JP5195672B2 - 車両制御装置、車両および車両制御方法 - Google Patents
車両制御装置、車両および車両制御方法 Download PDFInfo
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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
- 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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- 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
- B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
-
- 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
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- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Description
Ds=Drn …(1)
Ds=αlog(Dr/D0) …(2)
Ds=Drn …(3)
Ds=αlog(Dr/D0) …(4)
Vs=Vr+βVm …(5)
Vs=Vr+βVm+δAr …(6)
Vs=Vr+βVm+γAp …(7)
2 車速センサ
3 距離センサ
4 ECU
41 知覚相対距離算出部
42 知覚相対速度算出部
43 知覚相対比算出部
44 制御タイミング判定部
5 減速装置
Ap 知覚対象物の加速度
CA 自車両(車両)
D0 最大相対距離
Dr 実相対距離
Ds 知覚相対距離
TA 知覚対象物
Vm 自車両の車速
Vr 実相対速度
Vs 知覚相対速度
X 知覚相対比
X0 しきい値
Claims (12)
- 車両の外部に存在し、かつ運転者に知覚可能な知覚対象物と前記車両との実相対距離および実相対速度を入力値として車両を制御する車両制御を行う車両制御装置において、
前記実相対距離に対応した物理量であり、かつ前記運転者の知覚による前記知覚対象物と前記車両との相対距離である知覚相対距離と、前記実相対速度あるいは前記実相対速度に対応した物理量であり、かつ前記運転者の知覚による前記知覚対象物と前記車両との相対速度を示す知覚相対速度のいずれかとの比である知覚相対比が反映された制御値に基づいて前記車両制御を行うことを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記制御値は、前記車両制御における制御タイミングあるいは制御量の少なくとも一方に関するものである車両制御装置。 - 請求項2に記載の車両制御装置において、
前記制御値が前記制御タイミングに関するものである場合、前記知覚相対比がしきい値を越えると前記車両制御を開始する車両制御装置。 - 請求項3に記載の車両制御装置において、
前記しきい値は、前記運転者あるいは前記車両の走行環境のいずれか一方に基づいて変更される車両制御装置。 - 請求項4に記載の車両制御装置において、
前記運転者に基づいて前記しきい値を変更する場合は、前記しきい値が前記車両に備えられている前記運転者が操作する操作対象物の操作時における前記実相対距離および前記実相対速度に基づいて変更される車両制御装置。 - 請求項1〜5のいずれか1つに記載の車両制御装置において、
前記知覚相対距離は、前記実相対距離が遠いほど、前記実相対距離よりも小さい値となる車両制御装置。 - 請求項6に記載の車両制御装置において、
前記知覚相対距離は、前記実相対距離と、下記の式(1)とに基づいて取得する車両制御装置。
なお、Dsは知覚相対距離、Drは実相対距離であり、nは0<n<1の範囲である。
Ds=Drn …(1)
- 請求項6に記載の車両制御装置において、
前記知覚相対距離は、前記実相対距離と、下記の式(2)とに基づいて取得する車両制御装置。
なお、Dsは知覚相対距離、Drは実相対距離、D0は前記車両と前記知覚対象物とが接近した際に、前記運転者が前記知覚対象物の接近を許容できない最大相対距離、αは定数である。
Ds=αlog(Dr/D0) …(2)
- 車両の外部に存在し、かつ運転者に知覚可能な知覚対象物と前記車両との実相対距離を入力値として車両を制御する車両制御を行う車両制御装置において、
前記実相対距離が遠いほど、前記実相対距離よりも小さい値に基づいて前記車両制御を行うことを特徴とする車両制御装置。 - 運転者に知覚可能な前方車両と前記車両との実相対距離に基づいて、少なくとも前記前方車両と前記車両との衝突を回避あるいは前記衝突時の衝撃を軽減することを目的とする衝突回避軽減制御を行う車両において、
前記実相対距離が遠いとき、前記実相対距離が近いときと比較して、衝突回避軽減制御が開始されやすくすることを特徴とする車両。 - 車両の外部に存在し、かつ運転者に知覚可能な知覚対象物と前記車両との実相対距離および実相対速度を入力値として車両を制御する車両制御方法において、
前記実相対距離に対応した物理量であり、かつ前記運転者の知覚による前記知覚対象物と前記車両との相対距離である知覚相対距離と、前記実相対速度あるいは前記実相対速度に対応した物理量であり、かつ前記運転者の知覚による前記知覚対象物と前記車両との相対速度を示す知覚相対速度のいずれかとの比である知覚相対比が反映された制御値に基づいて前記車両の制御を行うことを特徴とする車両制御方法。 - 車両の外部に存在し、かつ運転者に知覚可能な知覚対象物と前記車両との実相対距離を入力値として車両を制御する車両制御方法において、
前記実相対距離が遠いほど、前記実相対距離よりも小さい値に基づいて前記車両制御を行うことを特徴とする車両制御方法。
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009159082A JP5195672B2 (ja) | 2009-05-29 | 2009-07-03 | 車両制御装置、車両および車両制御方法 |
CN201410294187.0A CN104149786B (zh) | 2009-05-29 | 2010-05-26 | 车辆控制装置、车辆以及车辆控制方法 |
PCT/IB2010/001246 WO2010136882A1 (en) | 2009-05-29 | 2010-05-26 | Vehicle control apparatus, vehicle, and vehicle control method |
CN201080023631.5A CN102448788B (zh) | 2009-05-29 | 2010-05-26 | 车辆控制装置、车辆以及车辆控制方法 |
EP10725858.4A EP2435283B1 (en) | 2009-05-29 | 2010-05-26 | Vehicle control apparatus, vehicle, and vehicle control method |
BRPI1011431-9A BRPI1011431B1 (pt) | 2009-05-29 | 2010-05-26 | aparelho de controle de veículo, veículo e método de controle de veículo |
RU2011148397/11A RU2484993C1 (ru) | 2009-05-29 | 2010-05-26 | Устройство управления транспортным средством, транспортное средство и способ управления транспортным средством |
US13/375,023 US8725403B2 (en) | 2009-05-29 | 2010-05-26 | Vehicle control apparatus, vehicle, and vehicle control method |
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JP2009130746 | 2009-05-29 | ||
JP2009130746 | 2009-05-29 | ||
JP2009159082A JP5195672B2 (ja) | 2009-05-29 | 2009-07-03 | 車両制御装置、車両および車両制御方法 |
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JP2011006038A JP2011006038A (ja) | 2011-01-13 |
JP5195672B2 true JP5195672B2 (ja) | 2013-05-08 |
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US (1) | US8725403B2 (ja) |
EP (1) | EP2435283B1 (ja) |
JP (1) | JP5195672B2 (ja) |
CN (2) | CN102448788B (ja) |
BR (1) | BRPI1011431B1 (ja) |
RU (1) | RU2484993C1 (ja) |
WO (1) | WO2010136882A1 (ja) |
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CN102448788A (zh) | 2012-05-09 |
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CN104149786B (zh) | 2016-04-27 |
BRPI1011431A2 (pt) | 2016-03-15 |
US8725403B2 (en) | 2014-05-13 |
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