JP5994755B2 - 車両走行制御装置 - Google Patents
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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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W30/14—Adaptive cruise 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
- 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
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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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
- 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
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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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral 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
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—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
- 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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- Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Controls For Constant Speed Travelling (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
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Description
前記先行車に追従する追従モード中、前記先行車速度情報に基づいて前記先行車に追従するように自車の加減速度に関する目標値を決定し、前記目標値が実現されるように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、運転者によるウインカーの操作状態と、前記先行車情報とに基づいて、前記先行車が追従対象とすべき状態から離脱している先行車離脱確率を算出し、
前記制御装置は、前記追従モード中、運転者による所定のアクセル操作が検出された場合に、前記加減速度の制御を抑制し、前記所定のアクセル操作が検出されなくなった場合、前記加減速度の制御の抑制を解除し、
前記制御装置は、前記加減速度の制御の抑制を解除した直後の所定時間内に、前記先行車離脱確率に基づいて、自車の減速度に関する前記目標値を補正する、車両走行制御装置が提供される。
要求減速度G=要求減速度G(補正前)×Kd
尚、要求減速度G(補正前)の算出方法は、上述の如く、任意であり、例えばACC又はその類で採用される算出方法が使用されてよい。
16 前方レーダセンサ
100 車両走行制御装置
Claims (6)
- 先行車の車速に関する先行車速度情報、及び、自車の進行方向を基準とした前記先行車の横位置及び横速度のうちの少なくとも1つを表す先行車情報を取得するセンサと、
前記先行車に追従する追従モード中、前記先行車速度情報に基づいて前記先行車に追従するように自車の加減速度に関する目標値を決定し、前記目標値が実現されるように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、運転者によるウインカーの操作状態と、前記先行車情報とに基づいて、前記先行車が追従対象とすべき状態から離脱している先行車離脱確率を算出し、
前記制御装置は、前記追従モード中、運転者による所定のアクセル操作が検出された場合に、前記加減速度の制御を抑制し、前記所定のアクセル操作が検出されなくなった場合、前記加減速度の制御の抑制を解除し、
前記制御装置は、前記加減速度の制御の抑制を解除した直後の所定時間内に、前記先行車離脱確率に基づいて、自車の減速度に関する前記目標値を補正する、車両走行制御装置。 - 前記制御装置は、前記先行車の横位置又は横速度が大きくなるにつれて前記先行車離脱確率が高くなる態様で前記先行車離脱確率を算出する、請求項1に記載の車両走行制御装置。
- 前記制御装置は、前記先行車の横位置又は横速度が増加状態から減少に転じた場合に、所定時間だけ、前記先行車離脱確率の変化を制限する、請求項1〜2のうちのいずれか1項に記載の車両走行制御装置。
- 先行車の車速に関する先行車速度情報、及び、自車の進行方向を基準とした前記先行車の横位置及び横速度のうちの少なくとも1つを表す先行車情報を取得するセンサと、
前記先行車に追従する追従モード中、前記先行車速度情報に基づいて前記先行車に追従するように自車の加減速度に関する目標値を決定し、前記目標値が実現されるように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、運転者によるウインカーの操作状態と、前記先行車情報とに基づいて、前記先行車が追従対象とすべき状態から離脱している先行車離脱確率を算出し、
前記制御装置は、前記追従モード中、前記先行車離脱確率に基づいて、自車の減速度に関する前記目標値を補正し、
前記制御装置は、前記先行車の横位置又は横速度が増加状態から減少に転じた場合に、所定時間だけ、前記先行車離脱確率の変化を制限する、車両走行制御装置。 - 前記先行車離脱確率は、前記先行車の横位置又は横速度が増加する方向にウインカーが操作されている場合に、前記先行車の横位置又は横速度が減少する方向にウインカーが操作されている場合よりも小さくなる態様で算出される、請求項1に記載の車両走行制御装置。
- 自車の減速度に関する前記目標値は、前記先行車速度情報に基づいて算出した減速度の目標値に補正ゲインを乗じて算出され、前記補正ゲインは、前記先行車離脱確率が高くなるにつれて小さい値に設定される、請求項1〜5のうちのいずれか1項に記載の車両走行制御装置。
Priority Applications (5)
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JP2013185685A JP5994755B2 (ja) | 2013-09-06 | 2013-09-06 | 車両走行制御装置 |
CN201480048667.7A CN105517867B (zh) | 2013-09-06 | 2014-08-27 | 车辆行驶控制设备 |
EP14771632.8A EP3041722B1 (en) | 2013-09-06 | 2014-08-27 | Adaptive vehicle travel control apparatus based on lateral position and speed of a preceding vehicle |
US14/915,839 US10000211B2 (en) | 2013-09-06 | 2014-08-27 | Vehicle travel control apparatus |
PCT/JP2014/073114 WO2015033943A1 (en) | 2013-09-06 | 2014-08-27 | Adaptive vehicle travel control apparatus based on lateral position and speed of a preceding vehicle |
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JP2013185685A JP5994755B2 (ja) | 2013-09-06 | 2013-09-06 | 車両走行制御装置 |
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JP5994755B2 true JP5994755B2 (ja) | 2016-09-21 |
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EP (1) | EP3041722B1 (ja) |
JP (1) | JP5994755B2 (ja) |
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JP5994755B2 (ja) * | 2013-09-06 | 2016-09-21 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP5999074B2 (ja) * | 2013-11-25 | 2016-09-28 | トヨタ自動車株式会社 | 車両用制御装置、エンジン制御方法 |
JP6325425B2 (ja) * | 2014-11-28 | 2018-05-16 | 株式会社デンソー | 車両制御装置 |
JP6335155B2 (ja) * | 2015-12-07 | 2018-05-30 | 株式会社Subaru | 車両の走行制御装置 |
JP6243942B2 (ja) * | 2016-03-17 | 2017-12-06 | 株式会社Subaru | 車両の走行制御装置 |
US9896096B2 (en) | 2016-04-11 | 2018-02-20 | David E. Newman | Systems and methods for hazard mitigation |
US11231719B2 (en) * | 2016-05-16 | 2022-01-25 | Honda Motor Co., Ltd. | Vehicle control system, vehicle control method and vehicle control program |
JP6294924B2 (ja) * | 2016-09-05 | 2018-03-14 | 株式会社Subaru | 車両の走行制御装置 |
JP6302519B2 (ja) * | 2016-09-06 | 2018-03-28 | 株式会社Subaru | 車両の運転支援装置 |
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