JP6546637B2 - 車両制御装置 - Google Patents
車両制御装置 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
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- 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
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- B60W2050/0001—Details of the control system
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- 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
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- B60W2710/0666—Engine 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B60W2720/106—Longitudinal acceleration
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- 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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- 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
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Description
(1)車両制御装置100は、自動運転機能を有するとともに、エンジン1とエンジン1から駆動輪3に到る動力伝達径路に配置された変速機2とを有する自動運転車両を制御する(図2)。この車両制御装置100は、自車両の周辺状況を検出する外部センサ群31および外界認識部44と、検出された周辺状況に基づき自車両の行動計画を生成する行動計画生成部45と、生成された行動計画に応じて自車両が自動運転で走行するようにエンジン1と変速機2とを制御する走行制御部46と、を備える(図2)。行動計画生成部45は、現時点から所定時間T先までの自車両の単位時間Δt毎の位置データを少なくとも含む行動計画(通常制御用の行動計画)、および単位時間Δt毎の位置データを含まずに自車両の現車速V0から目標車速Vaまでの加速指令(目標トルクTea)を含む行動計画(お任せ加速処理用の行動計画)のいずれかを生成する。走行制御部46は、行動計画生成部45により通常制御用の行動計画が生成されると、自車両が単位時間Δt毎の位置データに沿って走行するようにエンジン1と変速機2とを制御する。一方、走行制御部46は、行動計画生成部45によりお任せ加速処理用の行動計画が生成されると、エンジン回転数Neに応じた最大トルクの特性f11とBSFCボトムトルクの特性f12との間のトルクであり、かつ、基準距離Laだけ走行するときの燃料消費量、すなわち単位走行距離当たりの燃料消費量が最小となる目標トルクTeaで自車両が目標車速Vaまで加速走行するようにエンジン1と変速機2とを制御する(図7,8)。
Claims (5)
- 自動運転機能を有するとともに、エンジンと該エンジンから駆動輪に到る動力伝達径路に配置された変速機とを有する自動運転車両を制御する車両制御装置であって、
前記自動運転車両の周辺状況を検出する周辺状況検出部と、
前記周辺状況検出部により検出された周辺状況に基づき、前記自動運転車両の行動計画を生成する行動計画生成部と、
前記行動計画生成部により生成された行動計画に応じて前記自動運転車両が自動運転で走行するように前記エンジンと前記変速機とを制御する走行制御部と、を備え、
前記行動計画生成部は、現時点から所定時間先までの前記自動運転車両の単位時間毎の位置データを少なくとも含む第1行動計画、および前記単位時間毎の位置データを含まずに前記自動運転車両の現車速から目標車速までの加速指令を含む第2行動計画のいずれかを生成し、
前記走行制御部は、前記行動計画生成部により前記第1行動計画が生成されると、前記自動運転車両が前記単位時間毎の位置データに沿って走行し、前記行動計画生成部により前記第2行動計画が生成されると、エンジン回転数に応じた最大トルクの特性である第1特性とエンジン回転数に応じた前記エンジンの正味燃料消費率が最小となるトルクの特性である第2特性との間のトルクであり、かつ、単位走行距離当たりの燃料消費量が最小となる目標トルクで前記自動運転車両が前記目標車速まで加速走行するように前記エンジンと前記変速機とを制御することを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記自動運転車両が前記目標車速に到るまで前記第2特性上のトルクで走行したときの走行距離を基準走行距離とするとき、前記目標トルクは、前記第2特性上のトルクよりも大きく、かつ、前記自動運転車両が前記目標車速に到るまで加速走行し、その後、クルーズ走行して前記基準走行距離だけ走行するまでに消費される燃料量が最小となるときのトルクであることを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置において、
前記走行制御部は、前記行動計画生成部により前記第1行動計画が生成されると、現時点の車速と要求駆動力とに応じた作動点が予め定められたダウンシフト線を越えるとダウンシフトする一方、前記作動点に所定の余裕駆動力を加算した修正作動点が予め定められたアップシフト線を越えるとアップシフトするように前記変速機を制御し、前記行動計画生成部により前記第2行動計画が生成されると、現時点の車速が、前記ダウンシフト線の最低車速以上かつ前記アップシフト線の最低車速以下の範囲で予め定められた設定車速を越えるとアップシフトするように前記変速機を制御することを特徴とする車両制御装置。 - 請求項3に記載の車両制御装置において、
前記走行制御部は、前記自動運転車両の走行抵抗を算出するとともに、この走行抵抗に基づいてアップシフト後の走行加速度が所定値以上であるか否かを判定し、前記所定値未満と判定すると、アップシフトを禁止することを特徴とする車両制御装置。 - 請求項1〜4のいずれか1項に記載の車両制御装置において、
前記行動計画生成部は、前記周辺状況検出部により、前記自動運転車両の前方に自動走行の対象となる前方車両が検出されないとき、前記第2行動計画を生成することを特徴とする車両制御装置。
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US16/175,743 US10501078B2 (en) | 2017-11-06 | 2018-10-30 | Vehicle control apparatus |
CN201811289273.7A CN109760667B (zh) | 2017-11-06 | 2018-10-31 | 车辆控制装置 |
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JP6580107B2 (ja) * | 2017-11-02 | 2019-09-25 | 本田技研工業株式会社 | 車両制御装置 |
JP6628818B2 (ja) * | 2018-01-15 | 2020-01-15 | 本田技研工業株式会社 | 車両走行制御装置 |
US11807241B2 (en) * | 2019-10-24 | 2023-11-07 | Volvo Truck Corporation | System and method for controlling engine fueling and vehicle including such a system |
US11561543B2 (en) * | 2019-12-11 | 2023-01-24 | Baidu Usa Llc | Speed planning using a speed planning guideline for idle speed of autonomous driving vehicles |
US20210188276A1 (en) * | 2019-12-20 | 2021-06-24 | Toyota Jidosha Kabushiki Kaisha | Vehicle control data generating method, vehicle controller, vehicle control system, and vehicle learning device |
CN111445696B (zh) * | 2020-03-11 | 2022-05-20 | 武汉大学深圳研究院 | 基于商滤波器边缘计算的信号灯路口交通数据检测方法 |
CN113044021B (zh) * | 2021-04-28 | 2022-08-30 | 东风汽车集团股份有限公司 | 一种基于道路场景和驾驶意图的节油系统和控制方法 |
JP7416148B1 (ja) | 2022-08-26 | 2024-01-17 | いすゞ自動車株式会社 | 走行制御装置、走行制御方法及びプログラム |
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JP4924214B2 (ja) * | 2007-06-05 | 2012-04-25 | 株式会社デンソー | 車両用制御装置、車両用制御システム及び走行支援装置 |
JP2010196773A (ja) * | 2009-02-25 | 2010-09-09 | Toyota Motor Corp | 車両の制御装置 |
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JP6330731B2 (ja) | 2015-06-01 | 2018-05-30 | トヨタ自動車株式会社 | 車両の制御装置 |
BR102016024151B1 (pt) * | 2016-01-06 | 2021-10-13 | Cnh Industrial America Llc | Meio legível por computador não transitório tangível, sistema e método para controlar pelo menos um veículo agrícola autônomo |
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US20190135280A1 (en) | 2019-05-09 |
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JP2019084917A (ja) | 2019-06-06 |
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