JP5668359B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP5668359B2 JP5668359B2 JP2010180453A JP2010180453A JP5668359B2 JP 5668359 B2 JP5668359 B2 JP 5668359B2 JP 2010180453 A JP2010180453 A JP 2010180453A JP 2010180453 A JP2010180453 A JP 2010180453A JP 5668359 B2 JP5668359 B2 JP 5668359B2
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- 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
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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
-
- 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
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
-
- 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
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
-
- 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
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/28—Following time setting methods, e.g. elapsed delay between preceding and host vehicle
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Controls For Constant Speed Travelling (AREA)
Description
図1は、本発明の実施形態に係る車両制御装置が設けられた車両の概略図である。実施形態に係る車両制御装置2を備える車両1は、内燃機関であるエンジン5が動力源として搭載され、エンジン5で発生する動力が自動変速機(図示省略)等の駆動装置を経由して車輪3に伝達されることにより、走行可能になっている。また、この車両1は、車輪3を制動することにより走行中の車両1の制動をする制動手段であるブレーキ装置(図示省略)が設けられており、ブレーキ装置を作動させる際における油圧を制御するブレーキ油圧制御装置8が設けられている。また、駆動装置には、エンジン5の動力を車輪3に伝達する際における回転速度を検出することを介して車速を検出する車速検出手段である車速センサ10が設けられている。
Sr(相対加速度面積)=Sa(平行四辺形の面積)≦τ(設定車間時間)・a1_max(先行車最大減速度)・・・(1)
Vr(相対速度)≦Vr_max=τ(設定車間時間)・a1_max(先行車最大減速度)・・・(2)
a1_max・x+Vr0=a1_max・τ・・・(3)
x=τ−(Vr0/a1_max)・・・(4)
2 車両制御装置
12 レーダー
15 車車間通信装置
20 走行制御ECU
22 ブレーキ制御部
28 走行モード切替部
30 車間時間検出部
33 減速度算出部
34 相対速度算出部
35 減速時相対速度算出部
38 車間時間設定部
40 通信追従走行制御ECU
41 車間距離設定部
45 先行車走行情報取得部
46 先行車最大減速度導出部
50 通信途絶判定時間設定部
51 通信途絶判定部
60 自律追従走行制御ECU
61 前方状態取得部
62 車間距離設定部
63 先行車減速度導出部
100 先行車
Claims (2)
- 自車前方の先行車の車車間通信情報に基づいて、自車が前記先行車に追従する追従走行制御中に、前記自車が前記先行車の前記車車間通信情報を取得する際にパケット到達率に応じて通信途絶判定時間を決定し、決定された通信途絶判定時間に応じて、前記追従走行制御時のパラメータを決定することを特徴とする車両制御装置。
- 前記追従走行制御時のパラメータは、前記自車と前記先行車との車間時間または車間距離であることを特徴とする請求項1に記載の車両制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010180453A JP5668359B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
CN201180039069.XA CN103069467B (zh) | 2010-08-11 | 2011-08-05 | 用于车辆的控制装置和控制方法 |
US13/813,237 US8924122B2 (en) | 2010-08-11 | 2011-08-05 | Control device and control method for vehicle |
PCT/IB2011/001817 WO2012020297A1 (en) | 2010-08-11 | 2011-08-05 | Control device and control method for vehicle |
DE112011102666T DE112011102666T5 (de) | 2010-08-11 | 2011-08-05 | Steuerungsvorrichtung und Steuerungsverfahren für ein Fahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010180453A JP5668359B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012035819A JP2012035819A (ja) | 2012-02-23 |
JP5668359B2 true JP5668359B2 (ja) | 2015-02-12 |
Family
ID=44681392
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010180453A Active JP5668359B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8924122B2 (ja) |
JP (1) | JP5668359B2 (ja) |
CN (1) | CN103069467B (ja) |
DE (1) | DE112011102666T5 (ja) |
WO (1) | WO2012020297A1 (ja) |
Cited By (1)
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2010
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- 2011-08-05 US US13/813,237 patent/US8924122B2/en active Active
- 2011-08-05 CN CN201180039069.XA patent/CN103069467B/zh active Active
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20190096864A (ko) * | 2019-07-30 | 2019-08-20 | 엘지전자 주식회사 | 자율주행시스템에서 군집주행의 제어방법 |
KR102262232B1 (ko) | 2019-07-30 | 2021-06-08 | 엘지전자 주식회사 | 자율주행시스템에서 군집주행의 제어방법 |
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US20130131949A1 (en) | 2013-05-23 |
WO2012020297A1 (en) | 2012-02-16 |
CN103069467A (zh) | 2013-04-24 |
US8924122B2 (en) | 2014-12-30 |
CN103069467B (zh) | 2016-01-20 |
DE112011102666T5 (de) | 2013-06-13 |
JP2012035819A (ja) | 2012-02-23 |
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