JP5031482B2 - 車両用停止制御装置及び制御システム - Google Patents
車両用停止制御装置及び制御システム Download PDFInfo
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- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- 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
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Description
ることを特徴とする。
ところで、車両の減速度が小さい場合には車速がゼロとなるまでに要する時間も長くなる。このため、減速度が小さい場合に制御手段による制御に早期に切り替えたのでは、車両が実際に停止するまでに要する時間が長時間化するおそれがある。また、減速度が大きい場合には車速がゼロとなるまでに要する時間も短くなる。このため、減速度が大きい場合に制御手段による制御への切り替えが遅れると、大きい減速度のまま車両が停止して車両に生じるショックが大きくなるおそれがある。これに対し、実加速度の絶対値が小さいほど小さい車速で制御手段による制御に移行するようにすることで、車速がゼロとなる近傍における減速度を確実に低減することができ、ひいては車両停止までに要する時間の長時間化を回避しつつも車両にショックが生じることを好適に抑制することができる。
先の図3に示す規範モデル設定部B14では、ジャーク加速度ajを規範モデルにて変換することで、規範加速度am1を出力する。規範モデルは、ジャーク加速度ajが変化する車両の過渡走行時において目標とする加速度の挙動を定めるものである。規範モデル設定部B14の行う処理は、図5(a)にステップS20として示す処理である。すなわち、規範モデルは、1次遅れモデルであり、ジャーク加速度ajは、1次遅れモデルによって変換される。ここで、1次遅れモデルは、図5(b)に示すように、目標加速度(1点鎖線)をステップ状に変化させる際、実際の加速度(実線)の応答遅れがもっとも大きくなるときの応答特性に基づき設定する。すなわち、応答特性は、エンジン10の回転速度等の車両の運転状態に応じて変化するものであるため、これらのうち応答遅れがもっとも大きくなるときの特性を用いる。
次に、上記2自由度制御のうちのフィードフォワード制御について説明する。
なお、上記各実施形態は、以下のように変更して実施してもよい。
Claims (8)
- 車両の走行速度を検出する速度検出手段の検出値である実車速を取得する手段と、
前記車両の自動走行時、前記車両を停止させるに際し、前記実車速が減少するほど絶対値が減少するように車両の目標加速度を設定する目標値設定手段と、
前記車両の実際の加速度が前記目標加速度となるように制御する制御手段と、
前記車両の加速度を検出する加速度検出手段の検出値である実加速度を取得する手段と、
前記実加速度及び前記実車速に基づき、前記制御手段による制御の開始時期を判断する判断手段とを備え、
該判断手段は、前記実車速が、前記実加速度の絶対値が小さいほど絶対値が小さい値とされる車速境界値以下である場合に前記開始時期である旨判断する
ることを特徴とする車両用停止制御装置。 - 前記目標加速度は、都度の走行速度に応じた加速度の目標値についての様々なパターンを車両モデルに入力する際に出力される走行速度及び加速度のパターンに基づき適合されていることを特徴とする請求項1記載の車両用停止制御装置。
- 前記車両の加速度を検出する加速度検出手段の検出値である実加速度を取得する手段を更に備え、
前記制御手段は、前記目標加速度を規範モデルにて変換する手段と、該規範モデルにて変換された値となるように前記実加速度をフィードバック制御する手段と、前記車両の実際の加速度を前記目標加速度に応じてフィードフォワード制御する手段とを備えることを特徴とする請求項1または2記載の車両用停止制御装置。 - 前記規範モデルは、制御対象となる前記車両の前記目標加速度に対する応答遅れをモデル化したものであることを特徴とする請求項3記載の車両用停止制御装置。
- 前記規範モデルは、前記目標加速度の変化に対する応答遅れがもっとも大きくなるときの応答特性に基づき設定されていることを特徴とする請求項4記載の車両用停止制御装置。
- 前記加速度検出手段は、車輪の回転速度を検出する手段の検出値の時間微分演算に基づき前記車両の加速度を検出するものであり、
前記制御手段は、前記加速度検出手段の出力及び前記規範モデルの出力の双方に対して同一のフィルタ処理を施したものを用いて前記フィードバック制御を行うことを特徴とする請求項3〜5のいずれかに記載の車両用停止制御装置。 - 前記目標値設定手段は、前記実車速が所定以下となる場合、前記目標加速度を所定期間に渡って固定することを特徴とする請求項1〜6のいずれかに記載の車両用停止制御装置。
- 請求項1〜7のいずれかに記載の車両用停止制御装置と、
前記実際の加速度を前記目標加速度に制御するために前記制御手段によって操作されるアクチュエータとを備えることを特徴とする車両用停止制御システム。
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JP2007209242A JP5031482B2 (ja) | 2007-08-10 | 2007-08-10 | 車両用停止制御装置及び制御システム |
US12/188,610 US8660767B2 (en) | 2007-08-10 | 2008-08-08 | Apparatus and system for controlling automatic stopping of vehicle |
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Families Citing this family (26)
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JP5309633B2 (ja) * | 2007-11-16 | 2013-10-09 | アイシン・エィ・ダブリュ株式会社 | 車両制御装置、車両制御方法及びコンピュータプログラム |
CN102164789A (zh) * | 2008-09-26 | 2011-08-24 | 丰田自动车株式会社 | 自动车辆制动系统和方法 |
WO2010113799A1 (ja) * | 2009-03-30 | 2010-10-07 | 本田技研工業株式会社 | 車両横滑り運動状態量推定装置 |
US8775040B2 (en) | 2009-08-18 | 2014-07-08 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
JP5447290B2 (ja) * | 2009-08-18 | 2014-03-19 | トヨタ自動車株式会社 | 車両の制御装置 |
SE534642C2 (sv) * | 2010-02-10 | 2011-11-01 | Vdii Innovation Ab | Metod och apparat för bedömning av retardation av ett fordon |
JP5471811B2 (ja) | 2010-05-18 | 2014-04-16 | 株式会社デンソー | 制動制御装置 |
JP2013075592A (ja) * | 2011-09-30 | 2013-04-25 | Hitachi Automotive Systems Ltd | 走行制御装置 |
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