JP5924322B2 - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
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- JP5924322B2 JP5924322B2 JP2013182445A JP2013182445A JP5924322B2 JP 5924322 B2 JP5924322 B2 JP 5924322B2 JP 2013182445 A JP2013182445 A JP 2013182445A JP 2013182445 A JP2013182445 A JP 2013182445A JP 5924322 B2 JP5924322 B2 JP 5924322B2
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- vehicle
- preceding vehicle
- acceleration
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- deceleration
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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
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
Description
先行車で生成される先行車加減速度情報を該先行車との通信により取得する通信装置と、
前記先行車情報に基づいて自車の目標加減速度に関する第1目標値と、前記先行車加減速度情報に基づいて自車の目標加減速度に関する第2目標値とを生成し、生成した前記第1目標値と前記第2目標値とに基づいて、自車の加減速度を制御する制御装置とを備え、
前記制御装置は、前記先行車情報に係る先行車と前記先行車加減速度情報に係る先行車との間の同一性を表す指標値に応じて前記先行車加減速度情報を補正して前記第2目標値を生成する、車両走行制御装置が提供される。
FF要求G=先行車要求G×補正係数Ke
即ち、FF要求Gに補正係数Keを乗じることでFF要求Gを算出する。
自車要求G=FF要求G+FB要求G
即ち、FF要求GとFB要求Gとを加算することで自車要求Gを算出する。尚、このようにして自車要求Gが算出されると、上述の如く、自車要求Gが実現されるように自車の加減速制御が実行される。ステップ428の処理が終了すると、次の処理周期でステップ400の処理から開始される。
16 前方レーダセンサ
18 無線制御ECU
20 無線アンテナ
100 車両走行制御装置
Claims (5)
- 先行車の状態を表す先行車情報を取得するセンサと、
先行車で生成される先行車加減速度情報を該先行車との通信により取得する通信装置と、
前記先行車情報に基づいて自車の目標加減速度に関する第1目標値と、前記先行車加減速度情報に基づいて自車の目標加減速度に関する第2目標値とを生成し、生成した前記第1目標値と前記第2目標値とに基づいて、自車の加減速度を制御する制御装置とを備え、
前記制御装置は、前記先行車情報に係る先行車と前記先行車加減速度情報に係る先行車との間の同一性を表す指標値に応じて前記先行車加減速度情報を補正して前記第2目標値を生成する、車両走行制御装置。 - 前記指標値は、前記通信装置により前記先行車から得られる情報と、自車で得られる情報との間の時系列の関係に基づいて算出される、請求項1に記載の車両走行制御装置。
- 前記通信装置は、前記先行車加減速度情報を取得する先行車から、該先行車の車速に関する先行車速度情報についても通信により取得し、
前記指標値は、前記先行車速度情報に係る先行車の車速と、前記先行車情報に係る先行車の車速との間の時系列の関係に基づいて算出される、請求項2に記載の車両走行制御装置。 - 前記指標値は、前記先行車速度情報に係る先行車の車速と、前記先行車情報に係る先行車の車速との間の誤差統計量である、請求項3に記載の車両走行制御装置。
- 前記制御装置は、前記誤差統計量が所定閾値を超えた場合には、前記第1目標値のみに基づいて、自車の加減速度を制御し、
前記制御装置は、前記誤差統計量が所定閾値を超えない場合には、前記第1目標値と前記第2目標値とに基づいて、自車の加減速度を制御する、請求項4に記載の車両走行制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013182445A JP5924322B2 (ja) | 2013-09-03 | 2013-09-03 | 車両走行制御装置 |
EP14755174.1A EP3041723B1 (en) | 2013-09-03 | 2014-08-05 | Vehicle travel control apparatus bases on sensed and transmitted data from two different vehicles |
PCT/JP2014/071138 WO2015033741A1 (en) | 2013-09-03 | 2014-08-05 | Vehicle travel control apparatus bases on sensed and transmitted data from two different vehicles |
KR1020167005364A KR101648695B1 (ko) | 2013-09-03 | 2014-08-05 | 2개의 상이한 차량들로부터의 감지 및 송신된 데이터에 기초한 차량 주행 제어 장치 |
CN201480047121.XA CN105492287B (zh) | 2013-09-03 | 2014-08-05 | 基于来自两个不同车辆的所感测和传送的数据的车辆行驶控制设备 |
US14/912,718 US9580074B2 (en) | 2013-09-03 | 2014-08-05 | Vehicle travel control apparatus |
Applications Claiming Priority (1)
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JP2013182445A JP5924322B2 (ja) | 2013-09-03 | 2013-09-03 | 車両走行制御装置 |
Publications (2)
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JP2015048022A JP2015048022A (ja) | 2015-03-16 |
JP5924322B2 true JP5924322B2 (ja) | 2016-05-25 |
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JP2013182445A Active JP5924322B2 (ja) | 2013-09-03 | 2013-09-03 | 車両走行制御装置 |
Country Status (6)
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US (1) | US9580074B2 (ja) |
EP (1) | EP3041723B1 (ja) |
JP (1) | JP5924322B2 (ja) |
KR (1) | KR101648695B1 (ja) |
CN (1) | CN105492287B (ja) |
WO (1) | WO2015033741A1 (ja) |
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JP6365476B2 (ja) * | 2015-09-15 | 2018-08-01 | トヨタ自動車株式会社 | 車両制御装置 |
JP6380308B2 (ja) * | 2015-09-15 | 2018-08-29 | トヨタ自動車株式会社 | 車両走行制御装置 |
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-
2013
- 2013-09-03 JP JP2013182445A patent/JP5924322B2/ja active Active
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2014
- 2014-08-05 WO PCT/JP2014/071138 patent/WO2015033741A1/en active Application Filing
- 2014-08-05 EP EP14755174.1A patent/EP3041723B1/en active Active
- 2014-08-05 US US14/912,718 patent/US9580074B2/en active Active
- 2014-08-05 KR KR1020167005364A patent/KR101648695B1/ko active IP Right Grant
- 2014-08-05 CN CN201480047121.XA patent/CN105492287B/zh active Active
Also Published As
Publication number | Publication date |
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CN105492287B (zh) | 2017-05-03 |
US9580074B2 (en) | 2017-02-28 |
EP3041723B1 (en) | 2017-03-15 |
KR101648695B1 (ko) | 2016-08-16 |
KR20160037231A (ko) | 2016-04-05 |
EP3041723A1 (en) | 2016-07-13 |
CN105492287A (zh) | 2016-04-13 |
WO2015033741A1 (en) | 2015-03-12 |
JP2015048022A (ja) | 2015-03-16 |
US20160200319A1 (en) | 2016-07-14 |
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