JP4538762B2 - 車間距離制御装置 - Google Patents
車間距離制御装置 Download PDFInfo
- Publication number
- JP4538762B2 JP4538762B2 JP2008132280A JP2008132280A JP4538762B2 JP 4538762 B2 JP4538762 B2 JP 4538762B2 JP 2008132280 A JP2008132280 A JP 2008132280A JP 2008132280 A JP2008132280 A JP 2008132280A JP 4538762 B2 JP4538762 B2 JP 4538762B2
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- JP
- Japan
- Prior art keywords
- vehicle
- preceding vehicle
- stop position
- inter
- target stop
- 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.)
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Classifications
-
- 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
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
- G01S2013/464—Indirect determination of position data using multipath signals using only the non-line-of-sight signal(s), e.g. to enable survey of scene 'behind' the target only the indirect signal is evaluated
Description
第1の発明は、情報取得手段、目標停止位置候補算出手段、走行状況判断手段、および目標停止位置決定手段を備える車間距離制御装置である。情報取得手段は、車両の前方に存在する先行車および先々行車を検出する検出手段から物体検出情報を取得する。目標停止位置候補算出手段は、物体検出情報に基づいて、先行車を対象とした第1目標停止位置候補および先々行車を対象とした第2目標停止位置候補を算出する。走行状況判断手段は、物体検出情報に基づいて、先々行車が停止しており、且つ先行車が減速しているか否かを判断する。目標停止位置決定手段は、走行状況判断手段によって、先々行車が停止しており、且つ先行車が減速していると判断されたとき、第1目標停止位置候補および第2目標停止位置候補のうち、車両から近い方を当該車両の目標停止位置として決定する。
DP1=Dd+Dvl1−DI
となる。なお、図7において破線で示す自車両VMsは、停止した先行車VL1sを基準とした目標停止位置候補P1で自車両VMが停止する位置を示している。例えば、先行車VL1の車速V=10m/s(36km/h)、先行車VL1の減速度A=1m/s2(0.1G)、先行車VL1の相対距離Dvl1=30m、車間距離DI=5mとすると、距離DP1は、
DP1=50+30−5=75m
となる。
DP2=Dvl2−DI*2−L
となる。ここで、Lは、先行車VL1の車両長さを想定した値(m)であり、ここでは車両長さデータDd2に格納されている一般的な車両長さL(例えば、5m)を採用する。例えば、先々行車VL2の相対距離Dvl2=80m、車間距離DI=5mとすると、距離DP2は、
DP2=80−5*2−5=65m
となる。
2…速度算出部
3…エンジン制御部
4…ブレーキ制御部
Claims (7)
- 車両の前方に存在する先行車および先々行車を検出する検出手段から物体検出情報を取得する情報取得手段と、
前記物体検出情報に基づいて、前記先行車を対象とした第1目標停止位置候補および前記先々行車を対象とした第2目標停止位置候補を算出する目標停止位置候補算出手段と、
前記物体検出情報に基づいて、前記先々行車が停止しており、且つ前記先行車が減速しているか否かを判断する走行状況判断手段と、
前記走行状況判断手段によって、前記先々行車が停止しており、且つ前記先行車が減速していると判断されたとき、前記第1目標停止位置候補および前記第2目標停止位置候補のうち、前記車両から近い方を当該車両の目標停止位置として決定する目標停止位置決定手段とを備える、車間距離制御装置。 - 前記目標停止位置候補算出手段は、前記先々行車が停止している場合、当該先々行車の停止位置に基づいた前記第2目標停止位置候補を算出する、請求項1に記載の車間距離制御装置。
- 前記目標停止位置候補算出手段は、前記先々行車の停止位置から目標車間距離を開けて前記先行車が停止し、さらに当該先行車から当該目標車間距離を開けて前記車両が停止する位置を前記第2目標停止位置候補として算出する、請求項2に記載の車間距離制御装置。
- 前記目標停止位置候補算出手段は、前記先々行車の停止位置から目標車間距離より長い車間距離を開けて前記先行車が停止し、さらに当該先行車から当該目標車間距離を開けて前記車両が停止する位置を前記第2目標停止位置候補として算出する、請求項2に記載の車間距離制御装置。
- 前記目標停止位置候補算出手段は、前記先行車が減速している場合、当該先行車が停止する位置に基づいた前記第1目標停止位置候補を算出する、請求項1または2に記載の車間距離制御装置。
- 前記目標停止位置候補算出手段は、前記先行車の減速度に基づいて当該先行車が停止する位置を予測し、当該予測される位置に停止する先行車から目標車間距離を開けて前記車両が停止する位置を前記第1目標停止位置候補として算出する、請求項5に記載の車間距離制御装置。
- 前記先行車が減速していない場合に前記先行車と前記車両との車間距離が現時点の車速に応じた目標車間距離となるように前記車両を前記先行車に追従させる走行制御を行い、前記先行車が減速している場合に前記目標停止位置決定手段が決定した目標停止位置に前記車両を停止させる停止制御を行う車両制御手段を、さらに備える、請求項1または2に記載の車間距離制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008132280A JP4538762B2 (ja) | 2008-05-20 | 2008-05-20 | 車間距離制御装置 |
PCT/IB2009/005142 WO2009141693A1 (en) | 2008-05-20 | 2009-04-01 | Inter-vehicle distance control apparatus and inter-vehicle distance control method |
US12/667,055 US8386146B2 (en) | 2008-05-20 | 2009-04-01 | Inter-vehicle distance control apparatus and inter-vehicle distance control method |
DE112009001203.5T DE112009001203B4 (de) | 2008-05-20 | 2009-04-01 | Zwischenfahrzeugabstand-Steuervorrichtung und Zwischenfahrzeugabstand-Steuerverfahren |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008132280A JP4538762B2 (ja) | 2008-05-20 | 2008-05-20 | 車間距離制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009280014A JP2009280014A (ja) | 2009-12-03 |
JP4538762B2 true JP4538762B2 (ja) | 2010-09-08 |
Family
ID=40848235
Family Applications (1)
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JP2008132280A Active JP4538762B2 (ja) | 2008-05-20 | 2008-05-20 | 車間距離制御装置 |
Country Status (4)
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US (1) | US8386146B2 (ja) |
JP (1) | JP4538762B2 (ja) |
DE (1) | DE112009001203B4 (ja) |
WO (1) | WO2009141693A1 (ja) |
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Also Published As
Publication number | Publication date |
---|---|
DE112009001203B4 (de) | 2021-09-30 |
DE112009001203T5 (de) | 2011-03-31 |
US8386146B2 (en) | 2013-02-26 |
JP2009280014A (ja) | 2009-12-03 |
US20100198477A1 (en) | 2010-08-05 |
WO2009141693A1 (en) | 2009-11-26 |
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