JP5316640B2 - 走行支援装置 - Google Patents
走行支援装置 Download PDFInfo
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- JP5316640B2 JP5316640B2 JP2011519348A JP2011519348A JP5316640B2 JP 5316640 B2 JP5316640 B2 JP 5316640B2 JP 2011519348 A JP2011519348 A JP 2011519348A JP 2011519348 A JP2011519348 A JP 2011519348A JP 5316640 B2 JP5316640 B2 JP 5316640B2
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- 238000001514 detection method Methods 0.000 abstract description 47
- 238000012544 monitoring process Methods 0.000 description 27
- 230000001172 regenerating effect Effects 0.000 description 7
- 230000002093 peripheral effect Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 238000010248 power generation Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008929 regeneration Effects 0.000 description 2
- 238000011069 regeneration method Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
-
- 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
-
- 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
- B60T8/58—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 responsive to speed and another condition or to plural speed conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/023—Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels
- B62K5/025—Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels power-driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/027—Motorcycles with three wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/05—Tricycles characterised by a single rear wheel
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/40—General characteristics of devices characterised by sensor means for distance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1032—Wheelchairs having brakes engaging an element of the drive or transmission, e.g. drive belt, electrodynamic brake
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1059—Arrangements for adjusting the seat adjusting the height of the seat
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Traffic Control Systems (AREA)
Description
ホイールベース長による上記挙動特性に適応した好適な減速制御が可能となり、減速制御を一層適切に行うことが可能となる。
H=Hl+m×(Hh−Hl) …(1)
但し、m:変数(0≦m≦1)。
WP=WPl+m×(WPh−WPl) …(2)
Claims (3)
- ホイールベース長が可変な移動体に搭載され、前記移動体の走行を支援する走行支援装置であって、
前記移動体の前記ホイールベース長に関するホイールベース長情報を取得するホイールベース長情報取得部と、
前記移動体の周辺の障害物に関する障害物情報を取得する障害物情報取得部と、
前記障害物情報取得部で取得した障害物情報に基づいて、前記移動体の減速制御を行う減速制御部と、を備え、
前記減速制御部は、前記ホイールベース長情報取得部で取得した前記ホイールベース長情報に応じて、前記減速制御を変更し、
前記減速制御部は、
前記移動体の周辺に設定された複数のエリアと前記複数のエリアごとに設定された減速パターンとを含む減速制御マップによって前記減速制御を行うものであって、
前記複数のエリアのうち前記障害物が存在する障害物存在エリアを前記障害物情報に基づき検出したとき、検出した前記障害物存在エリアにおける前記減速パターンで前記減速制御を行うと共に、
前記ホイールベース長情報に応じて、前記減速制御マップにおける前記複数のエリアを変更すること特徴とする走行支援装置。 - 前記障害物情報取得部は、前記移動体の前方の前記障害物に関する障害物情報を取得し、
前記減速制御部は、前記減速制御マップにおいて前記移動体の前方に設定された複数のエリアのうち少なくとも1つを、前記ホイールベース長が長くなるに従って前方に拡長するように、又は、前記ホイールベース長が短くなるに従って幅方向に拡長するように変更することを特徴とする請求項1記載の走行支援装置。 - 前記減速制御部は、前記移動体の速度が所定速度以下となるように前記減速制御を行うことを特徴とする請求項1又は2記載の走行支援装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/061021 WO2010146669A1 (ja) | 2009-06-17 | 2009-06-17 | 走行支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2010146669A1 JPWO2010146669A1 (ja) | 2012-11-29 |
JP5316640B2 true JP5316640B2 (ja) | 2013-10-16 |
Family
ID=43356007
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011519348A Expired - Fee Related JP5316640B2 (ja) | 2009-06-17 | 2009-06-17 | 走行支援装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8751128B2 (ja) |
JP (1) | JP5316640B2 (ja) |
CN (1) | CN102803030B (ja) |
WO (1) | WO2010146669A1 (ja) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102570434B (zh) * | 2010-10-29 | 2014-10-22 | 三菱电机株式会社 | 电力变换装置 |
US10343740B2 (en) | 2016-09-13 | 2019-07-09 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10351202B2 (en) | 2016-09-07 | 2019-07-16 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10450028B2 (en) | 2016-09-07 | 2019-10-22 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10457342B2 (en) | 2016-07-08 | 2019-10-29 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10640166B2 (en) | 2016-08-12 | 2020-05-05 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10654362B2 (en) | 2016-09-13 | 2020-05-19 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10745075B2 (en) | 2016-09-07 | 2020-08-18 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5375355B2 (ja) * | 2009-06-17 | 2013-12-25 | トヨタ自動車株式会社 | 物体検出装置 |
CN110217332B (zh) * | 2013-03-15 | 2022-02-01 | D·凯利 | 三轮车辆 |
US10431099B2 (en) * | 2014-02-21 | 2019-10-01 | FLIR Belgium BVBA | Collision avoidance systems and methods |
FR3034213B1 (fr) | 2015-03-24 | 2018-06-01 | Insa De Rennes | Methode de correction amelioree d'une trajectoire dans un dispositif d'aide au deplacement de personnes |
CN107640153B (zh) * | 2017-09-21 | 2020-09-25 | 北京小米移动软件有限公司 | 微型运动汽车及其控制方法、装置、存储介质 |
WO2019167729A1 (ja) * | 2018-02-27 | 2019-09-06 | 本田技研工業株式会社 | 搭乗型移動体 |
JP7163152B2 (ja) * | 2018-11-28 | 2022-10-31 | 京セラ株式会社 | 画像処理装置、撮像装置、移動体及び画像処理方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000159077A (ja) * | 1998-11-30 | 2000-06-13 | Mazda Motor Corp | 車両の制御装置 |
JP2001070357A (ja) * | 1999-07-15 | 2001-03-21 | Daimlerchrysler Ag | 自動車両用ホイールサスペンションシステム |
JP2002153515A (ja) * | 2000-11-17 | 2002-05-28 | Kanto Auto Works Ltd | 昇降機能付車椅子 |
JP2005112300A (ja) * | 2003-10-10 | 2005-04-28 | Toyota Motor Corp | 乗り物 |
JP2005205980A (ja) * | 2004-01-21 | 2005-08-04 | Nissan Motor Co Ltd | 車両用走行制御装置 |
JP2009078733A (ja) * | 2007-09-27 | 2009-04-16 | Hitachi Ltd | 走行支援装置 |
JP2009090829A (ja) * | 2007-10-09 | 2009-04-30 | Advics:Kk | 車載制御装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10036276A1 (de) * | 2000-07-26 | 2002-02-07 | Daimler Chrysler Ag | Automatisches Brems- und Lenksystem für ein Fahrzeug |
KR100534709B1 (ko) * | 2003-12-30 | 2005-12-07 | 현대자동차주식회사 | 전기자동차의 회생제동 제어 방법 및 장치 |
JP4532181B2 (ja) * | 2004-06-24 | 2010-08-25 | 日産自動車株式会社 | 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両 |
JP2008242544A (ja) | 2007-03-26 | 2008-10-09 | Hitachi Ltd | 衝突回避装置および方法 |
-
2009
- 2009-06-17 CN CN200980159864.5A patent/CN102803030B/zh not_active Expired - Fee Related
- 2009-06-17 WO PCT/JP2009/061021 patent/WO2010146669A1/ja active Application Filing
- 2009-06-17 US US13/318,631 patent/US8751128B2/en not_active Expired - Fee Related
- 2009-06-17 JP JP2011519348A patent/JP5316640B2/ja not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000159077A (ja) * | 1998-11-30 | 2000-06-13 | Mazda Motor Corp | 車両の制御装置 |
JP2001070357A (ja) * | 1999-07-15 | 2001-03-21 | Daimlerchrysler Ag | 自動車両用ホイールサスペンションシステム |
JP2002153515A (ja) * | 2000-11-17 | 2002-05-28 | Kanto Auto Works Ltd | 昇降機能付車椅子 |
JP2005112300A (ja) * | 2003-10-10 | 2005-04-28 | Toyota Motor Corp | 乗り物 |
JP2005205980A (ja) * | 2004-01-21 | 2005-08-04 | Nissan Motor Co Ltd | 車両用走行制御装置 |
JP2009078733A (ja) * | 2007-09-27 | 2009-04-16 | Hitachi Ltd | 走行支援装置 |
JP2009090829A (ja) * | 2007-10-09 | 2009-04-30 | Advics:Kk | 車載制御装置 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102570434B (zh) * | 2010-10-29 | 2014-10-22 | 三菱电机株式会社 | 电力变换装置 |
US10457342B2 (en) | 2016-07-08 | 2019-10-29 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10640166B2 (en) | 2016-08-12 | 2020-05-05 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10351202B2 (en) | 2016-09-07 | 2019-07-16 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10450028B2 (en) | 2016-09-07 | 2019-10-22 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10745075B2 (en) | 2016-09-07 | 2020-08-18 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10343740B2 (en) | 2016-09-13 | 2019-07-09 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
US10654362B2 (en) | 2016-09-13 | 2020-05-19 | Toyota Jidosha Kabushiki Kaisha | Traveling apparatus |
Also Published As
Publication number | Publication date |
---|---|
WO2010146669A1 (ja) | 2010-12-23 |
US20120101703A1 (en) | 2012-04-26 |
CN102803030A (zh) | 2012-11-28 |
CN102803030B (zh) | 2014-12-31 |
US8751128B2 (en) | 2014-06-10 |
JPWO2010146669A1 (ja) | 2012-11-29 |
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