JP5988170B2 - 車両挙動制御装置および車両挙動制御システム - Google Patents
車両挙動制御装置および車両挙動制御システム Download PDFInfo
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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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
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
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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
- B60W2554/00—Input parameters relating to objects
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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
- 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
-
- 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
- B60W2710/20—Steering systems
-
- 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
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
μ=(1/Pth)×P ・・・ (1)
から算出することができ、油圧値Pが閾値Pth以上の範囲では、路面摩擦係数μは、
μ=1 ・・・ (2)
から算出することができる。このように、本実施形態によれば、油圧センサ6aの検出結果から、より容易にかつより迅速に路面摩擦係数μを算出することができる。
Lbm=V2/(2×g×μ) ・・・(3)
から算出することができる。
Claims (7)
- 車輪が制動されている状態で、少なくとも、車両の前方の障害物の検出結果と、前記車両の速度の検出結果と、複数の前記車輪のそれぞれの制動に対応した油圧系のうち他の前記油圧系よりも制動開始時における油圧の上昇速度が高い前記油圧系の油圧の検出結果と、を取得し、前記車両が直進しながら減速してロック状態が検出された場合における前記油圧の検出結果から路面摩擦係数を演算し、前記車両の速度と前記路面摩擦係数とに基づいて前記障害物と衝突するか否かを判断する衝突判断部と、
前記衝突判断部で前記障害物と衝突すると判断された場合に、前記車両が前記障害物を迂回しながら減速するよう、後輪の転舵の制御、および左右の前記車輪の制動状態に差を与える制御のうち、少なくとも一方を実行する車両挙動制御部と、
を備えた車両挙動制御装置。 - 前記油圧の検出結果は、前記後輪を制動する油圧系の油圧の検出結果である、請求項1に記載の車両挙動制御装置。
- 前記油圧の検出結果は、前記車輪がロックされた状態での前記油圧系の油圧値である、請求項1または2に記載の車両挙動制御装置。
- 前記衝突判断部は、前記車両の速度の検出結果と前記油圧値とに基づいて算出された前記車両が停止するまでに直進走行する制動距離が、前記障害物の検出結果から算出された前記車両から障害物までの離間距離よりも長い場合に、前記車両が障害物と衝突すると判断し、
前記制動距離は、前記油圧値が小さいほど長い、請求項3に記載の車両挙動制御装置。 - 前記車両挙動制御部は、前記検出された障害物が前記車両の車幅方向中心を通り車両前後方向に延びる中心線から運転席側に所定距離ずれた基準線に対して一方側に位置した場合に前記車両が前記障害物を他方側に迂回するよう制御する、請求項1〜4のうちいずれか一つに記載の車両挙動制御装置。
- 車輪が制動されている状態で、少なくとも、車両の前方の障害物の検出結果と、前記車両の速度の検出結果と、複数の前記車輪のうち制動時に最も早くロック状態となる前記車輪における制動に対応した油圧系の油圧の検出結果と、を取得し、前記車両が直進しながら減速してロック状態が検出された場合における前記油圧の検出結果から路面摩擦係数を演算し、前記車両の速度と前記路面摩擦係数とに基づいて前記障害物と衝突するか否かを判断する衝突判断部と、
前記衝突判断部で前記障害物と衝突すると判断された場合に、前記車両が前記障害物を迂回しながら減速するよう、後輪の転舵の制御、および左右の前記車輪の制動状態に差を与える制御のうち、少なくとも一方を実行する車両挙動制御部と、
を備えた車両挙動制御装置。 - 車両の前方の障害物を検出する元となるデータを取得するデータ取得部と、
後輪の転舵装置と、
車輪の制動装置と、
前記車輪が制動されている状態で少なくとも前記車両の前方の障害物の検出結果と前記車両の速度の検出結果と複数の前記車輪のそれぞれの制動に対応した油圧系のうち他の前記油圧系よりも制動開始時における油圧の上昇速度が高い前記油圧系の油圧の検出結果とを取得し前記車両が直進しながら減速してロック状態が検出された場合における前記油圧の検出結果から路面摩擦係数を演算し前記車両の速度と前記路面摩擦係数とに基づいて前記障害物と衝突するか否かを判断する衝突判断部と、前記衝突判断部で前記障害物と衝突すると判断された場合に前記車両が前記障害物を迂回しながら減速するよう前記後輪の転舵の制御および左右の前記車輪の制動状態に差を与える制御のうち少なくとも一方を実行する車両挙動制御部と、を有した制御装置と、
を備えた、車両挙動制御システム。
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JP2013247798A JP5988170B2 (ja) | 2013-11-29 | 2013-11-29 | 車両挙動制御装置および車両挙動制御システム |
US14/553,326 US20150151749A1 (en) | 2013-11-29 | 2014-11-25 | Vehicle behavior control device and vehicle behavior control system |
DE102014224179.0A DE102014224179A1 (de) | 2013-11-29 | 2014-11-26 | Fahrzeugverhaltenssteuerungsvorrichtung und Fahrzeugverhaltenssteuerungssystem |
CN201410707664.1A CN104670226A (zh) | 2013-11-29 | 2014-11-28 | 车辆行为控制装置以及车辆行为控制系统 |
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JP6269606B2 (ja) * | 2015-07-21 | 2018-01-31 | トヨタ自動車株式会社 | 車両制御装置 |
WO2017077795A1 (ja) * | 2015-11-06 | 2017-05-11 | 株式会社アドヴィックス | 車両の走行支援装置 |
DE102015226232A1 (de) * | 2015-12-21 | 2017-06-22 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Kollisionsvermeidung eines Kraftfahrzeuges mit einem Einsatzfahrzeug und ein diesbezügliches System und Kraftfahrzeug |
JP6330825B2 (ja) * | 2016-01-26 | 2018-05-30 | トヨタ自動車株式会社 | 車両用衝突回避支援システム |
JP2018001932A (ja) * | 2016-06-30 | 2018-01-11 | トヨタ自動車株式会社 | 車両制御装置 |
JP2018020599A (ja) * | 2016-08-01 | 2018-02-08 | トヨタ自動車株式会社 | 車両制御装置及び車両 |
JP6518217B2 (ja) * | 2016-08-25 | 2019-05-22 | 株式会社Subaru | 前輪転舵制御装置 |
JP2018052445A (ja) * | 2016-09-30 | 2018-04-05 | 株式会社Subaru | 車両の衝突入力低減装置 |
KR20210042387A (ko) * | 2018-08-14 | 2021-04-19 | 모빌아이 비젼 테크놀로지스 엘티디. | 안전 거리로 항법하기 위한 시스템 및 방법 |
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US11465630B2 (en) * | 2018-09-14 | 2022-10-11 | Uatc, Llc | Driving surface friction estimations using vehicle steering |
JP2020082897A (ja) * | 2018-11-20 | 2020-06-04 | 本田技研工業株式会社 | 車両制御システム |
JP7156015B2 (ja) * | 2018-12-27 | 2022-10-19 | トヨタ自動車株式会社 | 車両制御装置 |
CN110901634A (zh) * | 2019-11-26 | 2020-03-24 | 武汉科技大学 | 一种四轮轮毂驱动电动汽车的主动避障方法 |
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JP7443177B2 (ja) * | 2020-07-16 | 2024-03-05 | トヨタ自動車株式会社 | 衝突回避支援装置 |
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JPH05270369A (ja) * | 1992-03-26 | 1993-10-19 | Mazda Motor Corp | 車両の自動制動装置 |
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JP4223136B2 (ja) * | 1999-04-22 | 2009-02-12 | 富士重工業株式会社 | 車両運動制御装置 |
JP4647055B2 (ja) * | 2000-03-03 | 2011-03-09 | 富士重工業株式会社 | 車両の運動制御装置 |
JP2002293173A (ja) | 2001-03-29 | 2002-10-09 | Fuji Heavy Ind Ltd | 車両運動制御装置 |
JP2006273252A (ja) * | 2005-03-30 | 2006-10-12 | Mitsubishi Fuso Truck & Bus Corp | 車両用衝突防止制御装置 |
JP4420002B2 (ja) * | 2006-09-14 | 2010-02-24 | トヨタ自動車株式会社 | 視線先推定装置 |
JP2008260390A (ja) * | 2007-04-11 | 2008-10-30 | Honda Motor Co Ltd | 衝突回避支援装置 |
JP5079414B2 (ja) * | 2007-07-18 | 2012-11-21 | 日信工業株式会社 | 車両用ブレーキ液圧制御装置 |
JP2009208486A (ja) * | 2008-02-29 | 2009-09-17 | Toyota Motor Corp | ブレーキ制御装置 |
JP2011063202A (ja) * | 2009-09-18 | 2011-03-31 | Advics Co Ltd | 車両の制動制御装置 |
JP5246176B2 (ja) | 2010-01-28 | 2013-07-24 | トヨタ自動車株式会社 | 車両制御装置 |
US9514647B2 (en) * | 2010-10-20 | 2016-12-06 | GM Global Technology Operations LLC | Optimal acceleration profile for enhanced collision avoidance |
US20130030651A1 (en) * | 2011-07-25 | 2013-01-31 | GM Global Technology Operations LLC | Collision avoidance maneuver through differential braking |
CN202175009U (zh) * | 2011-07-29 | 2012-03-28 | 富士重工业株式会社 | 车辆用驾驶辅助装置 |
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2013
- 2013-11-29 JP JP2013247798A patent/JP5988170B2/ja not_active Expired - Fee Related
-
2014
- 2014-11-25 US US14/553,326 patent/US20150151749A1/en not_active Abandoned
- 2014-11-26 DE DE102014224179.0A patent/DE102014224179A1/de not_active Withdrawn
- 2014-11-28 CN CN201410707664.1A patent/CN104670226A/zh active Pending
Also Published As
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CN104670226A (zh) | 2015-06-03 |
JP2015104996A (ja) | 2015-06-08 |
DE102014224179A1 (de) | 2015-06-03 |
US20150151749A1 (en) | 2015-06-04 |
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