JP4992907B2 - 車両挙動制御装置 - Google Patents
車両挙動制御装置 Download PDFInfo
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- JP4992907B2 JP4992907B2 JP2008543337A JP2008543337A JP4992907B2 JP 4992907 B2 JP4992907 B2 JP 4992907B2 JP 2008543337 A JP2008543337 A JP 2008543337A JP 2008543337 A JP2008543337 A JP 2008543337A JP 4992907 B2 JP4992907 B2 JP 4992907B2
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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
- 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
-
- 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
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control 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
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- 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
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- 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
- B60T2260/022—Rear-wheel steering; Four-wheel 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/22—Psychological state; Stress level or workload
-
- 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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Mathematical Physics (AREA)
- Combustion & Propulsion (AREA)
- Fluid Mechanics (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Description
2 内燃機関
3 変速装置
4 駆動軸
5FL 左側前輪
5FR 右側前輪
5RL 左側後輪
5RR 右側後輪
6FL 左側前輪用制動装置
6FR 右側前輪用制動装置
6RL 左側後輪用制動装置
6RR 右側後輪用制動装置
7 前輪操舵補助装置
8 後輪操舵装置
9 ハンドル
10 ECU
16 記憶部
20 車両挙動制御装置
21 進行方向設定部
22 車両挙動制御部
40 操舵角センサ
41 顔向き検出センサ
42 視線検出センサ
43 ブレーキセンサ
44 対象物検出センサ
45 道路形状検出センサ
46 路面状態検出センサ
47 ナビゲーション装置
48 加速度センサ
49 ヨーレートセンサ
50 操舵トルクセンサ
51FL 左側前輪速度センサ
51FR 右側前輪速度センサ
51RL 左側後輪速度センサ
51RR 右側後輪速度センサ
61 レーンチェンジ制御要求パラメータマップ
62 旋回制御要求パラメータマップ
C 車両運動制御手段
D 運転者
EL 視線方向
J 対象物
M ドアミラー
S1 ドライバ動作検出手段
S2 周辺環境検出手段
S3 自車両状態検出手段
Claims (10)
- 車両の動きを制御するために運転者が行う動作とは異なる前記運転者の動作に基づいて、前記車両の目標とする進行方向である目標進行方向を推定する進行方向設定部と、
前記進行方向設定部により設定された前記目標進行方向に基づいて、前記車両に対する車両挙動制御の制御態様を変更する車両挙動制御部と、
を含み、
前記車両挙動制御部は、
前記車両の平面方向における運動を制御するとともに、前記車両の前後方向が、前記進行方向設定部により設定された前記目標進行方向に向くように、前記車両挙動制御を実行し、
前記進行方向設定部は、
前記車両を運転する運転者の視線方向、又は前記運転者の顔向きのうち少なくとも一方に基づいて前記目標進行方向を推定し、
前記運転者の視線傾斜角が、所定の視線傾斜角範囲に所定時間含まれているか否か判断し、前記運転者の視線傾斜角が、所定の視線傾斜角範囲に所定時間含まれている場合、前記運転者の視線がドアミラー内にあるか否かを判定し、その結果、前記運転者の前記視線がドアミラー内にある場合には、前記所定時間を延長し、
延長した前記所定時間が経過したら、旋回をするための方向に目標進行方向を設定することを特徴とする車両挙動制御装置。 - 前記車両挙動制御部は、
前記目標進行方向が、前記車両の進行している方向に存在する場合には、前記目標進行方向が前記車両の走行している方向外に存在する場合よりも、前記車両に発生するヨーが小さくなるようにすることを特徴とする請求項1に記載の車両挙動制御装置。 - 前記車両挙動制御部は、
前記車両に対する操作の開始とともに、前記車両挙動制御を実行することを特徴とする請求項1又は2に記載の車両挙動制御装置。 - 前記進行方向設定部は、
前記車両が物理的に進行できない方向は、前記目標進行方向から除外することを特徴とする請求項1〜3のいずれか1項に記載の車両挙動制御装置。 - 前記進行方向設定部は、
前記運転者が前記車両の外を見ていない場合には、前記車両を運転する運転者の視線方向及び前記運転者の顔向きは、前記目標進行方向を推定する際に用いないことを特徴とする請求項1〜4のいずれか1項に記載の車両挙動制御装置。 - 前記進行方向設定部は、
前記運転者の意思又は前記車両の周辺環境の少なくとも一つに応じて前記目標進行方向の候補に対して付与される重み付けの大きい方が前記目標進行方向として選択されることを特徴とする請求項1〜5のいずれか1項に記載の車両挙動制御装置。 - 前記車両挙動制御部は、
前記重み付けが大きいほど、前記車両挙動制御の制御量を大きくすることを特徴とする請求項6に記載の車両挙動制御装置。 - 前記車両と衝突するおそれのある対象物を回避する場合、
前記進行方向設定部は、前記車両の周囲環境の情報に基づき、より安全と判断される方向を前記目標進行方向として選択することを特徴とする請求項7に記載の車両挙動制御装置。 - 前記目標進行方向は、前記車両が衝突するおそれがある場合において、前記車両が衝突を回避するために必要な進行方向であることを特徴とする請求項1〜8のいずれか1項に記載の車両挙動制御装置。
- 前記進行方向設定部は、
前記車両と衝突するおそれのある対象物を、前記車両の走行している方向、又は前記車両の走行している方向外のいずれか一方に回避するかに応じて前記目標進行方向を推定することを特徴とする請求項9に記載の車両挙動制御装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008543337A JP4992907B2 (ja) | 2007-05-02 | 2008-04-28 | 車両挙動制御装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007121803 | 2007-05-02 | ||
JP2007121803 | 2007-05-02 | ||
PCT/JP2008/058188 WO2008136456A1 (ja) | 2007-05-02 | 2008-04-28 | 車両挙動制御装置 |
JP2008543337A JP4992907B2 (ja) | 2007-05-02 | 2008-04-28 | 車両挙動制御装置 |
Publications (2)
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JPWO2008136456A1 JPWO2008136456A1 (ja) | 2010-07-29 |
JP4992907B2 true JP4992907B2 (ja) | 2012-08-08 |
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JP2008543337A Expired - Fee Related JP4992907B2 (ja) | 2007-05-02 | 2008-04-28 | 車両挙動制御装置 |
Country Status (5)
Country | Link |
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US (1) | US8301343B2 (ja) |
EP (1) | EP2143611B1 (ja) |
JP (1) | JP4992907B2 (ja) |
CN (1) | CN101674965B (ja) |
WO (1) | WO2008136456A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107074237A (zh) * | 2014-10-20 | 2017-08-18 | 标致·雪铁龙汽车公司 | 根据驾驶员眼睛的察看方向对车辆轨迹监控系统的停用进行控制的控制装置 |
Families Citing this family (80)
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JP2010018148A (ja) * | 2008-07-10 | 2010-01-28 | Bosch Corp | 車両の誤発進防止装置 |
JP4735676B2 (ja) | 2008-08-06 | 2011-07-27 | 株式会社デンソー | 走行支援装置 |
JPWO2011064831A1 (ja) * | 2009-11-30 | 2013-04-11 | 富士通株式会社 | 診断装置及び診断方法 |
EP2511891A1 (en) * | 2009-12-11 | 2012-10-17 | Optex Co., Ltd. | Driving behavior detecting method and device |
BR112012012635A2 (pt) * | 2009-12-18 | 2016-07-12 | Honda Motor Co Ltd | sistema e método para fornecer alerta de aviso de acidente em veículo |
JP5393495B2 (ja) * | 2010-01-14 | 2014-01-22 | 株式会社豊田中央研究所 | 操舵装置 |
JP4978722B2 (ja) * | 2010-08-23 | 2012-07-18 | 株式会社デンソー | 速度制御装置 |
JP4978721B2 (ja) * | 2010-08-23 | 2012-07-18 | 株式会社デンソー | 運転支援装置 |
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EP2143611A4 (en) | 2010-10-06 |
EP2143611A1 (en) | 2010-01-13 |
US20100049375A1 (en) | 2010-02-25 |
JPWO2008136456A1 (ja) | 2010-07-29 |
US8301343B2 (en) | 2012-10-30 |
CN101674965B (zh) | 2013-05-22 |
CN101674965A (zh) | 2010-03-17 |
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EP2143611B1 (en) | 2013-04-10 |
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