JP5196005B2 - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
- Publication number
- JP5196005B2 JP5196005B2 JP2011502561A JP2011502561A JP5196005B2 JP 5196005 B2 JP5196005 B2 JP 5196005B2 JP 2011502561 A JP2011502561 A JP 2011502561A JP 2011502561 A JP2011502561 A JP 2011502561A JP 5196005 B2 JP5196005 B2 JP 5196005B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- vehicle
- target
- target speed
- amount
- 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
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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
- B60K31/02—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 electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
- B60K31/04—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 electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
- B60K31/042—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 electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator
- B60K31/045—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 electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor
- B60K31/047—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 electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor the memory being digital
-
- 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
- B60W30/143—Speed control
-
- 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
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/12—Brake pedal position
-
- 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
- B60W2540/18—Steering angle
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
Description
10 エンジン
11 T/M
12 アクセルペダルセンサ
13 ECU
13a 決定部
13b 設定部
13c 調整部
13d 判定部
14 ステアリング装置
15 舵角センサ
16 ECU
17 Gセンサ
18 ブレーキ装置
19 ブレーキペダルセンサ
20 ECU
21 CAN
本発明にかかる車両走行制御装置を備えた車両の構成について、図1を参照して説明する。図1は、本発明にかかる車両走行制御装置を備えた車両の構成の一例を示す図である。
つぎに、本実施の形態にかかる車両走行制御処理を、図2から図6を参照して詳細に説明する。図2は、本実施の形態にかかる車両走行制御処理の一例を示すフローチャートである。
以上説明したように、ECU13は、車両1の実速度“V”が予め設定された目標速度より大きい場合、ドライバー操作に関する情報、速度および路面勾配のうち少なくも1つに基づいて変数“Vunder”の値を決定し、決定した変数“Vunder”の値および目標速度に基づいて変数“Vtarget”の値を設定し、設定した変数“Vtarget”の値の速度となるように車両1の速度を調整し、調整後の車両1の実速度“V”が変数“Vtarget”の値以下であるか否かを判定する。そして、ECU13は、実速度“V”が変数“Vtarget”の値以下であると判定された後(換言すると車両1の速度が第2目標速度までアンダーシュートされた後)、車両1の速度を目標速度に収束させる。
Claims (2)
- 車両の速度を予め設定された第1目標速度に収束させる速度追従制御を行う車両走行制御装置であって、
前記速度追従制御開始時の前記車両の速度が前記第1目標速度より大きい場合、ドライバー操作に関する予め取得した情報に基づいて、速度の下げ幅を決定する決定手段と、
前記決定手段で決定した前記下げ幅および前記第1目標速度に基づいて、当該第1目標速度より小さい第2目標速度を設定する設定手段と、
を備え、
前記ドライバー操作に関する情報は、ブレーキペダルの操作量、アクセルペダルの操作変化量およびステアリングの舵角操作量のうち少なくとも1つに関するものを含み、
前記決定手段は、前記ブレーキペダルの前記操作量が大きいときは前記下げ幅を小さなものに決定し、前記アクセルペダルの前記操作変化量が大きいときは前記下げ幅を大きなものに決定し、前記ステアリングの前記舵角操作量が大きいときは前記下げ幅を大きなものに決定し、
前記速度追従制御において、前記速度追従制御開始時の前記車両の速度が前記第1目標速度より大きい場合、前記決定手段および前記設定手段を動作させて前記第2目標速度を設定し、前記車両の速度を、設定した前記第2目標速度に収束させた後、前記第1目標速度に収束させること、
を特徴とする車両走行制御装置。 - 予め検出された路面勾配の変化率に基づいてゲインを決定し、
前記設定手段は、前記下げ幅および前記第1目標速度ならびに前記決定した前記ゲインに基づいて、前記第2目標速度を設定すること、
を特徴とする請求項1に記載の車両走行制御装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/054328 WO2010100761A1 (ja) | 2009-03-06 | 2009-03-06 | 車両走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2010100761A1 JPWO2010100761A1 (ja) | 2012-09-06 |
JP5196005B2 true JP5196005B2 (ja) | 2013-05-15 |
Family
ID=42709339
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011502561A Expired - Fee Related JP5196005B2 (ja) | 2009-03-06 | 2009-03-06 | 車両走行制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8554443B2 (ja) |
EP (1) | EP2404803A4 (ja) |
JP (1) | JP5196005B2 (ja) |
CN (1) | CN102341287B (ja) |
WO (1) | WO2010100761A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011025720A (ja) * | 2009-07-21 | 2011-02-10 | Denso Corp | 加速度制御装置 |
GB2484683A (en) * | 2010-10-19 | 2012-04-25 | Amendis Ltd | piezoacoustic characterisation of materials avoiding false negatives |
US9550480B2 (en) * | 2011-10-21 | 2017-01-24 | Autoliv Nissin Brake Systems Japan Co., Ltd. | Vehicle brake hydraulic pressure control apparatus and road surface friction coefficient estimating device |
JP5990947B2 (ja) * | 2012-03-13 | 2016-09-14 | 日産自動車株式会社 | 車両制御装置 |
CN102862570B (zh) * | 2012-06-07 | 2015-07-08 | 浙江吉利汽车研究院有限公司杭州分公司 | 巡航定速控制系统和控制方法 |
GB2505022B (en) * | 2012-08-16 | 2015-01-14 | Jaguar Land Rover Ltd | Speed control system and method for operating the same |
GB2508459B (en) * | 2012-08-16 | 2015-01-21 | Jaguar Land Rover Ltd | System and method for controlling vehicle speed to enhance occupant comfort |
GB2505027B (en) | 2012-08-16 | 2015-03-04 | Jaguar Land Rover Ltd | Vehicle speed control system |
US8843288B1 (en) * | 2013-03-14 | 2014-09-23 | Chrysler Group Llc | Vehicle speed control system and method |
GB2519533B (en) * | 2013-10-23 | 2018-04-04 | Jaguar Land Rover Ltd | Vehicle speed control system |
US9821804B2 (en) * | 2014-10-03 | 2017-11-21 | Ford Global Technologies, Llc | Enhanced vehicle speed control |
JP6235519B2 (ja) * | 2015-03-31 | 2017-11-22 | 株式会社アドヴィックス | 車両の運転支援装置 |
JP6239187B2 (ja) * | 2015-07-24 | 2017-11-29 | 三菱電機株式会社 | 車両定速走行制御装置及び車両定速走行制御方法及び車両定速走行制御プログラム |
KR102489196B1 (ko) | 2015-08-14 | 2023-01-17 | 크라운 이큅먼트 코포레이션 | 조향 모델에 기반한 모델 기반 진단 |
WO2017030878A1 (en) | 2015-08-14 | 2017-02-23 | Crown Equipment Coproration | Model based diagnostics based on traction model |
CN109963808B (zh) | 2017-01-13 | 2021-03-30 | 克朗设备公司 | 基于转向轮动态的牵引速度恢复 |
US10723382B2 (en) | 2017-01-13 | 2020-07-28 | Crown Equipment Corporation | High speed straight ahead tiller desensitization |
CN112109547B (zh) * | 2020-09-22 | 2021-04-23 | 郑州嘉晨电器有限公司 | 一种内燃工业车辆的限速方法及装置 |
KR20220062183A (ko) * | 2020-11-06 | 2022-05-16 | 현대자동차주식회사 | 차량의 주행 제어 장치 및 방법 |
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JP2003200752A (ja) * | 2002-01-08 | 2003-07-15 | Nissan Motor Co Ltd | 定速走行制御装置 |
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2009
- 2009-03-06 JP JP2011502561A patent/JP5196005B2/ja not_active Expired - Fee Related
- 2009-03-06 US US13/254,716 patent/US8554443B2/en not_active Expired - Fee Related
- 2009-03-06 EP EP09841123.4A patent/EP2404803A4/en not_active Withdrawn
- 2009-03-06 WO PCT/JP2009/054328 patent/WO2010100761A1/ja active Application Filing
- 2009-03-06 CN CN200980157897.6A patent/CN102341287B/zh not_active Expired - Fee Related
Patent Citations (2)
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JP2000355236A (ja) * | 1999-05-31 | 2000-12-26 | Daimlerchrysler Ag | プリセット可能な好適車両速度を設定するための方法とコントロールシステム |
JP2003200752A (ja) * | 2002-01-08 | 2003-07-15 | Nissan Motor Co Ltd | 定速走行制御装置 |
Also Published As
Publication number | Publication date |
---|---|
WO2010100761A1 (ja) | 2010-09-10 |
EP2404803A1 (en) | 2012-01-11 |
EP2404803A4 (en) | 2016-08-10 |
US20110320102A1 (en) | 2011-12-29 |
CN102341287A (zh) | 2012-02-01 |
CN102341287B (zh) | 2014-06-18 |
JPWO2010100761A1 (ja) | 2012-09-06 |
US8554443B2 (en) | 2013-10-08 |
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