JP4918389B2 - 車両の走行安全装置 - Google Patents
車両の走行安全装置 Download PDFInfo
- Publication number
- JP4918389B2 JP4918389B2 JP2007094283A JP2007094283A JP4918389B2 JP 4918389 B2 JP4918389 B2 JP 4918389B2 JP 2007094283 A JP2007094283 A JP 2007094283A JP 2007094283 A JP2007094283 A JP 2007094283A JP 4918389 B2 JP4918389 B2 JP 4918389B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- change amount
- contact avoidance
- vehicle
- 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
Links
- 230000008859 change Effects 0.000 claims abstract description 78
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 6
- 230000001149 cognitive effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 21
- 230000008569 process Effects 0.000 description 20
- 230000000694 effects Effects 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000019771 cognition Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- 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
- B60W30/08—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
- 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
- B62D15/0265—Automatic obstacle avoidance by steering
-
- 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
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
- Power Steering Mechanism (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Eye Examination Apparatus (AREA)
- Harvester Elements (AREA)
- Heat Treatment Of Sheet Steel (AREA)
- Superstructure Of Vehicle (AREA)
- Vehicle Body Suspensions (AREA)
Description
ステアリングトルク制御量=k×車速×目標ヨーレート
Claims (6)
- 車両の周囲に存在する物体を検出する物体検出手段と、前記車両の運動状態を検出する運動状態検出手段と、前記検出された運動状態に基づいて前記検出された物体との接触の可能性を判断する接触可能性判断手段と、前記接触の可能性があると判断される場合、前記物体を障害物と認識し、警報または車両制御により前記認識された障害物との接触回避支援動作を行う接触回避支援手段とを備えた車両の走行安全装置において、前記警報として所定の操舵トルクを付与する操舵トルク付与手段と、前記付与された所定の操舵トルクの方向に対して反対方向となるドライバの操舵力変化量を算出するドライバ操舵力変化量算出手段とを備えると共に、前記接触回避支援手段は、前記算出されたドライバの操舵力変化量が設定値未満の場合、前記所定の操舵トルクの付与に代わる接触回避支援動作を行うことを特徴とする車両の走行安全装置。
- 前記接触回避支援手段は、前記算出されたドライバの操舵力変化量が設定値未満の場合、前記接触回避支援動作を増強することで、前記警報として前記所定の操舵トルクの付与よりも認知性の高い動作を行うことを特徴とする請求項1記載の車両の走行安全装置。
- 前記接触回避支援手段は、前記算出されたドライバの操舵力変化量が設定値未満の場合、前記車両制御による前記接触回避支援動作を行うことを特徴とする請求項1記載の車両の走行安全装置。
- 前記接触回避支援手段は、前記車両制御による前記接触回避支援動作を行うと共に、前記算出されたドライバの操舵力変化量が設定値未満の場合、前記接触回避支援動作を早めるように補正することを特徴とする請求項1または3記載の車両の走行安全装置。
- 前記付与された所定の操舵トルクに対するステアリングホイールの舵角変化量を算出する舵角変化量算出手段を備え、前記接触回避支援手段は、前記算出されたドライバの操舵力変化量が設定値未満であると共に、前記算出されたステアリングホイールの舵角変化量が第2の設定値未満の場合、前記接触回避支援動作を増強することを特徴とする請求項1から4のいずれかに記載の車両の走行安全装置。
- 前記付与された所定の操舵トルクに対するステアリングホイールの舵角変化量を算出する舵角変化量算出手段を備え、前記接触回避支援手段は、前記算出されたステアリングホイールの舵角変化量が第3の設定値を超える場合、前記付与された所定の操舵トルクの方向と逆方向に修正トルクを付与することを特徴とする請求項1から5のいずれかに記載の車両の走行安全装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007094283A JP4918389B2 (ja) | 2007-03-30 | 2007-03-30 | 車両の走行安全装置 |
DE602008004481T DE602008004481D1 (de) | 2007-03-30 | 2008-02-20 | Fahrsicherheitsvorrichtung für fahrzeug |
AT08711619T ATE495074T1 (de) | 2007-03-30 | 2008-02-20 | Fahrsicherheitsvorrichtung für fahrzeug |
PCT/JP2008/052813 WO2008126474A1 (ja) | 2007-03-30 | 2008-02-20 | 車両の走行安全装置 |
EP08711619A EP2135789B1 (en) | 2007-03-30 | 2008-02-20 | Traveling safety device of vehicle |
US12/532,778 US8521414B2 (en) | 2007-03-30 | 2008-02-20 | Vehicle safety driving apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007094283A JP4918389B2 (ja) | 2007-03-30 | 2007-03-30 | 車両の走行安全装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008247327A JP2008247327A (ja) | 2008-10-16 |
JP4918389B2 true JP4918389B2 (ja) | 2012-04-18 |
Family
ID=39863631
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007094283A Expired - Fee Related JP4918389B2 (ja) | 2007-03-30 | 2007-03-30 | 車両の走行安全装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8521414B2 (ja) |
EP (1) | EP2135789B1 (ja) |
JP (1) | JP4918389B2 (ja) |
AT (1) | ATE495074T1 (ja) |
DE (1) | DE602008004481D1 (ja) |
WO (1) | WO2008126474A1 (ja) |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5254688B2 (ja) * | 2008-07-17 | 2013-08-07 | 富士重工業株式会社 | 車線逸脱防止装置 |
JP5018733B2 (ja) * | 2008-10-22 | 2012-09-05 | トヨタ自動車株式会社 | 運転支援装置 |
CN102307774A (zh) * | 2009-02-03 | 2012-01-04 | 大陆-特韦斯贸易合伙股份公司及两合公司 | 用于实施避让行动的方法和装置 |
JP2010179741A (ja) * | 2009-02-04 | 2010-08-19 | Honda Motor Co Ltd | 車両の接触回避支援装置 |
DE102009026997A1 (de) * | 2009-06-17 | 2011-04-07 | Robert Bosch Gmbh | Verfahren zur Lenkmomentbeeinflussung in einem Fahrzeuglenksystem |
WO2012068331A1 (en) | 2010-11-19 | 2012-05-24 | Magna Electronics Inc. | Lane keeping system and lane centering system |
DE102011081320B4 (de) | 2011-08-22 | 2022-02-24 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem eines nicht spurgebundenen Fahrzeugs |
WO2013026616A1 (de) | 2011-08-22 | 2013-02-28 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem eines nicht spurgebundenen fahrzeugs |
DE102011081321B4 (de) | 2011-08-22 | 2022-01-27 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem eines nicht spurgebundenen Fahrzeugs |
KR101811435B1 (ko) * | 2011-08-24 | 2018-01-26 | 현대모비스 주식회사 | 제어 개입 기준 변경 가능한 충돌회피 보조 장치 및 그 방법 |
CN103827939A (zh) * | 2011-09-26 | 2014-05-28 | 丰田自动车株式会社 | 车辆的驾驶辅助系统 |
JP5903003B2 (ja) * | 2012-06-26 | 2016-04-13 | 本田技研工業株式会社 | 車両周辺監視装置 |
SE536693C2 (sv) * | 2012-09-25 | 2014-05-27 | Scania Cv Ab | Säkerhetssystem för ett fordon för att undvika kollision medobjekt, och en metod i samband med säkerhetssystemet |
DE102012222245B4 (de) | 2012-12-04 | 2021-12-09 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Abgabe einer Lenkempfehlung |
WO2014155615A1 (ja) | 2013-03-28 | 2014-10-02 | トヨタ自動車株式会社 | 衝突回避支援装置及び衝突回避支援方法 |
US9358925B2 (en) * | 2013-10-23 | 2016-06-07 | Jtekt Corporation | Warning device for vehicle |
DE102014212047A1 (de) * | 2014-06-24 | 2015-12-24 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
US10713506B2 (en) | 2014-12-18 | 2020-07-14 | Magna Electronics Inc. | Vehicle vision system with 3D registration for distance estimation |
US9946940B2 (en) | 2014-12-18 | 2018-04-17 | Magna Electronics Inc. | Vehicle vision system with adaptive lane marker detection |
US10449899B2 (en) | 2015-05-08 | 2019-10-22 | Magna Electronics Inc. | Vehicle vision system with road line sensing algorithm and lane departure warning |
CN105365824A (zh) * | 2015-10-27 | 2016-03-02 | 东莞酷派软件技术有限公司 | 车辆的控制方法、信息处理方法及相关装置 |
JP6661214B2 (ja) * | 2015-12-21 | 2020-03-11 | 株式会社Subaru | 車両の運転支援制御装置 |
US10055651B2 (en) | 2016-03-08 | 2018-08-21 | Magna Electronics Inc. | Vehicle vision system with enhanced lane tracking |
WO2017199575A1 (ja) * | 2016-05-19 | 2017-11-23 | 日立オートモティブシステムズ株式会社 | 操舵制御装置及び操舵制御装置の制御方法 |
JP6420388B2 (ja) * | 2017-03-13 | 2018-11-07 | ファナック株式会社 | サーボモータ制御装置、及び、サーボモータ制御システム |
CN107244290A (zh) * | 2017-05-17 | 2017-10-13 | 吉利汽车研究院(宁波)有限公司 | 汽车脱手驾驶监控、自动接管系统及方法 |
JP6647681B2 (ja) * | 2017-08-30 | 2020-02-14 | マツダ株式会社 | 車両制御装置 |
JP6723301B2 (ja) * | 2018-08-29 | 2020-07-15 | 三菱電機株式会社 | 車両用操舵装置 |
JP7194085B2 (ja) * | 2019-07-09 | 2022-12-21 | 日立Astemo株式会社 | 操舵制御装置、操舵制御方法、及び操舵制御システム |
JP7149918B2 (ja) * | 2019-10-16 | 2022-10-07 | 本田技研工業株式会社 | 車両用接触回避支援装置 |
CN111923749A (zh) * | 2020-08-20 | 2020-11-13 | 洛阳智能农业装备研究院有限公司 | 一种四轮毂电机驱动无人电动拖拉机控制系统 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH07117593A (ja) * | 1993-10-21 | 1995-05-09 | Mitsubishi Electric Corp | 車両用警報装置 |
JP3647538B2 (ja) * | 1996-02-12 | 2005-05-11 | 本田技研工業株式会社 | 車両操舵装置 |
JP2000062635A (ja) * | 1998-08-18 | 2000-02-29 | Mitsubishi Motors Corp | 衝突警報装置 |
JP3986683B2 (ja) * | 1998-08-25 | 2007-10-03 | 本田技研工業株式会社 | 車両の走行安全装置 |
US6366937B1 (en) | 1999-03-11 | 2002-04-02 | Hitachi America Ltd. | System and method for performing a fast fourier transform using a matrix-vector multiply instruction |
JP3723462B2 (ja) | 2000-03-07 | 2005-12-07 | 三洋化成工業株式会社 | 無機繊維用集束剤 |
JP2004030361A (ja) * | 2002-06-27 | 2004-01-29 | Koyo Seiko Co Ltd | 車両用操舵装置 |
DE10232295A1 (de) * | 2002-07-16 | 2004-02-05 | Daimlerchrysler Ag | Verfahren zur Unterstützung des Fahrers bei Fahrmanövern |
JP3872035B2 (ja) | 2003-05-09 | 2007-01-24 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP2005149021A (ja) * | 2003-11-13 | 2005-06-09 | Denso Corp | 衝突可能性判定装置 |
DE102004047861A1 (de) * | 2004-10-01 | 2006-04-06 | Daimlerchrysler Ag | Verfahren und Vorrichtung zur Unterstützung des Fahrers eines Fahrzeugs bei der Einhaltung einer Fahrspur |
JP4476781B2 (ja) | 2004-11-05 | 2010-06-09 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP2008531388A (ja) | 2005-03-03 | 2008-08-14 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 車両の車線変更時の衝突回避方法及び装置 |
JP4531621B2 (ja) * | 2005-04-25 | 2010-08-25 | 本田技研工業株式会社 | 車両の走行安全装置 |
US7734418B2 (en) * | 2005-06-28 | 2010-06-08 | Honda Motor Co., Ltd. | Vehicle operation assisting system |
-
2007
- 2007-03-30 JP JP2007094283A patent/JP4918389B2/ja not_active Expired - Fee Related
-
2008
- 2008-02-20 US US12/532,778 patent/US8521414B2/en not_active Expired - Fee Related
- 2008-02-20 WO PCT/JP2008/052813 patent/WO2008126474A1/ja active Application Filing
- 2008-02-20 EP EP08711619A patent/EP2135789B1/en not_active Not-in-force
- 2008-02-20 AT AT08711619T patent/ATE495074T1/de not_active IP Right Cessation
- 2008-02-20 DE DE602008004481T patent/DE602008004481D1/de active Active
Also Published As
Publication number | Publication date |
---|---|
DE602008004481D1 (de) | 2011-02-24 |
EP2135789A1 (en) | 2009-12-23 |
JP2008247327A (ja) | 2008-10-16 |
US8521414B2 (en) | 2013-08-27 |
WO2008126474A1 (ja) | 2008-10-23 |
EP2135789A4 (en) | 2010-03-24 |
US20100121532A1 (en) | 2010-05-13 |
ATE495074T1 (de) | 2011-01-15 |
EP2135789B1 (en) | 2011-01-12 |
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