JP5772951B2 - 車両 - Google Patents
車両 Download PDFInfo
- Publication number
- JP5772951B2 JP5772951B2 JP2013513864A JP2013513864A JP5772951B2 JP 5772951 B2 JP5772951 B2 JP 5772951B2 JP 2013513864 A JP2013513864 A JP 2013513864A JP 2013513864 A JP2013513864 A JP 2013513864A JP 5772951 B2 JP5772951 B2 JP 5772951B2
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- JP
- Japan
- Prior art keywords
- vehicle
- collision
- ecu
- driving force
- threshold
- 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.)
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- 230000001629 suppression Effects 0.000 claims description 25
- 238000012423 maintenance Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 description 28
- 238000000034 method Methods 0.000 description 22
- 230000008569 process Effects 0.000 description 16
- 230000004048 modification Effects 0.000 description 10
- 238000012986 modification Methods 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 7
- 230000000994 depressogenic effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
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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
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to accident or emergency, e.g. deceleration, tilt of 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
-
- 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
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- 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
- B60W2030/082—Vehicle operation after collision
-
- 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
- B60W2540/103—Accelerator thresholds, e.g. kickdown
-
- 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
- B60W2540/106—Rate of change
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Description
図1は、本実施例による制御装置を搭載した車両1の全体ブロック図である。車両1は、駆動装置100と、変速装置200と、車輪300と、ECU(Electronic Control Unit)800とを備える。さらに、車両1は、ユーザによって操作されるシフトレバー11、アクセルペダル21、ブレーキペダル31、ステアリング41、クルーズコントロールスイッチ50を備える。さらに、車両1は、シフトセンサ10、アクセルポジションセンサ20、ブレーキストロークセンサ30、操舵角センサ40、車速センサ60、衝突センサ70を備える。
衝突判定部810は、衝突センサ70が検出した加速度Gを監視し、加速度Gがしきい加速度を越える場合に、車両衝突が生じたと判定する。ここで、しきい加速度を比較的小さい値に設定することで、比較的軽い衝突を検出することができる。なお、加速度Gに代えてあるいは加えて、他の情報に基づいて車両衝突を判定するようにしてもよい。なお、衝突であることが判定されていない場合であっても、衝突が生じた場合における特徴的なパラメータ変化を検出することによって、以下の制御を行なってもよい。
上述の実施例1では、判定期間中、車速絶対値|V|がしきい車速V0よりも低い場合に車両駆動力の出力を抑制した。
上述の実施例2では、判定期間中に、(i)逆シフト操作があり、かつ(ii)アクセル変化率ΔAPがしきい変化率ΔAP0を超えた(またはアクセルペダル操作量APがしきい操作量AP0を超えた)、という2つの条件が成立した場合に、車両駆動力の出力を抑制した。
上述の実施例2では、判定期間中に、(i)逆シフト操作があり、かつ(ii)アクセル変化率ΔAPがしきい変化率ΔAP0を超えた(またはアクセルペダル操作量APがしきい操作量AP0を超えた)、という2つの条件が成立した場合に、車両駆動力の出力を抑制した。
[実施例3]
上述の実施例1では、車速絶対値|V|がしきい車速V0よりも高い場合(図3のS12にてNO)には、車両駆動力の出力を抑制していなかった。
Claims (1)
- 車両の駆動力を発生する駆動装置と、
前記車両の衝突が生じた時に車速を所定値に自動維持する車速維持制御が実行されている場合には、前記車両の衝突が生じた時に前記車速維持制御が実行されていない場合よりも前記駆動力を抑制する抑制制御を行なう制御装置とを備える、車両。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2011/060936 WO2012153416A1 (ja) | 2011-05-12 | 2011-05-12 | 車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2012153416A1 JPWO2012153416A1 (ja) | 2014-07-28 |
JP5772951B2 true JP5772951B2 (ja) | 2015-09-02 |
Family
ID=47138914
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013513864A Active JP5772951B2 (ja) | 2011-05-12 | 2011-05-12 | 車両 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9555705B2 (ja) |
EP (1) | EP2708430B1 (ja) |
JP (1) | JP5772951B2 (ja) |
CN (1) | CN103517844B (ja) |
WO (1) | WO2012153416A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6032220B2 (ja) | 2014-02-07 | 2016-11-24 | トヨタ自動車株式会社 | 車両制御装置、及び、車両制御システム |
CN105564416B (zh) * | 2014-10-09 | 2018-10-23 | 重庆宁来科贸有限公司 | 一种综合分段式汽车防撞保护装置 |
KR101684102B1 (ko) * | 2015-04-21 | 2016-12-08 | 현대자동차주식회사 | 전자식 변속레버의 변속제어방법 |
US10311658B2 (en) * | 2016-10-07 | 2019-06-04 | Waymo Llc | Unexpected impulse change collision detector |
JP7091816B2 (ja) * | 2018-05-08 | 2022-06-28 | トヨタ自動車株式会社 | 駆動力制御装置 |
JP2019209910A (ja) * | 2018-06-07 | 2019-12-12 | 本田技研工業株式会社 | 車両制御システム |
CN109591815A (zh) * | 2018-12-20 | 2019-04-09 | 武汉职业技术学院 | 一种汽车防撞控制系统及其控制方法 |
CN110271550B (zh) * | 2019-06-26 | 2021-04-20 | 北京汽车股份有限公司 | 车辆的制动方法、系统及车辆 |
JP6921287B1 (ja) * | 2020-09-04 | 2021-08-18 | ▲福衛▼ 澤田 | クラッチ装置及び衝突緩和機構 |
Citations (4)
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JPH05236602A (ja) * | 1992-02-25 | 1993-09-10 | Mitsubishi Electric Corp | 電気自動車の安全装置 |
JP2005104320A (ja) * | 2003-09-30 | 2005-04-21 | Advics:Kk | 車両制御装置 |
JP2008537920A (ja) * | 2005-04-07 | 2008-10-02 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 衝突後における車両の安定化方法および装置 |
JP2009286250A (ja) * | 2008-05-29 | 2009-12-10 | Honda Motor Co Ltd | 車両走行制御装置及びその方法 |
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2011
- 2011-05-12 WO PCT/JP2011/060936 patent/WO2012153416A1/ja active Application Filing
- 2011-05-12 JP JP2013513864A patent/JP5772951B2/ja active Active
- 2011-05-12 CN CN201180070793.9A patent/CN103517844B/zh active Active
- 2011-05-12 US US14/115,798 patent/US9555705B2/en active Active
- 2011-05-12 EP EP11865299.9A patent/EP2708430B1/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH05236602A (ja) * | 1992-02-25 | 1993-09-10 | Mitsubishi Electric Corp | 電気自動車の安全装置 |
JP2005104320A (ja) * | 2003-09-30 | 2005-04-21 | Advics:Kk | 車両制御装置 |
JP2008537920A (ja) * | 2005-04-07 | 2008-10-02 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 衝突後における車両の安定化方法および装置 |
JP2009286250A (ja) * | 2008-05-29 | 2009-12-10 | Honda Motor Co Ltd | 車両走行制御装置及びその方法 |
Also Published As
Publication number | Publication date |
---|---|
EP2708430A4 (en) | 2015-03-18 |
US9555705B2 (en) | 2017-01-31 |
US20140074372A1 (en) | 2014-03-13 |
EP2708430B1 (en) | 2019-06-26 |
CN103517844B (zh) | 2017-12-01 |
JPWO2012153416A1 (ja) | 2014-07-28 |
WO2012153416A1 (ja) | 2012-11-15 |
EP2708430A1 (en) | 2014-03-19 |
CN103517844A (zh) | 2014-01-15 |
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