JP6500118B2 - 車両のための車速整合方法および装置 - Google Patents
車両のための車速整合方法および装置 Download PDFInfo
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- JP6500118B2 JP6500118B2 JP2017542050A JP2017542050A JP6500118B2 JP 6500118 B2 JP6500118 B2 JP 6500118B2 JP 2017542050 A JP2017542050 A JP 2017542050A JP 2017542050 A JP2017542050 A JP 2017542050A JP 6500118 B2 JP6500118 B2 JP 6500118B2
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- 230000007246 mechanism Effects 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 8
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- 238000001514 detection method Methods 0.000 description 5
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- 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
- B60W40/08—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 drivers or passengers
-
- 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
- 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
- B60W2552/30—Road curve radius
-
- 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
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
102 車速整合装置
104 走行軌道
202 ステアリングトルク特定ステップ
204 許容速度検出ステップ
206 制御信号を提供するステップ
208 ステアリングトルク検知ステップ
210 使用可能なステアリングトルクを最大ステアリングトルクとして特定するステップ
212 目標走行レーンを湾曲した走行軌道として検知するステップ
Claims (9)
- 車両(100)のための車速を整合させる方法において、該方法が以下のステップを含み、すなわち
湾曲した走行軌道(104)に沿って前記車両(100)を誘導するために必要なステアリングトルクを特定するステップ(202)と、
前記湾曲した走行軌道(104)に沿って前記車両(100)を誘導するための該車両(100)の許容速度を、前記必要なステアリングトルクと使用可能なステアリングトルクとを使用して検出するステップ(204)と、
走行方向において前記車両(100)の前方にある目標走行レーンを前記湾曲した走行軌道(104)として検知するステップ(212)と、
を含んでいて、
前記検知するステップ(212)において、クロソイドモデルを使用して、前記湾曲した走行軌道(104)の曲率半径の最大変化、または、前記湾曲した走行軌道(104)の最小曲率半径を検知し、前記特定するステップ(202)において、前記最大変化または前記最小曲率半径を使用して前記必要なステアリングトルクを特定し、
前記許容速度は、前記車両(100)の速度に応じて高くなる前記必要なステアリングトルクが、前記使用可能なステアリングトルクと同じになるときの車速である、
方法。 - 前記車両(100)の現時点での速度を前記許容速度に整合させるために、前記車両(100)の速度を上昇させるための制御信号を提供するステップを含んでいる、請求項1に記載の方法。
- 前記車両(100)の現時点での速度が前記許容速度よりも大きいときに、前記車両(100)の速度を減少させるための制御信号を提供するステップ(206)を含んでいる、請求項1または2に記載の方法。
- 前記提供するステップにおいて、検知するステップ(208)で前記車両(100)のドライバーによって提供されたステアリングトルクを検知したときで、且つ前記ドライバーによって提供されたステアリングトルクの方向が前記必要なステアリングトルクの方向とは逆であるときに、前記制御信号を提供しない、請求項2または3に記載の方法。
- 前記使用可能なステアリングトルクを、前記車両(100)のステアリングアシスト機構(120)によって提供可能な最大ステアリングトルクとして特定するステップ(210)を含んでいる、請求項1から4のいずれか一つに記載の方法。
- 前記特定するステップ(210)において、検知するステップ(208)で前記車両(100)のドライバーによって提供されステアリングトルクを検知したときに、前記使用可能なステアリングトルクを、前記車両(100)の前記ステアリングアシスト機構(120)によって提供可能な前記最大ステアリングトルクと、前記車両(100)のドライバーによって提供可能なステアリングトルクとの組み合わせとして特定する、請求項5に記載の方法。
- 請求項1から6のいずれか一つに記載の方法のすべてのステップ(202,204)を実施するために構成されている、車両(100)のための車速整合装置(102)。
- 請求項1から7のいずれか一つに記載の方法のすべてのステップ(202,204)を実施、置換および/または制御するために設けられたコンピュータプログラム。
- 請求項8に記載のコンピュータプログラムを記憶した、機械で読み取り可能な記憶媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015203270.1A DE102015203270A1 (de) | 2015-02-24 | 2015-02-24 | Verfahren und Vorrichtung zum Anpassen einer Fahrzeuggeschwindigkeit für ein Fahrzeug |
DE102015203270.1 | 2015-02-24 | ||
PCT/EP2016/050781 WO2016134879A1 (de) | 2015-02-24 | 2016-01-15 | Verfahren und vorrichtung zum anpassen einer fahrzeuggeschwindigkeit für ein fahrzeug |
Publications (2)
Publication Number | Publication Date |
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JP2018507811A JP2018507811A (ja) | 2018-03-22 |
JP6500118B2 true JP6500118B2 (ja) | 2019-04-10 |
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JP2017542050A Active JP6500118B2 (ja) | 2015-02-24 | 2016-01-15 | 車両のための車速整合方法および装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10773723B2 (ja) |
JP (1) | JP6500118B2 (ja) |
CN (1) | CN107428341B (ja) |
DE (1) | DE102015203270A1 (ja) |
WO (1) | WO2016134879A1 (ja) |
Families Citing this family (6)
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US10150470B2 (en) * | 2016-08-24 | 2018-12-11 | Ford Global Technologies, Llc | Determining available dynamic turning radius |
DE102017221968A1 (de) * | 2017-12-05 | 2019-06-19 | Volkswagen Aktiengesellschaft | Verfahren zum Betreiben einer Lenkvorrichtung und Lenkvorrichtung |
DE102018207311A1 (de) * | 2018-05-09 | 2019-11-14 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Betreiben eines Steer-By-Wire-Lenksystems eines Fahrzeuges |
KR20220033322A (ko) * | 2020-09-09 | 2022-03-16 | 현대모비스 주식회사 | 차량의 조향 제어 시스템 및 방법 |
DE102020215224A1 (de) | 2020-12-02 | 2022-06-02 | Thyssenkrupp Ag | Lenksystem eines Kraftfahrzeugs und Verfahren zur Steuerung eines Lenksystems eines Kraftfahrzeugs |
DE102021202144A1 (de) * | 2021-03-05 | 2022-09-08 | Robert Bosch Gesellschaft mit beschränkter Haftung | Geschwindigkeitsregelsystem für Kraftfahrzeuge |
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2015
- 2015-02-24 DE DE102015203270.1A patent/DE102015203270A1/de active Pending
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2016
- 2016-01-15 JP JP2017542050A patent/JP6500118B2/ja active Active
- 2016-01-15 CN CN201680011223.5A patent/CN107428341B/zh active Active
- 2016-01-15 US US15/550,662 patent/US10773723B2/en active Active
- 2016-01-15 WO PCT/EP2016/050781 patent/WO2016134879A1/de active Application Filing
Also Published As
Publication number | Publication date |
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CN107428341B (zh) | 2020-11-24 |
CN107428341A (zh) | 2017-12-01 |
US10773723B2 (en) | 2020-09-15 |
US20180037232A1 (en) | 2018-02-08 |
JP2018507811A (ja) | 2018-03-22 |
WO2016134879A1 (de) | 2016-09-01 |
DE102015203270A1 (de) | 2016-08-25 |
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