JP4142452B2 - 車両速度の制御方法 - Google Patents
車両速度の制御方法 Download PDFInfo
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- JP4142452B2 JP4142452B2 JP2002581221A JP2002581221A JP4142452B2 JP 4142452 B2 JP4142452 B2 JP 4142452B2 JP 2002581221 A JP2002581221 A JP 2002581221A JP 2002581221 A JP2002581221 A JP 2002581221A JP 4142452 B2 JP4142452 B2 JP 4142452B2
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- Prior art keywords
- brake
- brake system
- signal
- vehicle
- speed control
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- Expired - Fee Related
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- 238000000034 method Methods 0.000 title claims description 18
- 230000001133 acceleration Effects 0.000 claims description 47
- 230000008859 change Effects 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000004913 activation Effects 0.000 claims description 3
- 238000002620 method output Methods 0.000 claims 1
- 230000004044 response Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 239000012530 fluid Substances 0.000 description 3
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- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 241000255777 Lepidoptera Species 0.000 description 1
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- 238000005728 strengthening Methods 0.000 description 1
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Classifications
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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
-
- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
- B60K31/04—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
本発明の課題は,冒頭に挙げた種類の速度制御法を,ブレーキシステムに出力された動作命令に対する応答時間が短縮されるように構築することである。
図1では,車両を記号で示し,電子レギュレータ12を用いて車両速度を制御する。そのためレギュレータ12は,車両の実際速度を表す信号を,速度センサ14から受け取る。さらに,車両前部には,車間距離センサ(ここに示す例ではレーダセンサ16)が取り付けられており,車両前方に存在する測定対象物との間隔及びその相対速度をレギュレータ12に知らせる。好ましい方法として,このレーダセンサ16にある程度の角度解像能力を持たせ,従って,測定対象物の方位角を検出し,レギュレータ12に通知することができるものとする。このようにすれば,レーダシステム及び/又はレギュレータ12は,自己車線上の先行車両を他の車線上の車両と,また車道周縁に立つ対象物と区別することができる。自己車線上に先行車両が存在する際には,その直接先行車両を目標対象物として選び,先行車両に対して決められた基準車間距離が遵守されるように,車両10の速度を制御する。この基準車間距離は,基準時間間隔を入力することにより運転者が選択でき,この基準時間間隔は,先行車両と自己車両が車道上同一ポイントを通過する際の時間間隔を記述するものである。これにより基準車間距離はそのときどきの速度に動的に適合される。
Claims (5)
- 車両の正数又は負数の基準加速度を表現する加速度要求信号(asoll)が生成され,前記加速度要求信号に依存して動作命令(A)が車両のエンジン,あるいは動作命令(B)がブレーキシステム(24,26)に出力される,車両速度の制御方法において,
前記加速度要求信号(asoll)が前記ブレーキシステム(24,26)が実際に動作してアクティブ化される数値(amin,ahys)より上にある1つのしきい値(TH)を下回る場合に,前記ブレーキシステム(24,26)にバイアスをかけるための信号(F)が出力され,
前記ブレーキシステム(24,26)が動作命令(B)の出力によって実際に動作してアクティブ化される作動しきい値(amin,ahys)が,その時点の動作条件に応じて,エンジンのエンジンブレーキトルクによって生成可能な車両減速度に依存して決定され,及び前記ブレーキシステムにバイアスをかけるための信号(F)が出力されるしきい値(TH)が,所定の数値Δaだけこの作動しきい値(amin,ahys)を上回り,
前記加速度要求信号(a soll )の時間的変化率が下側のバリヤーによって有界であり,及び数値としてΔaは,この下側バリヤーと,ブレーキシステムにバイアスをかけるのに必要な時間との積よりも大きい,
ことを特徴とする車両速度の制御方法。 - 前記ブレーキシステムが実際に動作してアクティブとされる際に,前記ブレーキシステムにバイアスをかけるための信号(F)がリセットされる,
ことを特徴とする請求項1に記載の車両速度の制御方法。 - 前記ブレーキシステムが実際に動作するアクティブ化が解除される際に,前記ブレーキシステムにバイアスをかけるための信号(F)が改めてセットされるか,あるいは前記ブレーキシステムのバイアスを保持するための信号(H)がセットされる,ことを特徴とする請求項2に記載の車両速度の制御方法。
- 前記加速度要求信号(a soll )が再びしきい値(TH,TH´)を上回る際に,前記ブレーキシステムにバイアスをかけるための改めてセットされた前記信号(F)及びバイアスを保持するための前記信号(H)のうち,セットされている方の信号がリセットされる,
ことを特徴とする請求項3に記載の車両速度の制御方法。 - 前記ブレーキシステムにバイアスをかけるための前記信号(F)又はバイアスを保持するための前記信号(H)が,各々遅くともある一定の,又は状態に応じて変化可能な時間的スパン(Δt)が経過した後,リセットされる,
ことを特徴とする請求項1,2,3あるいは4項のうちいずれか1項に記載の車両速度の制御方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10118708A DE10118708A1 (de) | 2001-04-12 | 2001-04-12 | Verfahren zur Regelung der Geschwindigkeit eines Kraftfahrzeugs |
PCT/DE2002/000575 WO2002083447A1 (de) | 2001-04-12 | 2002-02-16 | Verfahren zur regelung der geschwindigkeit eines kraftfahrzeugs |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2004528217A JP2004528217A (ja) | 2004-09-16 |
JP4142452B2 true JP4142452B2 (ja) | 2008-09-03 |
Family
ID=7681672
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2002581221A Expired - Fee Related JP4142452B2 (ja) | 2001-04-12 | 2002-02-16 | 車両速度の制御方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US6932441B2 (ja) |
EP (1) | EP1387777B1 (ja) |
JP (1) | JP4142452B2 (ja) |
DE (2) | DE10118708A1 (ja) |
ES (1) | ES2315355T3 (ja) |
WO (1) | WO2002083447A1 (ja) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004045898A2 (de) * | 2002-11-19 | 2004-06-03 | Continental Teves Ag & Co. Ohg | Verfahren und vorrichtung zur regelung der fahrzeuglängsbeschleunigung |
DE102004030464A1 (de) * | 2004-06-24 | 2006-01-19 | Adam Opel Ag | Bremssystem mit EBS und "prefill"-Funktion sowie Verfahren zur elektronischen Bremsregelung |
US7360761B2 (en) * | 2004-06-24 | 2008-04-22 | Wms Gaming Inc. | Dynamic generation of a profile for spinning reel gaming machines |
DE102004059546A1 (de) * | 2004-12-09 | 2006-06-22 | Lucas Automotive Gmbh | Elektronisches System zum Betreiben einer elektromechanischen Feststell-Bremsanlage |
EP1925514B1 (en) * | 2005-09-14 | 2014-04-30 | Hitachi, Ltd. | Travel control device and travel control method |
JP4797934B2 (ja) * | 2006-01-19 | 2011-10-19 | 株式会社アドヴィックス | 車両用ディスクブレーキ制御装置 |
JP4940803B2 (ja) * | 2006-07-18 | 2012-05-30 | トヨタ自動車株式会社 | 車両の制動力制御装置 |
DE102006052106A1 (de) * | 2006-11-04 | 2008-05-21 | Zf Friedrichshafen Ag | Verfahren zum fahrstreckenneigungsabhängigen Steuern und/oder Regeln eines Automatgetriebes eines Fahrzeuges |
DE102009033953B4 (de) | 2008-07-23 | 2022-06-09 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Fahrzeuggeschwindigkeitsregelung unter Verwendung von Fahrzeugbremsen in einem Fahrgeschwindigkeitsregelungsmodus |
JP5324367B2 (ja) | 2009-09-16 | 2013-10-23 | 株式会社デンソー | 制御要求調停装置 |
DE102009058154A1 (de) | 2009-12-12 | 2011-06-16 | Wabco Gmbh | Fahrerassistenzsystem für ein Fahrzeug, insbesondere Nutzfahrzeug, sowie Verfahren zum Steuern eines Bremssystems |
DE102011002805A1 (de) * | 2011-01-18 | 2012-07-19 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Erkennung von Fehlern in einem elektronisch gesteuerten Antriebssystem eines Kraftfahrzeuges |
DE102012220361A1 (de) * | 2012-11-08 | 2014-05-22 | Robert Bosch Gmbh | Bremsvorrichtung für ein Kraftfahrzeug mit präparierender Vorverzögerung und Verfahren zum Steuern einer solchen Bremsvorrichtung |
DE102013011624A1 (de) * | 2013-07-12 | 2015-01-15 | Wabco Gmbh | Verfahren und Vorrichtung zur automatischen Regelung einer Längsdynamik eines Kraftfahrzeugs |
DE102015012378A1 (de) * | 2015-09-21 | 2017-03-23 | Wabco Gmbh | Verfahren zum Einstellen von Bremsdrücken eines Kraftfahrzeugs, Bremsanlage zur Durchführung des Verfahrens sowie Kraftfahrzeug |
DE102018214353A1 (de) * | 2018-08-24 | 2020-02-27 | Robert Bosch Gmbh | Verfahren zum Abbau eines vorherrschenden Bremsdrucks in einem Bremskreis einer elektronisch schlupfregelbaren Fremdkraftbremsanlage sowie elektronisch schlupfregelbare Fremdkraftbremsanlage |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2642211C2 (de) * | 1976-09-20 | 1985-01-03 | Daimler-Benz Ag, 7000 Stuttgart | Abstandswarnanlage für Fahrzeuge |
DE3423063A1 (de) * | 1984-06-22 | 1986-01-02 | Robert Bosch Gmbh, 7000 Stuttgart | Antriebsschlupfregelsystem |
GB9303434D0 (en) * | 1993-02-20 | 1993-04-07 | Lucas Ind Plc | Method of and apparatus for cruise control |
JPH0885362A (ja) * | 1994-09-20 | 1996-04-02 | Nissan Motor Co Ltd | 車速制御装置 |
US5505531A (en) * | 1995-05-12 | 1996-04-09 | The Boeing Company | Method to maintain brake stack closure during autobrake application |
DE19615294A1 (de) | 1996-04-18 | 1997-10-23 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Steuerung der Bremskraft an wenigstens einem Rad eines Fahrzeuges |
JP3454092B2 (ja) | 1997-03-06 | 2003-10-06 | トヨタ自動車株式会社 | 制動力制御装置 |
JP3832526B2 (ja) | 1997-06-20 | 2006-10-11 | 三菱自動車工業株式会社 | 車両の走行制御装置 |
DE69822319T2 (de) | 1997-10-20 | 2005-03-17 | Renault S.A.S. | Bremsanlage und kraftfahrzeug mit vorrichtung zur automatischen abstandsregelung |
DE19937942B4 (de) | 1999-08-11 | 2005-12-22 | Daimlerchrysler Ag | Verfahren und Steuerungssystem zur Abstands- und Geschwindigkeitsregelung eines Fahrzeugs |
JP3666342B2 (ja) * | 2000-02-21 | 2005-06-29 | 日産自動車株式会社 | 走行制御装置 |
-
2001
- 2001-04-12 DE DE10118708A patent/DE10118708A1/de not_active Withdrawn
-
2002
- 2002-02-16 EP EP02714028A patent/EP1387777B1/de not_active Expired - Lifetime
- 2002-02-16 US US10/297,952 patent/US6932441B2/en not_active Expired - Lifetime
- 2002-02-16 JP JP2002581221A patent/JP4142452B2/ja not_active Expired - Fee Related
- 2002-02-16 DE DE50213126T patent/DE50213126D1/de not_active Expired - Lifetime
- 2002-02-16 ES ES02714028T patent/ES2315355T3/es not_active Expired - Lifetime
- 2002-02-16 WO PCT/DE2002/000575 patent/WO2002083447A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
US6932441B2 (en) | 2005-08-23 |
EP1387777A1 (de) | 2004-02-11 |
JP2004528217A (ja) | 2004-09-16 |
DE50213126D1 (de) | 2009-01-29 |
EP1387777B1 (de) | 2008-12-17 |
ES2315355T3 (es) | 2009-04-01 |
US20040041471A1 (en) | 2004-03-04 |
DE10118708A1 (de) | 2002-10-17 |
WO2002083447A1 (de) | 2002-10-24 |
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