | 2009-08-26 | 2011-03-03 | Robert Bosch Gmbh | Fahrtrichtungsstabilisierungssystem für Fahrzeuge |
JP2008018923A (ja) * | 2006-06-16 | 2008-01-31 | Nissan Motor Co Ltd | 車両用制動制御装置及び車両制動制御方法 |
JP2008018832A (ja) * | 2006-07-12 | 2008-01-31 | Fuji Heavy Ind Ltd | 車両運動制御装置 |
JP4254821B2 (ja) * | 2006-08-15 | 2009-04-15 | トヨタ自動車株式会社 | 制動制御装置 |
JP4222398B2 (ja) * | 2006-09-21 | 2009-02-12 | 株式会社デンソー | 車両用衝突判定装置 |
JP5016889B2 (ja) * | 2006-10-11 | 2012-09-05 | 日立オートモティブシステムズ株式会社 | 予防安全装置 |
JP5053692B2 (ja) * | 2007-04-16 | 2012-10-17 | 日立オートモティブシステムズ株式会社 | 操舵支援システム及びそれを搭載した車両 |
JP5309582B2 (ja) * | 2007-05-11 | 2013-10-09 | 日産自動車株式会社 | 車両の走行制御方法及び走行制御装置 |
JP5249525B2 (ja) | 2007-05-28 | 2013-07-31 | 本田技研工業株式会社 | 車両操作支援装置 |
JP4412356B2 (ja) * | 2007-06-13 | 2010-02-10 | 株式会社デンソー | 車両用衝突緩和装置 |
US8060306B2 (en) * | 2007-10-04 | 2011-11-15 | Deere & Company | Method and system for obstacle avoidance for a vehicle |
JP2009096273A (ja) * | 2007-10-16 | 2009-05-07 | Hitachi Ltd | 衝突回避制御装置 |
JP4737179B2 (ja) * | 2007-11-02 | 2011-07-27 | トヨタ自動車株式会社 | 車両制御装置及び車両制御方法 |
US8131424B2 (en) * | 2008-01-16 | 2012-03-06 | GM Global Technology Operations LLC | Methods and systems for calculating yaw gain for use in controlling a vehicle |
JP5272448B2 (ja) * | 2008-03-04 | 2013-08-28 | 日産自動車株式会社 | 車両用運転支援装置及び車両用運転支援方法 |
JP4730406B2 (ja) * | 2008-07-11 | 2011-07-20 | トヨタ自動車株式会社 | 走行支援制御装置 |
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US9108600B2 (en) | 2009-05-07 | 2015-08-18 | Continental Teves Ag & Co. Ohg | Method and device for performing closed-loop or open-loop control of the driving stability of a vehicle |
US8577550B2 (en) * | 2009-10-05 | 2013-11-05 | Ford Global Technologies, Llc | System for vehicle control to mitigate intersection collisions and method of using the same |
CN102666240B (zh) * | 2009-11-27 | 2014-04-16 | 丰田自动车株式会社 | 碰撞防止装置 |
US8600606B2 (en) * | 2010-02-11 | 2013-12-03 | GM Global Technology Operations LLC | Vehicle safety systems and methods |
JP5437855B2 (ja) * | 2010-03-02 | 2014-03-12 | パナソニック株式会社 | 障害物検知装置およびそれを備えた障害物検知システム、並びに障害物検知方法 |
EP2543565B1 (en) * | 2010-03-04 | 2017-03-15 | Honda Motor Co., Ltd. | Turning control device for vehicle |
WO2012117044A2 (de) | 2011-03-01 | 2012-09-07 | Continental Teves Ag & Co. Ohg | Verfahren und vorrichtung zur prädiktion und adaption von bewegungstrajektorien von kraftfahrzeugen |
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JP5884237B2 (ja) * | 2012-02-21 | 2016-03-15 | オートリブ日信ブレーキシステムジャパン株式会社 | 車両挙動制御装置 |
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CN104798123B (zh) * | 2012-11-21 | 2016-11-02 | 丰田自动车株式会社 | 驾驶辅助装置以及驾驶辅助方法 |
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JP5883489B1 (ja) * | 2014-09-30 | 2016-03-15 | 富士重工業株式会社 | 車両の制御装置及び車両の制御方法 |
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JP6421935B2 (ja) * | 2015-03-31 | 2018-11-14 | パナソニックIpマネジメント株式会社 | 車両移動推定装置および車両移動推定方法 |
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-
2004
- 2004-05-14 JP JP2004145304A patent/JP4042979B2/ja not_active Expired - Fee Related
-
2005
- 2005-05-02 US US11/120,174 patent/US7283907B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US20050267683A1 (en) | 2005-12-01 |
JP2005324700A (ja) | 2005-11-24 |
US7283907B2 (en) | 2007-10-16 |
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