JP6378139B2 - 車両制御装置及び車両制御方法 - Google Patents
車両制御装置及び車両制御方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—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
- B60W2554/00—Input parameters relating 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
- B60W2710/0672—Torque change rate
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- Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Traffic Control Systems (AREA)
Description
上記の実施形態を例えば次のように変更してもよい。
Claims (4)
- 車両(10)の進行方向前方における物体の有無を判定する物体判定部(21)と、
前記物体が有ると判定された場合に、前記車両における駆動力指示値を、車速が所定速度に到達するまでは、運転者が操作したアクセルの開度から定まる要求値に対して抑制した状態で徐々に引き上げて、車速が前記所定速度に到達してから引き下げる駆動力制御部(22)と、
前記車両が走行する通路の勾配を算出する勾配量算出部(23)と、
前記駆動力指示値を引き上げる際の時間に対する引き上げ率を、前記勾配に基づいて変更する変更部(24)と、
前記車両のアクセルが操作されているにも係わらず前記車両が停止状態であるか否かを判定する状態判定部と、
を備え、
前記駆動力制御部は、前記物体が有ると判定された場合に、前記駆動力指示値を、車速が所定速度に到達するまでは、前記要求値より小さい駆動力である初期値から徐々に引き上げるものであり、
前記変更部は、駆動力抑制の開始後において、前記状態判定部により前記車両が停止状態であると判定されたことを条件に、前記駆動力指示値を前記初期値から引き上げるタイミングを遅くすることで、前記引き上げ率を変更することを特徴とする車両制御装置。 - 前記変更部は、前記勾配の上り勾配量が大きいものであるほど、前記引き上げ率を小さくする請求項1に記載の車両制御装置。
- 前記物体が有ると判定された場合において、前記車両の進行方向が車両前側、車両後側のいずれであるかを判定する進行方向判定部を備え、
前記変更部は、前記車両の進行方向が車両前側か車両後側かに応じて、前記引き上げ率を変更する請求項1又は2に記載の車両制御装置。 - 車両制御装置(20)が実行する車両制御方法であって、
車両(10)の進行方向前方における物体の有無を判定する物体判定ステップと、
前記物体が有ると判定された場合に、前記車両における駆動力指示値を、車速が所定速度に到達するまでは、運転者が操作したアクセルの開度から定まる要求値に対して抑制した状態で徐々に引き上げて、車速が前記所定速度に到達してから引き下げる駆動力制御ステップと、
前記車両が走行する通路の勾配を算出する勾配量算出ステップと、
前記駆動力指示値を引き上げる際の時間に対する引き上げ率を、前記勾配に基づいて変更する変更ステップと、
前記車両のアクセルが操作されているにも係わらず前記車両が停止状態であるか否かを判定する状態判定ステップと、
を備え、
前記駆動力制御ステップでは、前記物体が有ると判定された場合に、前記駆動力指示値を、車速が所定速度に到達するまでは、前記要求値より小さい駆動力である初期値から徐々に引き上げるものであり、
前記変更ステップでは、駆動力抑制の開始後において、前記状態判定ステップにより前記車両が停止状態であると判定されたことを条件に、前記駆動力指示値を前記初期値から引き上げるタイミングを遅くすることで、前記引き上げ率を変更する車両制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2015131131A JP6378139B2 (ja) | 2015-06-30 | 2015-06-30 | 車両制御装置及び車両制御方法 |
CN201680037649.8A CN107709121B (zh) | 2015-06-30 | 2016-06-07 | 车辆控制装置以及车辆控制方法 |
PCT/JP2016/066919 WO2017002553A1 (ja) | 2015-06-30 | 2016-06-07 | 車両制御装置及び車両制御方法 |
DE112016003017.7T DE112016003017B4 (de) | 2015-06-30 | 2016-06-07 | Fahrzeugsteuervorrichtung und fahrzeugsteuerverfahren |
US15/740,599 US10864907B2 (en) | 2015-06-30 | 2016-06-07 | Vehicle control device and vehicle control method |
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JP2015131131A JP6378139B2 (ja) | 2015-06-30 | 2015-06-30 | 車両制御装置及び車両制御方法 |
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JP2017013598A JP2017013598A (ja) | 2017-01-19 |
JP6378139B2 true JP6378139B2 (ja) | 2018-08-22 |
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JP (1) | JP6378139B2 (ja) |
CN (1) | CN107709121B (ja) |
DE (1) | DE112016003017B4 (ja) |
WO (1) | WO2017002553A1 (ja) |
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KR101795182B1 (ko) * | 2015-12-14 | 2017-11-07 | 현대자동차주식회사 | 급경사로에서 차량의 시동 꺼짐 방지를 위한 엔진 제어 방법 |
CN107424424A (zh) * | 2017-01-22 | 2017-12-01 | 斑马信息科技有限公司 | 基于车辆的车前路况的辅助驾驶系统和辅助驾驶方法以及车辆 |
JP7230492B2 (ja) * | 2018-12-21 | 2023-03-01 | トヨタ自動車株式会社 | 車両走行支援装置 |
JP7172934B2 (ja) | 2019-09-24 | 2022-11-16 | いすゞ自動車株式会社 | 車両制御装置 |
US11505176B2 (en) * | 2020-06-30 | 2022-11-22 | Rivian Ip Holdings, Llc | Systems and methods for controlling torque induced yaw in a vehicle |
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JP4797466B2 (ja) * | 2005-06-30 | 2011-10-19 | 日産自動車株式会社 | 先行車追従制御装置 |
JP2008150006A (ja) * | 2006-12-20 | 2008-07-03 | Hitachi Ltd | 車両駆動力制御装置 |
JP4386082B2 (ja) * | 2007-02-20 | 2009-12-16 | トヨタ自動車株式会社 | 車両走行支援装置 |
JP5168416B2 (ja) * | 2011-02-18 | 2013-03-21 | トヨタ自動車株式会社 | 車両用制御システム |
JP5542178B2 (ja) * | 2012-07-18 | 2014-07-09 | 富士重工業株式会社 | 車両の駆動力抑制装置 |
JP5874603B2 (ja) * | 2012-10-31 | 2016-03-02 | トヨタ自動車株式会社 | 運転支援装置 |
US9561721B2 (en) * | 2012-11-27 | 2017-02-07 | Nissan Motor Co., Ltd. | Vehicle acceleration suppression device and vehicle acceleration suppression method |
JP6512303B2 (ja) * | 2015-11-09 | 2019-05-15 | 日産自動車株式会社 | 制駆動力制御方法及び制駆動力制御装置 |
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- 2015-06-30 JP JP2015131131A patent/JP6378139B2/ja active Active
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2016
- 2016-06-07 US US15/740,599 patent/US10864907B2/en active Active
- 2016-06-07 CN CN201680037649.8A patent/CN107709121B/zh active Active
- 2016-06-07 DE DE112016003017.7T patent/DE112016003017B4/de active Active
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Publication number | Publication date |
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CN107709121B (zh) | 2020-07-28 |
DE112016003017T5 (de) | 2018-03-15 |
DE112016003017B4 (de) | 2023-06-07 |
JP2017013598A (ja) | 2017-01-19 |
US10864907B2 (en) | 2020-12-15 |
CN107709121A (zh) | 2018-02-16 |
US20180154890A1 (en) | 2018-06-07 |
WO2017002553A1 (ja) | 2017-01-05 |
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