JP6095780B2 - 車両の速度制御システムを操作する方法、および車両の速度を制御するシステム - Google Patents
車両の速度制御システムを操作する方法、および車両の速度を制御するシステム Download PDFInfo
- Publication number
- JP6095780B2 JP6095780B2 JP2015526993A JP2015526993A JP6095780B2 JP 6095780 B2 JP6095780 B2 JP 6095780B2 JP 2015526993 A JP2015526993 A JP 2015526993A JP 2015526993 A JP2015526993 A JP 2015526993A JP 6095780 B2 JP6095780 B2 JP 6095780B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- torque
- speed
- set speed
- acceleration
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 56
- 230000001133 acceleration Effects 0.000 claims description 157
- 230000008859 change Effects 0.000 claims description 82
- 230000000694 effects Effects 0.000 claims description 30
- 230000007423 decrease Effects 0.000 claims description 27
- 238000011156 evaluation Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 description 56
- 230000002829 reductive effect Effects 0.000 description 23
- 238000007726 management method Methods 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 15
- 238000005096 rolling process Methods 0.000 description 14
- 230000009194 climbing Effects 0.000 description 13
- 230000009467 reduction Effects 0.000 description 12
- 230000004044 response Effects 0.000 description 11
- 230000007704 transition Effects 0.000 description 10
- 230000003247 decreasing effect Effects 0.000 description 9
- 230000005484 gravity Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 9
- 238000005259 measurement Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 230000007935 neutral effect Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000002441 reversible effect Effects 0.000 description 6
- 239000004576 sand Substances 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 239000000725 suspension Substances 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000007794 irritation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 239000004606 Fillers/Extenders Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012804 iterative process Methods 0.000 description 1
- 239000011499 joint compound Substances 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000013515 script Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012559 user support system Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- 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
- 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
- B60K31/02—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 including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
- B60K31/04—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 including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- 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
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
-
- 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
-
- 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
- B60T2201/04—Hill descent control
-
- 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
- B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/14—Rough roads, bad roads, gravel roads
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/16—Off-road driving conditions
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/04—Automatic transmission
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/06—Active Suspension System
-
- 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
-
- 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
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
-
- 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
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
- B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
-
- 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
-
- 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
- B60W2520/04—Vehicle stop
-
- 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
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/14—Yaw
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/16—Driving resistance
-
- 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
- B60W2540/18—Steering angle
-
- 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
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- 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
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
-
- 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
- B60W2710/0666—Engine torque
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—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
- B60W2720/14—Yaw
-
- 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
- B60W2720/20—Sideslip angle
-
- 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
- B60W2720/28—Wheel 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
- B60W2720/30—Wheel torque
-
- 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
- B60W2720/40—Torque distribution
- B60W2720/406—Torque distribution between left and right wheel
-
- 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
- B60W30/143—Speed control
-
- 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
- B60W30/18109—Braking
- B60W30/18118—Hill holding
-
- 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
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
- F16H2061/0234—Adapting the ratios to special vehicle conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/60—Inputs being a function of ambient conditions
- F16H59/66—Road conditions, e.g. slope, slippery
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
- Hybrid Electric Vehicles (AREA)
Description
提供される。
Claims (11)
- 車両の速度制御システムを操作する方法であって、
車両を加速または減速させる効果を有する外力が車両に作用していることを検出するステップと、
車両を加速または減速させる外力の効果を補償するために、車両の1つまたはそれ以上の車輪に付加される正味トルクを構成する減速トルクまたは駆動トルクの変化率を自動的に調整するステップとを有し、
前記調整ステップは、車両の1つまたはそれ以上の車輪に付加される減速トルクまたは駆動トルクに所定のゲインを適用して、減速トルクまたは駆動トルクの変化率を増減させるステップを含み、
前記方法は、
速度制御システムの設定速度を最初の設定速度から、より低速の目標設定速度に変更する命令を受けるステップをさらに有し、
前記調整ステップは、目標設定速度に達するまで車両を減速させるために付加される減速トルクまたは駆動トルクの変化率を調整するステップを有し、
外力が、車両が坂道を上ることによる減速効果を有するとき、設定速度を変更するように受けた命令により、付加される減速トルクまたは駆動トルクの変化率では、車両が坂道を上り続けるには減速トルクまたは駆動トルクが不十分である場合、車両が坂道を下方へ移動することを防止するために、付加される減速トルクの増加率または駆動トルクの減少率を低減するステップをさらに有することを特徴とする方法。 - 前記調整ステップは、所定の加速度プロファイルに従って車両を目標設定速度まで加速または減速させるために、付加される減速トルクまたは駆動トルクの変化率を調整するステップを含み、
加速度プロファイルは、所望加速度から最大所望加速度までの範囲を含む加速度変化幅を有することを特徴とする請求項1に記載の方法。 - 前記検出ステップは、
車両の縦方向加速度を所定の加速度プロファイルと比較するステップと、車両の縦方向加速度が所定の加速度プロファイルから逸脱したとき、外力が車両に作用していることを検出するステップか、
車両の1つまたはそれ以上の操作パラメータを評価するステップと、その評価結果に基づいて外力が車両に作用していることを検出するステップか、または
車両に作用する外力を発生させる地形上を車両が走行していることを検出するステップを含むことを特徴とする請求項1または2に記載の方法。 - 車両の1つまたはそれ以上の車輪に付加される減速トルクまたは駆動トルクの変化率を調整する前記調整ステップは、車両に作用する外力の大きさに依存することを特徴とする請求項1〜3のいずれか1に記載の方法。
- 電子制御ユニット(ECU)を備えた車両の速度を制御するシステムであって、
電子制御ユニットは、
車両を加速または減速させる効果を有する外力が車両に作用していることを検出し、
車両を加速または減速させる外力の効果を補償するために、車両の1つまたはそれ以上の車輪に付加される正味トルクを構成する減速トルクまたは駆動トルクの変化率を自動的に調整し、
付加される減速トルクまたは駆動トルクに所定のゲインを適用することにより、付加される減速トルクまたは駆動トルクの変化率を調整して、減速トルクまたは駆動トルクの変化率を増減させるように構成され、
電子制御ユニットは、
速度制御システムの設定速度を最初の設定速度から、より低速の目標設定速度に変更する命令を受けたとき、目標設定速度に達するまで車両を減速させるように、車両の1つまたはそれ以上の車輪に付加される減速トルクまたは駆動トルクの変化率を調整し、
外力が、車両が坂道を上ることによる減速効果を有するとき、設定速度を変更するように受けた命令により、付加される減速トルクまたは駆動トルクの変化率では、車両が坂道を上り続けるには減速トルクまたは駆動トルクが不十分である場合、車両が坂道を下方へ移動することを防止するために、付加される減速トルクの増加率または駆動トルクの減少率を低減するように構成されたことを特徴とするシステム。 - 坂道発進支援システムは、車両が坂道を下方へ移動することを防止するか、坂道を上方へ移動することを再開させるための十分な正味トルクが生成されるまで、坂道上で車両の静止を維持するように構成されたことを特徴とする請求項5に記載のシステム。
- 電子制御ユニットは、車両の1つまたはそれ以上の車輪に付加される減速トルクまたは駆動トルクの変化率を所定の加速度プロファイルに従って調整するように構成され、
加速度プロファイルは、所望加速度から最大所望加速度までの範囲を含む加速度変化幅を有することを特徴とする請求項5または6に記載のシステム。 - 電子制御ユニットは、
車両の縦方向加速度を所定の加速度プロファイルと比較することにより外力が車両に作用していることを検出し、車両の縦方向加速度が所定の加速度プロファイルから逸脱したとき、外力が車両に作用していることを検出するか、
車両の1つまたはそれ以上の操作パラメータを評価することにより外力が車両に作用していることを検出し、その評価結果に基づいて外力が車両に作用していることを検出するか、または
車両に作用する外力を発生させる地形上を車両が走行していることを検出することにより、車両に作用する外力を検出するように構成されたことを特徴とする請求項5〜7のいずれか1に記載のシステム。 - 電子制御ユニットは、付加される減速トルクまたは駆動トルクの変化率を車両に作用する外力の大きさに依存して調整するように構成されたことを特徴とする請求項5〜8のいずれか1に記載のシステム。
- 請求項5〜9のいずれか1に記載のシステムを備えた車両。
- 請求項1〜4のいずれか1に記載の方法を実行するように車両を制御するコンピュータ可読コードを担持する担持媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GBGB1214651.0A GB201214651D0 (en) | 2012-08-16 | 2012-08-16 | Vehicle speed control system |
GB1214651.0 | 2012-08-16 | ||
PCT/EP2013/067095 WO2014027071A1 (en) | 2012-08-16 | 2013-08-15 | Vehicle speed control system and method with external force compensation |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015532621A JP2015532621A (ja) | 2015-11-12 |
JP6095780B2 true JP6095780B2 (ja) | 2017-03-15 |
Family
ID=50897975
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015526993A Active JP6095780B2 (ja) | 2012-08-16 | 2013-08-15 | 車両の速度制御システムを操作する方法、および車両の速度を制御するシステム |
Country Status (6)
Country | Link |
---|---|
US (1) | US9630623B2 (ja) |
EP (1) | EP2885174B1 (ja) |
JP (1) | JP6095780B2 (ja) |
CN (1) | CN104583031B (ja) |
GB (1) | GB2508460B (ja) |
WO (1) | WO2014027071A1 (ja) |
Families Citing this family (85)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2447672B (en) | 2007-03-21 | 2011-12-14 | Ford Global Tech Llc | Vehicle manoeuvring aids |
US9854209B2 (en) | 2011-04-19 | 2017-12-26 | Ford Global Technologies, Llc | Display system utilizing vehicle and trailer dynamics |
US8909426B2 (en) | 2011-04-19 | 2014-12-09 | Ford Global Technologies | Trailer path curvature control for trailer backup assist |
US9500497B2 (en) | 2011-04-19 | 2016-11-22 | Ford Global Technologies, Llc | System and method of inputting an intended backing path |
US9506774B2 (en) | 2011-04-19 | 2016-11-29 | Ford Global Technologies, Llc | Method of inputting a path for a vehicle and trailer |
US9783230B2 (en) | 2011-04-19 | 2017-10-10 | Ford Global Technologies, Llc | Trailer backup assist system with off-shoot correction |
US9926008B2 (en) | 2011-04-19 | 2018-03-27 | Ford Global Technologies, Llc | Trailer backup assist system with waypoint selection |
US9937953B2 (en) | 2011-04-19 | 2018-04-10 | Ford Global Technologies, Llc | Trailer backup offset determination |
US9708000B2 (en) | 2011-04-19 | 2017-07-18 | Ford Global Technologies, Llc | Trajectory planner for a trailer backup assist system |
US9499200B2 (en) | 2011-04-19 | 2016-11-22 | Ford Global Technologies, Llc | Trailer backup assist system with object detection |
US9969428B2 (en) | 2011-04-19 | 2018-05-15 | Ford Global Technologies, Llc | Trailer backup assist system with waypoint selection |
WO2014089580A2 (en) * | 2012-12-07 | 2014-06-12 | Kelsey-Hayes Company | Vehicle speed control system |
US9592851B2 (en) | 2013-02-04 | 2017-03-14 | Ford Global Technologies, Llc | Control modes for a trailer backup assist system |
US9511799B2 (en) | 2013-02-04 | 2016-12-06 | Ford Global Technologies, Llc | Object avoidance for a trailer backup assist system |
GB2511867B (en) * | 2013-03-15 | 2016-07-13 | Jaguar Land Rover Ltd | Vehicle speed control system and method |
GB2514162B (en) | 2013-05-16 | 2015-08-05 | Jaguar Land Rover Ltd | Vehicle speed control system |
GB2516933B (en) * | 2013-08-07 | 2017-06-28 | Jaguar Land Rover Ltd | Vehicle speed control system and method |
US10640113B2 (en) | 2013-08-20 | 2020-05-05 | Ge Global Sourcing Llc | System and method for controlling a vehicle |
JP6150065B2 (ja) * | 2013-09-27 | 2017-06-21 | トヨタ自動車株式会社 | 車両の降坂速度制御装置 |
GB2519533B (en) * | 2013-10-23 | 2018-04-04 | Jaguar Land Rover Ltd | Vehicle speed control system |
KR101491408B1 (ko) * | 2014-02-12 | 2015-02-06 | 현대자동차주식회사 | 경사로 출발 보조 장치의 제어 방법 |
GB2526143B (en) | 2014-05-16 | 2018-02-28 | Jaguar Land Rover Ltd | Vehicle speed control system and method |
SE539599C2 (sv) * | 2014-05-21 | 2017-10-17 | Scania Cv Ab | Förfarande och system för att anpassa ett fordons acceleration vid framförande av fordonet utmed en färdväg |
GB2515901A (en) * | 2014-05-28 | 2015-01-07 | Daimler Ag | A method for adjusting injection parameters of a combustion engine for a motor vehicle which is operated in a closed loop mode |
US9623904B2 (en) | 2014-06-03 | 2017-04-18 | Ford Global Technologies, Llc | Trailer curvature control with adaptive trailer length estimation |
US9540043B2 (en) | 2014-07-30 | 2017-01-10 | Ford Global Technologies, Llc | Trailer backup assist system with active trailer braking for curvature control |
GB2531776B (en) | 2014-10-30 | 2017-12-20 | Jaguar Land Rover Ltd | Controlling the operation of a vehicle brake system |
GB2531777B (en) | 2014-10-30 | 2018-02-14 | Jaguar Land Rover Ltd | Controlling the braking of a vehicle descending a slope |
US9522677B2 (en) | 2014-12-05 | 2016-12-20 | Ford Global Technologies, Llc | Mitigation of input device failure and mode management |
US9533683B2 (en) | 2014-12-05 | 2017-01-03 | Ford Global Technologies, Llc | Sensor failure mitigation system and mode management |
FR3030425B1 (fr) * | 2014-12-22 | 2016-12-23 | Renault Sa | Procede de commande d'une boite de vitesses automatique pour vehicule automobile. |
US10286950B2 (en) | 2015-02-10 | 2019-05-14 | Ford Global Technologies, Llc | Speed optimized trajectory control for motor vehicles |
US9616923B2 (en) | 2015-03-03 | 2017-04-11 | Ford Global Technologies, Llc | Topographical integration for trailer backup assist system |
US9623859B2 (en) | 2015-04-03 | 2017-04-18 | Ford Global Technologies, Llc | Trailer curvature control and mode management with powertrain and brake support |
US9744972B2 (en) | 2015-04-09 | 2017-08-29 | Ford Global Technologies, Llc | Trailer backup aid speed limiting via braking |
US9840240B2 (en) | 2015-04-09 | 2017-12-12 | Ford Global Technologies, Llc | Trailer backup aid speed limiting via braking |
GB2537952B (en) | 2015-04-29 | 2019-07-03 | Jaguar Land Rover Ltd | Vehicle speed control for low speed progress |
GB2537884A (en) * | 2015-04-29 | 2016-11-02 | Jaguar Land Rover Ltd | Improvements in vehicle speed control |
GB2537929A (en) * | 2015-04-30 | 2016-11-02 | Jaguar Land Rover Ltd | Improvements In Vehicle Speed Control |
US9676377B2 (en) * | 2015-06-17 | 2017-06-13 | Ford Global Technologies, Llc | Speed limiting comfort enhancement |
CN106314194B (zh) * | 2015-06-26 | 2018-05-18 | 上海汽车集团股份有限公司 | 电动汽车动力系统输出扭矩控制方法及装置 |
US9896126B2 (en) | 2015-07-08 | 2018-02-20 | Ford Global Technologies, Llc | Jackknife detection for vehicle reversing a trailer |
JP6443250B2 (ja) * | 2015-07-17 | 2018-12-26 | トヨタ自動車株式会社 | 車両の制御装置 |
US9849864B2 (en) | 2015-07-31 | 2017-12-26 | Ford Global Technologies, Llc | Vehicle parking assist system |
GB2542365B (en) * | 2015-09-16 | 2018-06-06 | Ford Global Tech Llc | A method of controlling a vehicle take-off from rest |
US9896130B2 (en) | 2015-09-11 | 2018-02-20 | Ford Global Technologies, Llc | Guidance system for a vehicle reversing a trailer along an intended backing path |
US10166855B2 (en) * | 2015-09-12 | 2019-01-01 | GM Global Technology Operations LLC | Vehicle, system, and method of calculating an engine torque request value |
US9981656B2 (en) | 2015-10-13 | 2018-05-29 | Ford Global Technologies, Llc | Vehicle parking assist system |
US9981662B2 (en) | 2015-10-15 | 2018-05-29 | Ford Global Technologies, Llc | Speed limiting comfort enhancement |
US10328933B2 (en) | 2015-10-29 | 2019-06-25 | Ford Global Technologies, Llc | Cognitive reverse speed limiting |
JP2017100655A (ja) * | 2015-12-04 | 2017-06-08 | 株式会社デンソー | 走行制御装置 |
DE102016202951A1 (de) * | 2016-02-25 | 2017-08-31 | Continental Teves Ag & Co. Ohg | Verfahren für einen Geschwindigkeitsregler |
KR102515667B1 (ko) * | 2016-04-08 | 2023-03-29 | 주식회사 에이치엘클레무브 | 운전 지원 장치 및 이를 이용한 운전 지원 방법 |
JP6202479B1 (ja) * | 2016-04-22 | 2017-09-27 | マツダ株式会社 | 車両用挙動制御装置 |
KR20170124357A (ko) * | 2016-05-02 | 2017-11-10 | 현대자동차주식회사 | 친환경 자동차의 안티-저크 제어 시스템 및 방법 |
US10112646B2 (en) | 2016-05-05 | 2018-10-30 | Ford Global Technologies, Llc | Turn recovery human machine interface for trailer backup assist |
JP6747053B2 (ja) * | 2016-05-16 | 2020-08-26 | いすゞ自動車株式会社 | 速度制御装置 |
JP6313807B2 (ja) * | 2016-05-19 | 2018-04-18 | 株式会社Subaru | 無段変速機の制御装置 |
US10773721B2 (en) | 2016-10-21 | 2020-09-15 | Ford Global Technologies, Llc | Control method using trailer yaw rate measurements for trailer backup assist |
US20180111616A1 (en) * | 2016-10-25 | 2018-04-26 | NextEv USA, Inc. | Target speed control system which uses acceleration and brake pedals |
CN115384505A (zh) * | 2016-11-01 | 2022-11-25 | Ip传输控股公司 | 用于控制车辆的系统和方法 |
US10322688B2 (en) * | 2016-12-30 | 2019-06-18 | Textron Innovations Inc. | Controlling electrical access to a lithium battery on a utility vehicle |
US10604184B2 (en) | 2017-08-31 | 2020-03-31 | Ford Global Technologies, Llc | Adaptive steering control for robustness to errors in estimated or user-supplied trailer parameters |
US10710585B2 (en) | 2017-09-01 | 2020-07-14 | Ford Global Technologies, Llc | Trailer backup assist system with predictive hitch angle functionality |
US20190135286A1 (en) * | 2017-09-20 | 2019-05-09 | Sebastian Domingo | Apparatus and method for an acceleration control system |
US10730553B2 (en) | 2017-09-27 | 2020-08-04 | Ford Global Technologies, Llc | Adaptive steering control for robustness to errors in estimated or user-supplied trailer parameters |
FR3071461A1 (fr) * | 2017-09-27 | 2019-03-29 | Psa Automobiles Sa | Procede d’inhibition d’un moteur pendant un pilotage automatique |
CN107719186B (zh) * | 2017-09-28 | 2020-04-14 | 北京新能源汽车股份有限公司 | 车辆过坎补偿控制方法、装置、系统和电机控制器 |
CN108806021B (zh) * | 2018-06-12 | 2020-11-06 | 重庆大学 | 基于物理模型和道路特征参数的电动汽车目标路段能耗预测方法 |
US10814912B2 (en) | 2018-11-28 | 2020-10-27 | Ford Global Technologies, Llc | Trailer backup assist system having advanced user mode with selectable hitch angle limits |
US10882534B2 (en) * | 2018-11-29 | 2021-01-05 | Baidu Usa Llc | Predetermined calibration table-based vehicle throttle/brake assist system for L2 autonomous driving |
EP3674130B1 (en) * | 2018-12-26 | 2023-10-18 | ZUMA Innovation, S.L. | Electric vehicle provided with control system based on stimuli to the user |
US20200247395A1 (en) * | 2019-01-31 | 2020-08-06 | Volvo Car Corporation | Off-road control brake |
US11097727B2 (en) * | 2019-03-11 | 2021-08-24 | GM Global Technology Operations LLC | Eco-cruise: torque management |
US12017501B2 (en) | 2019-11-18 | 2024-06-25 | Bollinger Motors, Inc. | Electric automotive vehicle |
WO2021108012A1 (en) * | 2019-11-29 | 2021-06-03 | Cummins Inc. | Electric drive vehicle with anti-rollback control |
US11407413B2 (en) | 2020-06-04 | 2022-08-09 | Fca Us Llc | Techniques for monitoring powertrain cruise control propulsive torque in electrified vehicles |
DE102020211077A1 (de) * | 2020-09-02 | 2022-03-03 | Zf Friedrichshafen Ag | Verfahren zur traktionsbezogenen Geschwindigkeitsregelung einer Arbeitsmaschine |
CN112061106B (zh) * | 2020-09-15 | 2022-04-19 | 中国第一汽车股份有限公司 | 自动驾驶控制方法、装置、车辆和存储介质 |
US11685262B2 (en) * | 2020-12-03 | 2023-06-27 | GM Global Technology Operations LLC | Intelligent motor vehicles and control logic for speed horizon generation and transition for one-pedal driving |
KR20220091076A (ko) * | 2020-12-23 | 2022-06-30 | 현대자동차주식회사 | 차량 및 그 제어방법 |
CN113044136B (zh) * | 2021-03-08 | 2022-11-08 | 京东鲲鹏(江苏)科技有限公司 | 无人车越障的控制方法、装置、介质 |
CN113386574B (zh) * | 2021-07-30 | 2022-05-31 | 重庆长安新能源汽车科技有限公司 | 一种电动汽车扭矩方向的监控方法、整车控制器及汽车 |
CN113635780B (zh) * | 2021-08-17 | 2023-09-08 | 长春工业大学 | 四轮驱动电动汽车驱动节能与操稳底盘一体化控制方法 |
CN113525343A (zh) * | 2021-08-31 | 2021-10-22 | 湘潭大学 | 一种增程式电动汽车能量流优化控制方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09207613A (ja) | 1996-01-31 | 1997-08-12 | Hino Motors Ltd | オートクルーズ制御装置 |
JPH1120496A (ja) * | 1997-06-27 | 1999-01-26 | Denso Corp | オートクルーズ制御装置 |
JP3784523B2 (ja) | 1998-02-13 | 2006-06-14 | 富士通テン株式会社 | 車両走行速度制御装置 |
DE19858294C2 (de) | 1998-12-17 | 2000-11-02 | Daimler Chrysler Ag | Verfahren zur Fahrgeschwindigkeitsregelung eines Kraftfahrzeuges |
JP3656464B2 (ja) * | 1999-06-15 | 2005-06-08 | 日産自動車株式会社 | 先行車追従制御装置 |
JP3812391B2 (ja) * | 2001-09-26 | 2006-08-23 | 日産自動車株式会社 | 車両の駆動力制御装置 |
JP2003320872A (ja) | 2002-05-01 | 2003-11-11 | Mitsubishi Fuso Truck & Bus Corp | 車両の制御装置 |
JP4172316B2 (ja) * | 2003-04-23 | 2008-10-29 | 日産自動車株式会社 | 自動速度制御装置 |
JP4613124B2 (ja) * | 2005-11-29 | 2011-01-12 | 日立オートモティブシステムズ株式会社 | ナビ協調走行制御装置 |
JP4890854B2 (ja) | 2005-12-28 | 2012-03-07 | トヨタ自動車株式会社 | 車両の制御装置 |
JP4938542B2 (ja) * | 2007-04-27 | 2012-05-23 | トヨタ自動車株式会社 | 車両の車速制御装置 |
JP4967878B2 (ja) * | 2007-07-18 | 2012-07-04 | 株式会社アドヴィックス | 路面勾配推定装置 |
SE534038C2 (sv) * | 2009-06-10 | 2011-04-12 | Scania Cv Ab | Metod och modul för att reglera ett fordons hastighet |
KR20110125128A (ko) * | 2010-05-12 | 2011-11-18 | 주식회사 만도 | 경사로의 적응 순항 제어 방법 |
JP5625515B2 (ja) * | 2010-06-10 | 2014-11-19 | 株式会社デンソー | 車両制駆動制御装置 |
-
2013
- 2013-08-15 JP JP2015526993A patent/JP6095780B2/ja active Active
- 2013-08-15 GB GB1314638.6A patent/GB2508460B/en active Active
- 2013-08-15 CN CN201380043998.7A patent/CN104583031B/zh active Active
- 2013-08-15 WO PCT/EP2013/067095 patent/WO2014027071A1/en active Application Filing
- 2013-08-15 EP EP13750063.3A patent/EP2885174B1/en active Active
- 2013-08-15 US US14/421,876 patent/US9630623B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN104583031A (zh) | 2015-04-29 |
GB2508460B (en) | 2014-12-17 |
CN104583031B (zh) | 2017-06-13 |
US20150232092A1 (en) | 2015-08-20 |
WO2014027071A1 (en) | 2014-02-20 |
GB2508460A (en) | 2014-06-04 |
EP2885174B1 (en) | 2019-05-01 |
GB201314638D0 (en) | 2013-10-02 |
US9630623B2 (en) | 2017-04-25 |
JP2015532621A (ja) | 2015-11-12 |
EP2885174A1 (en) | 2015-06-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6095780B2 (ja) | 車両の速度制御システムを操作する方法、および車両の速度を制御するシステム | |
US10518771B2 (en) | System and method for controlling vehicle speed | |
US9776634B2 (en) | Vehicle speed control system and method employing torque balancing | |
JP6145508B2 (ja) | 乗員快適性を改善するように車両速度を制御するシステムおよび方法 | |
JP6236153B2 (ja) | 車両速度制御の改良 | |
US10501076B2 (en) | Speed control system and method of operating the same | |
JP6231674B2 (ja) | 車両速度制御システム | |
JP6276873B2 (ja) | 設定速度に従う車両速度の自動制御 | |
JP6205417B2 (ja) | トルク平衡を利用した車両速度制御システムおよび方法 | |
JP2018020778A (ja) | 車両速度を制御するためのシステム及び方法 | |
JP6258469B2 (ja) | 車両速度制御システム | |
KR20150044436A (ko) | 차량 속도 제어 시스템 및 방법 | |
JP2017505259A (ja) | 車両速度制御システムおよび車両速度制御方法 | |
EP2885188B1 (en) | System and method for selecting a driveline gear ratio | |
GB2511831A (en) | System and method for selecting a driveline gear ratio |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20160325 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20160405 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20160705 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20160905 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20161003 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20170207 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20170214 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6095780 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |