JP6347233B2 - 車両の運転支援装置 - Google Patents
車両の運転支援装置 Download PDFInfo
- Publication number
- JP6347233B2 JP6347233B2 JP2015145028A JP2015145028A JP6347233B2 JP 6347233 B2 JP6347233 B2 JP 6347233B2 JP 2015145028 A JP2015145028 A JP 2015145028A JP 2015145028 A JP2015145028 A JP 2015145028A JP 6347233 B2 JP6347233 B2 JP 6347233B2
- Authority
- JP
- Japan
- Prior art keywords
- acceleration
- vehicle
- target acceleration
- drive mode
- destination
- 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
- 230000001133 acceleration Effects 0.000 claims description 252
- 230000006870 function Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 5
- 239000000446 fuel Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B60W40/107—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
- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
-
- 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
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
-
- 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
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
-
- 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
-
- 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
- B60W40/105—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
- 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
- B60W40/112—Roll movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/10—Introducing corrections for particular operating conditions for acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/12—Introducing corrections for particular operating conditions for deceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
- F02D41/2409—Addressing techniques specially adapted therefor
- F02D41/2422—Selective use of one or more tables
-
- 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
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
-
- 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
- B60W2554/803—Relative lateral 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- 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
- B60W2710/06—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
- B60W2710/10—Change speed gearings
- B60W2710/1005—Transmission ratio engaged
-
- 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
-
- 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
- B60W2720/10—Longitudinal speed
- B60W2720/106—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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
- F02D2200/501—Vehicle speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
- F02D2200/606—Driving style, e.g. sporty or economic driving
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/70—Input parameters for engine control said parameters being related to the vehicle exterior
- F02D2200/701—Information about vehicle position, e.g. from navigation system or GPS signal
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Traffic Control Systems (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
アクセル操作量に対する走行用駆動源(31)の出力特性を特定するドライブモードを、ドライバーの選択操作によって切り替え可能な車両に適用され、
自車両から先行車両までの車間距離を所定範囲内の距離に保つように前記自車両を前記先行車両に追従走行させる制御である追従制御を実行する車両の運転支援装置において、
前記自車両のドライブモードを取得するドライブモード取得手段(10,11,25)と、
前記自車両が販売される地域である仕向け地を取得する仕向け地取得手段(11,50)と、
前記ドライブモード取得手段によって取得されたドライブモードと前記仕向け地取得手段によって取得された仕向け地とに基づいて、前記アクセル操作量に対する走行用駆動源の出力が大きいドライブモードほど大きくなる、前記仕向け地に対応した、前記追従制御を実行するための目標加速度を演算する目標加速度演算手段(10,13)と、
前記ドライブモード取得手段によって取得されたドライブモードに基づいて、前記アクセル操作量に対する走行用駆動源の出力が大きいドライブモードほど大きくなる、前記目標加速度の上限値である上限目標加速度を演算する上限目標加速度演算手段(10,16)と、
前記上限目標加速度を上限値として前記目標加速度で前記自車両が加速するように前記走行用駆動源の駆動力を制御する駆動力制御手段(10,17,18,30)と
を備えたことにある。
(1) 運転支援機能のオン/オフ
(2) 定速制御モードと追従制御モードとの切り替え
(3) 定速走行用の車速の設定
(4) 追従制御モードにおける車間距離の設定(長・中・短)
加速度特性設定部11は、ドライバーによって選択されているドライブモードと、自車両の仕向け地とに基づいて追従加速度特性を設定する制御ブロックである。加速度特性設定部11は、ドライブモード選択スイッチ25から出力されるモード選択信号と、ボディーECU50から送信される仕向け地情報とを入力する。加速度特性設定部11は、図4に示す追従加速度特性設定テーブルを記憶している。この追従加速度特性設定テーブルは、モード選択信号によって表されるドライブモードと、仕向け地情報によって表される仕向け地との組み合わせにより、4種類の追従加速度特性の中から、その1つが一義的に決定されるように関連付けたテーブルである。
目標車間時間演算部12は、自車両が先行車両を追従する場合の目標車間時間を演算する制御ブロックである。目標車間時間演算部12は、車速センサ23によって検出される車速Vnと、ドライバーが設定して記憶されている設定車間距離(長・中・短)とに基づいて、目標車間時間を演算する。より具体的に述べると、目標車間時間演算部12は、目標車間時間マップを記憶している。目標車間時間マップは、図5に示すように、車速Vnが速いほど、かつ、設定車間距離が短いほど短くなる目標車間時間td*が設定される特性を有する。目標車間時間演算部12は、車速Vnと設定車間距離とを目標車間時間マップに適用することにより目標車間時間td*を演算する。目標車間時間演算部12は、その演算した目標車間時間td*を追従用目標加速度演算部13に供給する。
追従用目標加速度演算部13は、先行車両が検出されて追従制御を実施する場合の基本となる目標加速度を演算する制御ブロックである。追従用目標加速度演算部13は、加速度特性設定部11によって設定された追従加速度特性AF、目標車間時間演算部12によって演算された目標車間時間td*、先行車両センサ部21から送信された先行車両情報(先行車車間距離、先行車相対速度)、および、車速センサ23により検出された車速Vnを入力して追従用目標加速度Afollow*を演算する。
Afollow2*=((ΔD×K1)+(Vr×K2)) ・・・(2)
ゲインK1,K2は、調整用の正の値であって、固定値でもよいし他のパラメータによって調整される値であってもよい。
先行車相対速度Vrは、自車両に対する先行車両の相対速度であって、先行車両の車速から自車両の車速を減算した値である。従って、先行車両が自車両から遠ざかって行く状況では、先行車相対速度Vrは正の値となり、追従用目標加速度Afollow*を増加させる方向に働く。
定速走行用目標加速度演算部14は、定速制御を実施する場合の目標加速度を演算する制御ブロックである。定速走行用目標加速度演算部14は、車速センサ23によって検出される車速Vnと、ドライバーが支援用操作スイッチ22を使って設定した設定車速Vsetとに基づいて、次式(3)に示すように、定速走行用目標加速度Aconst*を演算する。
Aconst*=(Vset−Vn)×K3 ・・・(3)
カーブ走行用目標加速度演算部15は、カーブした道路を走行する場合の目標加速度であるカーブ走行用目標加速度Acurve*を演算するブロックである。カーブ目標加速度演算部は、車速センサ23によって検出される車速Vnと、ヨーレートセンサ24によって検出されるヨーレートYawとに基づいて、次式(4)、(4−1)および(4−2)によってカーブ走行用目標加速度Acurve*を演算する。
Acurve*=(Vcurve−Vn)×K4 ・・・(4)
Vcurve=sqrt(R×Gcy) ・・・(4−1)
R=Kr×(Vn/Yaw) ・・・(4−2)
更に、Gcyは、カーブ走行において許容される横加速度であって、予め設定されている。K4は、予め設定された大きさのゲインである。
上限目標加速度演算部16は、目標加速度の上限値を演算する制御ブロックである。上限目標加速度演算部16は、車速センサ23によって検出される車速Vnと、加速度特性設定部11によって設定された追従加速度特性AFと、先行車両センサ部21から送信された先行車両情報(ここでは先行車両の有無を表す情報)とを入力して、上限目標加速度Alimit*を演算する。
目標加速度調停部17は、追従用目標加速度演算部13によって演算された追従用目標加速度Afollow*と、定速走行用目標加速度演算部14によって演算された定速走行用目標加速度Aconst*と、カーブ走行用目標加速度演算部15によって演算されたカーブ走行用目標加速度Acurve*と、上限目標加速度演算部16によって演算された上限目標加速度Alimit*を入力する。
A*=min( Afollow*,Aconst*,Acurve*,Alimit* ) ・・・(5)
ここで、minは、括弧内の数値の最小値を選択する関数を意味する。
要求駆動力演算部18は、目標加速度A*と、実際の自車両の加速度である実加速度Anとの偏差である加速度偏差ΔA(=A*−An)を演算し、この加速度偏差ΔAに基づいて要求駆動力F*を演算する。例えば、要求駆動力演算部18は、次式(6)に示すように、加速度偏差ΔAにゲインK5を乗算した値に、1演算周期前の要求駆動力F*(n-1)を加算した値を、要求駆動力F*に設定する。
F*=(A*−An)×K5+F*(n-1) ・・・(6)
Claims (2)
- アクセル操作量に対する走行用駆動源の出力特性を特定するドライブモードを、ドライバーの選択操作によって切り替え可能な車両に適用され、
自車両から先行車両までの車間距離を所定範囲内の距離に保つように前記自車両を前記先行車両に追従走行させる制御である追従制御を実行する車両の運転支援装置において、
前記自車両のドライブモードを取得するドライブモード取得手段と、
前記自車両が販売される地域である仕向け地を取得する仕向け地取得手段と、
前記ドライブモード取得手段によって取得されたドライブモードと前記仕向け地取得手段によって取得された仕向け地とに基づいて、前記アクセル操作量に対する走行用駆動源の出力が大きいドライブモードほど大きくなる、前記仕向け地に対応した、前記追従制御を実行するための目標加速度を演算する目標加速度演算手段と、
前記ドライブモード取得手段によって取得されたドライブモードに基づいて、前記アクセル操作量に対する走行用駆動源の出力が大きいドライブモードほど大きくなる、前記目標加速度の上限値である上限目標加速度を演算する上限目標加速度演算手段と、
前記上限目標加速度を上限値として前記目標加速度で前記自車両が加速するように前記走行用駆動源の駆動力を制御する駆動力制御手段と
を備えた車両の運転支援装置。 - 請求項1記載の車両の運転支援装置において、
前記目標加速度演算手段は、
ドライバーによって選択可能なドライブモードの種類数よりも多い種類の追従加速度特性を記憶しており、
前記ドライブモードと前記仕向け地との組み合わせに基づいて、前記記憶している複数種類の追従加速度特性の中から1つを選択して、前記選択した追従加速度特性に従って前記目標加速度を演算するように構成された車両の運転支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015145028A JP6347233B2 (ja) | 2015-07-22 | 2015-07-22 | 車両の運転支援装置 |
EP16179876.4A EP3121423B1 (en) | 2015-07-22 | 2016-07-18 | Driving assistance apparatus for vehicle |
KR1020160091232A KR101897336B1 (ko) | 2015-07-22 | 2016-07-19 | 차량의 운전 지원 장치 |
CN201610570962.XA CN106364476B (zh) | 2015-07-22 | 2016-07-19 | 车辆的驾驶辅助装置 |
US15/215,390 US10071736B2 (en) | 2015-07-22 | 2016-07-20 | Driving assistance apparatus for vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015145028A JP6347233B2 (ja) | 2015-07-22 | 2015-07-22 | 車両の運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017024553A JP2017024553A (ja) | 2017-02-02 |
JP6347233B2 true JP6347233B2 (ja) | 2018-06-27 |
Family
ID=56511343
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015145028A Active JP6347233B2 (ja) | 2015-07-22 | 2015-07-22 | 車両の運転支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10071736B2 (ja) |
EP (1) | EP3121423B1 (ja) |
JP (1) | JP6347233B2 (ja) |
KR (1) | KR101897336B1 (ja) |
CN (1) | CN106364476B (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6485792B2 (ja) | 2017-03-17 | 2019-03-20 | マツダ株式会社 | 運転支援制御装置 |
CN109421711B (zh) | 2017-08-28 | 2021-07-13 | 腾讯科技(北京)有限公司 | 跟车速度控制方法、装置、系统、计算机设备及存储介质 |
JP6907895B2 (ja) | 2017-11-15 | 2021-07-21 | トヨタ自動車株式会社 | 自動運転システム |
US11208107B2 (en) * | 2018-11-26 | 2021-12-28 | Toyota Research Institute, Inc. | Systems and methods for selecting among different driving modes for autonomous driving of a vehicle |
US11180145B2 (en) * | 2018-11-29 | 2021-11-23 | Baidu Usa Llc | Predetermined calibration table-based vehicle control system for operating an autonomous driving vehicle |
KR102688999B1 (ko) * | 2018-12-20 | 2024-07-29 | 에이치엘만도 주식회사 | 드라이브 모드 설정 장치 및 드라이브 모드 설정 방법 |
JP7200782B2 (ja) * | 2019-03-20 | 2023-01-10 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP7251461B2 (ja) * | 2019-12-13 | 2023-04-04 | トヨタ自動車株式会社 | 制御システム |
CN111038515B (zh) * | 2020-01-15 | 2022-02-08 | 江铃汽车股份有限公司 | 一种电动汽车驾驶模式控制方法 |
CN111845744B (zh) * | 2020-06-24 | 2022-10-18 | 深圳中集智能科技有限公司 | 车辆跟随控制方法、装置、电子设备和存储介质 |
FR3142226A1 (fr) * | 2022-11-17 | 2024-05-24 | Renault S.A.S | Procédé de détermination d’une consigne de couple d’un moteur de véhicule automobile fonctionnant selon un mode économique en énergie |
Family Cites Families (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2851072B2 (ja) * | 1989-09-18 | 1999-01-27 | マツダ株式会社 | 車両用定速走行装置 |
US5821878A (en) * | 1995-11-16 | 1998-10-13 | Raswant; Subhash C. | Coordinated two-dimensional progression traffic signal system |
DE19640694A1 (de) * | 1996-10-02 | 1998-04-09 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Steuerung der Fahrgeschwindigkeit eines Fahrzeugs |
DE19843395A1 (de) * | 1998-09-22 | 2000-03-23 | Volkswagen Ag | Verfahren zur Geschwindigkeits- und/oder Abstandsregelung bei Kraftfahrzeugen |
US6289332B2 (en) * | 1999-02-26 | 2001-09-11 | Freightliner Corporation | Integrated message display system for a vehicle |
CA2401555A1 (en) * | 2000-02-29 | 2001-09-07 | United Parcel Service Of America, Inc. | Delivery system and method for vehicles and the like |
EP1155900B8 (en) * | 2000-05-16 | 2007-09-19 | Nissan Motor Company, Limited | Vehicle speed control system |
JP4419331B2 (ja) * | 2001-02-02 | 2010-02-24 | 株式会社デンソー | 車両の走行制御装置 |
JP3838048B2 (ja) * | 2001-04-16 | 2006-10-25 | 日産自動車株式会社 | 車両用走行制御装置 |
US7440834B2 (en) * | 2004-07-13 | 2008-10-21 | Nissan Motor Co., Ltd. | Drive force distribution system for four wheel independent drive vehicle |
US20070136123A1 (en) * | 2005-12-12 | 2007-06-14 | Ford Motor Company | Electronic method and system for monitoring destination ramp systems |
US20070208580A1 (en) * | 2006-03-06 | 2007-09-06 | Ford Motor Company | Electronic method and system for monitoring distribution facilities |
US9373149B2 (en) * | 2006-03-17 | 2016-06-21 | Fatdoor, Inc. | Autonomous neighborhood vehicle commerce network and community |
JP4916939B2 (ja) | 2006-04-07 | 2012-04-18 | 富士重工業株式会社 | 車両のエンジン制御装置 |
JP4765766B2 (ja) * | 2006-05-23 | 2011-09-07 | 日産自動車株式会社 | 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両 |
JP4816248B2 (ja) * | 2006-05-23 | 2011-11-16 | 日産自動車株式会社 | 車両用運転操作補助装置 |
JP5056220B2 (ja) * | 2006-09-29 | 2012-10-24 | 日産自動車株式会社 | 走行制御装置 |
JP4864655B2 (ja) * | 2006-11-14 | 2012-02-01 | 富士重工業株式会社 | 走行制御装置 |
JP4197037B2 (ja) * | 2007-03-14 | 2008-12-17 | トヨタ自動車株式会社 | ハイブリッド自動車およびその制御方法 |
DE102007036787A1 (de) * | 2007-08-03 | 2009-02-05 | Robert Bosch Gmbh | Abstandsregler mit automatischer Anhaltefunktion |
JP4470986B2 (ja) * | 2007-10-17 | 2010-06-02 | トヨタ自動車株式会社 | 走行制御装置及び車両 |
JP4438861B2 (ja) * | 2007-12-21 | 2010-03-24 | 株式会社デンソー | 車両制御装置およびそれを用いた車両制御システム |
DE102009004102A1 (de) * | 2009-01-08 | 2010-07-15 | Conti Temic Microelectronic Gmbh | Verfahren zum Steuern einer Geschwindigkeit eines Fahrzeugs und Geschwindigkeits-Steuersystem für ein Fahrzeug |
WO2010088869A1 (de) * | 2009-02-03 | 2010-08-12 | Adc Automotive Distance Control Systems Gmbh | Geschwindigkeitsvoreinstellung für ein fahrzeug mit automatischer längsregelung |
JP5333574B2 (ja) * | 2009-03-05 | 2013-11-06 | トヨタ自動車株式会社 | 車群形成装置及び車群形成方法 |
SE537681C2 (sv) | 2011-06-10 | 2015-09-29 | Scania Cv Ab | Förfarande och system för framförande av ett fordon |
JP5751339B2 (ja) * | 2011-11-14 | 2015-07-22 | トヨタ自動車株式会社 | 走行支援装置 |
CN104010860A (zh) * | 2011-12-22 | 2014-08-27 | 斯堪尼亚商用车有限公司 | 与确定参考值时的模式选择相关的模块和方法 |
US8666577B2 (en) * | 2012-04-26 | 2014-03-04 | Ford Global Technologies, Llc | Economic cruise control |
GB201215963D0 (en) * | 2012-09-06 | 2012-10-24 | Jaguar Cars | Vehicle control system and method |
GB201215967D0 (en) * | 2012-09-06 | 2012-10-24 | Jaguar Cars | Vehicle control system and method |
JP6068173B2 (ja) | 2013-02-05 | 2017-01-25 | 富士重工業株式会社 | 車両の走行制御装置 |
KR101428361B1 (ko) | 2013-02-07 | 2014-08-13 | 김민수 | 챔버 조명 장치 |
KR101428381B1 (ko) * | 2013-04-19 | 2014-08-07 | 현대자동차주식회사 | 차량용 크루즈시스템 및 그 제어방법 |
JP6171644B2 (ja) * | 2013-07-12 | 2017-08-02 | マツダ株式会社 | 車両の制御装置 |
GB201318706D0 (en) * | 2013-10-23 | 2013-12-04 | Jaguar Land Rover Ltd | Improvements in vehicle speed control |
JP5979119B2 (ja) * | 2013-11-13 | 2016-08-24 | トヨタ自動車株式会社 | 車両用制御装置 |
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 |
US20150202770A1 (en) * | 2014-01-17 | 2015-07-23 | Anthony Patron | Sidewalk messaging of an autonomous robot |
JP5810232B1 (ja) * | 2014-03-28 | 2015-11-11 | 富士重工業株式会社 | 車両用制御装置 |
KR20160066775A (ko) * | 2014-12-03 | 2016-06-13 | 현대모비스 주식회사 | 스마트 크루즈 컨트롤러 시스템 및 그 제어 방법 |
US9384666B1 (en) * | 2015-02-01 | 2016-07-05 | Thomas Danaher Harvey | Methods to operate autonomous vehicles to pilot vehicles in groups or convoys |
CN104670221B (zh) * | 2015-03-06 | 2017-02-01 | 奇瑞汽车股份有限公司 | 混合动力汽车工作模式切换过程动态协调控制方法 |
EP3304971B1 (en) * | 2015-06-08 | 2018-12-12 | Nec Corporation | Method for multi-channel operation in a vehicular network and vehicular network |
-
2015
- 2015-07-22 JP JP2015145028A patent/JP6347233B2/ja active Active
-
2016
- 2016-07-18 EP EP16179876.4A patent/EP3121423B1/en active Active
- 2016-07-19 CN CN201610570962.XA patent/CN106364476B/zh active Active
- 2016-07-19 KR KR1020160091232A patent/KR101897336B1/ko active IP Right Grant
- 2016-07-20 US US15/215,390 patent/US10071736B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20170021832A1 (en) | 2017-01-26 |
KR101897336B1 (ko) | 2018-09-11 |
KR20170012062A (ko) | 2017-02-02 |
EP3121423B1 (en) | 2018-03-14 |
CN106364476B (zh) | 2018-11-06 |
JP2017024553A (ja) | 2017-02-02 |
CN106364476A (zh) | 2017-02-01 |
US10071736B2 (en) | 2018-09-11 |
EP3121423A1 (en) | 2017-01-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6347233B2 (ja) | 車両の運転支援装置 | |
JP2017001485A (ja) | 車両の運転支援装置 | |
JP3681052B2 (ja) | 追従走行制御装置 | |
JP6520858B2 (ja) | 車両走行制御装置 | |
JP6460349B2 (ja) | 車両走行制御装置 | |
JP6795792B2 (ja) | 運転支援装置 | |
JP6304063B2 (ja) | 車両制御装置 | |
JP6648449B2 (ja) | 車両制御装置 | |
US20180037226A1 (en) | Vehicle traveling control apparatus | |
US20200047772A1 (en) | Driving assist device | |
CN110682916B (zh) | 车辆行驶辅助装置 | |
JP6520859B2 (ja) | 車両走行制御装置 | |
US20090118958A1 (en) | Vehicle travel control device and vehicle travel control method | |
JP6265191B2 (ja) | 車両の制御装置 | |
JP2020121575A (ja) | 車両の運転支援装置 | |
JP2016211385A (ja) | 車両の制御装置 | |
JP2019018694A (ja) | 運転支援装置 | |
JP2020075665A (ja) | 車両走行制御装置 | |
JP4970134B2 (ja) | 車両の運転支援装置 | |
US10858002B2 (en) | Speed control system for controlling the speed of a vehicle | |
JP2021008153A (ja) | 車両走行制御装置 | |
JP6380308B2 (ja) | 車両走行制御装置 | |
JP5060166B2 (ja) | 車両の運転支援装置 | |
JP2005125894A (ja) | 車両の速度制御装置 | |
JP2005127424A (ja) | 車両の駆動力制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20161214 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20170914 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20170926 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20171124 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180314 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180419 |
|
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: 20180501 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180514 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6347233 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |