JP4042980B2 - 車両操作支援装置 - Google Patents
車両操作支援装置 Download PDFInfo
- Publication number
- JP4042980B2 JP4042980B2 JP2004145305A JP2004145305A JP4042980B2 JP 4042980 B2 JP4042980 B2 JP 4042980B2 JP 2004145305 A JP2004145305 A JP 2004145305A JP 2004145305 A JP2004145305 A JP 2004145305A JP 4042980 B2 JP4042980 B2 JP 4042980B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- obstacle
- avoidance
- return operation
- driver
- 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- 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
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- 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
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S345/00—Computer graphics processing and selective visual display systems
- Y10S345/949—Animation processing method
- Y10S345/958—Collision avoidance
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S367/00—Communications, electrical: acoustic wave systems and devices
- Y10S367/909—Collision avoidance
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。
4 油圧制御装置(制動装置)
17 パワーステアリング装置
Do オフセット量
Dt 目標横移動距離
M5 回避操作判定手段
M6 復帰操作判定手段
M8 アシストヨーレート算出手段(回避運動量算出手段)
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)
Sg 第2レーダー装置(第2の障害物検知手段)
W 自車の横幅
w 障害物の横幅
Claims (4)
- 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(O)を回避した後の復帰操作の開始を判定する復帰操作判定手段(M6)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、
回避運動量算出手段(M8)で算出した回避運動量に基づいて車両の横運動を制御する車両運動制御手段(M12)とを備え、
回避操作判定手段(M5)が回避操作の開始を判定してから復帰操作判定手段(M6)が復帰操作の開始を判定するまでは、ドライバーの回避操作と並行して、車両運動制御手段(M12)は制動装置(2,4)を作動させて車両の横運動を制御し、復帰操作判定手段(M6)が復帰操作の開始を判定した後は、ドライバーの復帰操作と並行して、車両運動制御手段(M12)はパワーステアリング装置(17)を作動させて車両の横運動を制御するものであって、
前記回避操作判定手段(M5)は、自車が障害物に衝突するまでの時間的余裕である衝突余裕時間が所定値以上の場合にはドライバーのブレーキ操作およびステアリング操作に基づいて回避操作の開始を判定し、前記衝突余裕時間が所定値未満の場合にはドライバーのステアリング操作のみに基づいて回避操作の開始を判定することを特徴とする車両操作支援装置。 - 復帰操作判定手段(M6)は、自車の中心線に対する障害物(O)の中心のオフセット量(Do)と、障害物(O)の横幅(w)および自車の横幅(W)から算出した目標横移動距離(Dt)とを比較し、オフセット量(Do)が目標横移動距離(Dt)を超えたときに復帰操作の開始を判定す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。
- 復帰操作判定手段(M6)は、障害物検知手段(Sa)が障害物(O)をロストしたときに復帰操作の開始を判定す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。
- 前記障害物検知手段(Sa)とは異なる第2の障害物検知手段(Sg)を備え、
前記回避運動量算出手段(M8)は、前記第2の障害物検知手段(Sg)が前記障害物(O)とは異なる障害物を検知したとき、前記回避運動量を小さく補正す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 (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004145305A JP4042980B2 (ja) | 2004-05-14 | 2004-05-14 | 車両操作支援装置 |
US11/120,312 US7778753B2 (en) | 2004-05-14 | 2005-05-02 | Vehicle operation assisting system |
DE102005021845A DE102005021845A1 (de) | 2004-05-14 | 2005-05-11 | Fahrzeugbedienungs-Unterstützungssystem |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004145305A JP4042980B2 (ja) | 2004-05-14 | 2004-05-14 | 車両操作支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005327117A JP2005327117A (ja) | 2005-11-24 |
JP4042980B2 true JP4042980B2 (ja) | 2008-02-06 |
Family
ID=35336220
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004145305A Expired - Fee Related JP4042980B2 (ja) | 2004-05-14 | 2004-05-14 | 車両操作支援装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7778753B2 (ja) |
JP (1) | JP4042980B2 (ja) |
DE (1) | DE102005021845A1 (ja) |
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JP4176177B2 (ja) * | 1998-02-18 | 2008-11-05 | 本田技研工業株式会社 | 車両の制動制御装置 |
JPH11321598A (ja) * | 1998-05-07 | 1999-11-24 | Honda Motor Co Ltd | 車両走行安全装置 |
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JP3828663B2 (ja) * | 1998-06-11 | 2006-10-04 | 本田技研工業株式会社 | 車両の障害物回避制御装置 |
JP4007723B2 (ja) | 1999-06-16 | 2007-11-14 | 本田技研工業株式会社 | 車両の走行安全装置 |
ITTO20010282A1 (it) * | 2001-03-26 | 2002-09-26 | Fiat Ricerche | Sistema di ausilio alla guida di un autoveicolo. |
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JP3642314B2 (ja) * | 2001-12-11 | 2005-04-27 | 日産自動車株式会社 | 車両用制動制御装置 |
JP4043276B2 (ja) * | 2002-04-24 | 2008-02-06 | 株式会社日立製作所 | レーダ装置 |
JP2003341501A (ja) * | 2002-05-23 | 2003-12-03 | Masato Abe | 運転支援制御システム |
JP4045961B2 (ja) * | 2003-01-24 | 2008-02-13 | 日産自動車株式会社 | 制動制御装置 |
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 |
-
2004
- 2004-05-14 JP JP2004145305A patent/JP4042980B2/ja not_active Expired - Fee Related
-
2005
- 2005-05-02 US US11/120,312 patent/US7778753B2/en not_active Expired - Fee Related
- 2005-05-11 DE DE102005021845A patent/DE102005021845A1/de not_active Withdrawn
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DE102005021845A1 (de) | 2005-12-08 |
US7778753B2 (en) | 2010-08-17 |
JP2005327117A (ja) | 2005-11-24 |
US20050267660A1 (en) | 2005-12-01 |
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