JP6347447B2 - 車両の衝突回避制御装置および衝突回避制御方法 - Google Patents
車両の衝突回避制御装置および衝突回避制御方法 Download PDFInfo
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- JP6347447B2 JP6347447B2 JP2015143478A JP2015143478A JP6347447B2 JP 6347447 B2 JP6347447 B2 JP 6347447B2 JP 2015143478 A JP2015143478 A JP 2015143478A JP 2015143478 A JP2015143478 A JP 2015143478A JP 6347447 B2 JP6347447 B2 JP 6347447B2
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- Prior art keywords
- deceleration
- vehicle
- collision avoidance
- avoidance control
- ecu
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
-
- 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
-
- 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
-
- 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- B60T2201/022—Collision avoidance systems
-
- 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
- B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
-
- 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
Description
Claims (2)
- 走行中に取得されたデータに基づいて、前方の障害物との衝突回避制御を実行するか否かを判断する判断部と、
前記判断部によって前記衝突回避制御の実行が判断された場合に、所定期間において車両が第一の減速度で減速した後、車両が前記第一の減速度よりも大きい第二の減速度で減速するよう、少なくともブレーキ装置を制御するとともに、前記第一の減速度で減速する所定期間よりも前の一定期間に前記第一の減速度よりも小さい第三の減速度を生じる動作指令を前記ブレーキ装置に与える制動制御部と、
を備え、
前記制動制御部は、前記第三の減速度で減速している前記一定期間に運転者による制動要求を取得した場合には、前記所定期間の開始まで車両が当該制動要求に対応した第四の減速度と前記第三の減速度とを加算した減速度で減速するよう、少なくともブレーキ装置を制御する、車両の衝突回避制御装置。 - コンピュータが、
走行中に取得されたデータに基づいて、前方の障害物との衝突回避制御を実行するか否かを判断し、
前記衝突回避制御の実行が判断された場合には、所定期間において車両が第一の減速度で減速した後、車両が前記第一の減速度よりも大きい第二の減速度で減速するよう、少なくともブレーキ装置を制御するとともに、前記第一の減速度で減速する所定期間よりも前の一定期間に前記第一の減速度よりも小さい第三の減速度を生じる動作指令を前記ブレーキ装置に与える一方、
前記第三の減速度で減速している前記一定期間に運転者による制動要求を取得した場合には、前記所定期間の開始まで車両が当該制動要求に対応した第四の減速度と前記第三の減速度とを加算した減速度で減速するよう、少なくともブレーキ装置を制御する、
車両の衝突回避制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015143478A JP6347447B2 (ja) | 2015-07-17 | 2015-07-17 | 車両の衝突回避制御装置および衝突回避制御方法 |
EP16827673.1A EP3326873B1 (en) | 2015-07-17 | 2016-07-12 | Collision avoidance control device for vehicle, and a collision avoidance control method |
PCT/JP2016/070615 WO2017014113A1 (ja) | 2015-07-17 | 2016-07-12 | 車両の衝突回避制御装置および衝突回避制御方法 |
US15/744,142 US10906515B2 (en) | 2015-07-17 | 2016-07-12 | Collision avoidance control device and collision avoidance control method for vehicle |
CN201680041015.XA CN107848502B (zh) | 2015-07-17 | 2016-07-12 | 车辆的碰撞避免控制装置以及碰撞避免控制方法 |
Applications Claiming Priority (1)
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---|---|---|---|
JP2015143478A JP6347447B2 (ja) | 2015-07-17 | 2015-07-17 | 車両の衝突回避制御装置および衝突回避制御方法 |
Publications (2)
Publication Number | Publication Date |
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JP2017024495A JP2017024495A (ja) | 2017-02-02 |
JP6347447B2 true JP6347447B2 (ja) | 2018-06-27 |
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Country Status (5)
Country | Link |
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US (1) | US10906515B2 (ja) |
EP (1) | EP3326873B1 (ja) |
JP (1) | JP6347447B2 (ja) |
CN (1) | CN107848502B (ja) |
WO (1) | WO2017014113A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US10926695B1 (en) * | 2020-02-25 | 2021-02-23 | Stacey Johnson | Automotive safety brake light |
Family Cites Families (19)
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JP2004189075A (ja) * | 2002-12-10 | 2004-07-08 | Denso Corp | 車両制動制御装置 |
US7018004B2 (en) * | 2003-12-18 | 2006-03-28 | Ford Global Technologies, Llc | System and method for brake pre-charging |
JP4300365B2 (ja) * | 2004-10-13 | 2009-07-22 | 日産自動車株式会社 | 車両の制動力制御装置 |
JP2007118880A (ja) | 2005-10-31 | 2007-05-17 | Toyota Motor Corp | 車両用制動制御装置 |
JP4869792B2 (ja) * | 2006-06-02 | 2012-02-08 | 日野自動車株式会社 | 自動制動制御装置 |
DE102008045481A1 (de) | 2008-08-28 | 2009-05-20 | Daimler Ag | Verfahren und Vorrichtung zur Auslösung eines selbsttätigen Notbremsvorgangs eines Fahrzeugs |
FR2937936B1 (fr) * | 2008-11-03 | 2011-09-02 | Valeo Vision Sas | Procede d'assistance a la conduite pour vehicule automobile |
DE102009038421B4 (de) | 2009-08-21 | 2020-07-30 | Audi Ag | Kraftfahrzeug |
US8577550B2 (en) * | 2009-10-05 | 2013-11-05 | Ford Global Technologies, Llc | System for vehicle control to mitigate intersection collisions and method of using the same |
DE102010027449A1 (de) | 2010-07-17 | 2012-01-19 | Man Truck & Bus Ag | Verfahren zur Ausführung eines Notbremsvorgangs eines Fahrzeugs |
DE102010049351A1 (de) * | 2010-10-23 | 2012-04-26 | Daimler Ag | Verfahren zum Betreiben einer Bremsassistenzvorrichtung und Bremsassistenzvorrichtung für ein Fahrzeug |
JP2012121534A (ja) | 2010-12-10 | 2012-06-28 | Daimler Ag | 車両の自動制動装置 |
DE102011103936B4 (de) | 2011-06-10 | 2016-02-11 | Audi Ag | Verfahren und Vorrichtung zum Abbremsen eines Kraftfahrzeugs |
WO2013065089A1 (ja) | 2011-11-02 | 2013-05-10 | トヨタ自動車株式会社 | 制動制御装置 |
JP5796547B2 (ja) * | 2012-06-13 | 2015-10-21 | 株式会社アドヴィックス | 車両の走行支援装置 |
JP6119956B2 (ja) * | 2012-10-10 | 2017-04-26 | 三菱自動車工業株式会社 | 車両の危険回避支援装置 |
US20160280190A1 (en) * | 2015-03-23 | 2016-09-29 | Bendix Commercial Vehicle Systems Llc | Pre-computed and optionally cached collision mitigation braking system |
JP6302876B2 (ja) * | 2015-07-17 | 2018-03-28 | 株式会社アドヴィックス | 車両の衝突回避制御装置および衝突回避制御方法 |
JP6347448B2 (ja) * | 2015-07-17 | 2018-06-27 | 株式会社アドヴィックス | 車両の衝突回避制御装置および衝突回避制御方法 |
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2015
- 2015-07-17 JP JP2015143478A patent/JP6347447B2/ja active Active
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2016
- 2016-07-12 WO PCT/JP2016/070615 patent/WO2017014113A1/ja active Application Filing
- 2016-07-12 CN CN201680041015.XA patent/CN107848502B/zh active Active
- 2016-07-12 US US15/744,142 patent/US10906515B2/en active Active
- 2016-07-12 EP EP16827673.1A patent/EP3326873B1/en active Active
Also Published As
Publication number | Publication date |
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WO2017014113A1 (ja) | 2017-01-26 |
EP3326873A4 (en) | 2019-02-27 |
JP2017024495A (ja) | 2017-02-02 |
US10906515B2 (en) | 2021-02-02 |
EP3326873B1 (en) | 2021-10-20 |
CN107848502B (zh) | 2020-06-16 |
CN107848502A (zh) | 2018-03-27 |
US20180201238A1 (en) | 2018-07-19 |
EP3326873A1 (en) | 2018-05-30 |
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