JP6550663B2 - 車両制御装置、車両制御方法、および車両制御プログラム - Google Patents
車両制御装置、車両制御方法、および車両制御プログラム Download PDFInfo
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- 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
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- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
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- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
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- G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
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- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
請求項2記載の発明は、請求項1に記載の車両制御装置であって、前記自動ブレーキ制御部は、前記車両の車速が増加したタイミングで前記ブレーキ力の単位時間あたりの弱め量を大きくして前記ブレーキ力を解除するものである。
<第1の実施形態>
図1は、車両制御システム1の機能構成の一例を示す図である。車両制御システム1は、例えば、レーダ装置10と、カメラ12と、車速センサ14と、加速度センサ16と、アクセル開度センサ18と、入力受付部20と、車両制御装置30と、走行駆動装置50と、ブレーキ装置52とを備える。
以下、第2の実施形態について説明する。第1実施形態では、車両制御装置30が車両に搭載され、運転者の運転を支援するものとして説明した。これに対して、第2の実施形態の車両制御システム1Aは、自動運転制御装置60が搭載され、車両制御システム1Aが、自車両の速度制御または操舵制御の少なくとも一方を自動的に行う自動運転を実施し、自動運転を実施する際に、車両が減速した状態、且つ停止する前において加速制御または加速操作が行われた場合に、車両の車速が増加したときに、車速が増加する前に比してブレーキ力の時間当たりの弱め量を大きくする。ここでは、第1実施形態との相違点を中心に説明し、第1実施形態と共通する機能等についての説明は省略する。
Claims (11)
- 車両の進行方向の状況を認識する周辺状況認識部と、
前記周辺状況認識部により認識された前記車両の進行方向の状況に応じてブレーキ装置にブレーキ力を付与させると共に、前記車両の加速時に前記ブレーキ力を解除させる自動ブレーキ制御部であって、
前記車両が減速中である場合において、停止する前に加速制御または加速操作の後、前記車両の車速が増加したタイミングで前記ブレーキ力を解除する自動ブレーキ制御部と、
を備える車両制御装置。 - 前記自動ブレーキ制御部は、前記車両の車速が増加したタイミングで前記ブレーキ力の単位時間あたりの弱め量を大きくして前記ブレーキ力を解除する、
請求項1に記載の車両制御装置。 - 車両が置かれた道路の勾配の情報を取得する取得部を更に備え、
前記自動ブレーキ制御部は、前記車両が上り勾配上に存在する場合に、前記ブレーキ装置に、前記車両が後退することを抑制するためのブレーキ力を付与させる、
請求項1または請求項2記載の車両制御装置。 - 前記自動ブレーキ制御部は、
前記周辺状況認識部により認識された、前記車両の進行方向の物体に対応して前記ブレーキ装置にブレーキ力を付与させるものであり、前記物体が加速を開始したことに応じて前記加速制御または加速操作が行われた場合に、前記車両の車速が増加したことに応じて前記ブレーキ力を解除する、
請求項1から3のうちいずれか1項記載の車両制御装置。 - 前記自動ブレーキ制御部は、
前記車両の駆動力が所定値を超える前に前記車両の車速が増加した場合は前記車速が増加したタイミングで前記ブレーキ力を解除する、
請求項3または請求項4記載の車両制御装置。 - 前記自動ブレーキ制御部は、前記周辺状況認識部により認識された、前記車両の進行方向に存在し、前記車両と同じ方向に走行する先行車両の停止に対応して前記車両を停止させるように前記ブレーキ装置にブレーキ力を付与させる、
請求項5記載の車両制御装置。 - 前記自動ブレーキ制御部は、前記車両から前記先行車両までの距離が所定距離以上となった場合に、前記先行車両が発進したと判断する、
請求項6記載の車両制御装置。 - 車両が置かれた道路の勾配の情報を取得する取得部と、
前記取得部により取得された勾配の情報に基づいて、車両が上り勾配上に存在すると判定される場合に、ブレーキ装置に、前記車両が後退することを抑制するためのブレーキ力を付与させると共に、前記車両の発進に応じて前記ブレーキ力を解除させる自動ブレーキ制御部であって、
前記車両が減速中である場合において、停止する前に加速制御または加速操作が行われた場合は、前記車両の発進のために前記上り勾配によって生じる前記車両を後退させようとすると力と釣り合う駆動力を前記車両の動力源が出力する前に、前記ブレーキ力を解除する、自動ブレーキ制御部と、
を備える車両制御装置。 - 前記ブレーキ力の解除は、前記車両が減速中である場合において、停止する前に加速制御または加速操作が行われたときから徐々にされるものであり、前記車両の車速が増加する前に比して前記ブレーキ力の時間当たりの弱め量を大きくするものである、
請求項1から8のうちいずれか1項記載の車両制御装置。 - 車載コンピュータが、
車両の進行方向の状況を認識する周辺状況認識部により認識された前記車両の進行方向の状況に応じてブレーキ装置にブレーキ力を付与させると共に、前記車両の加速時に前記ブレーキ力を解除し、
前記車両が減速中である場合において、停止する前に加速制御または加速操作の後、前記車両の車速が増加したタイミングで前記ブレーキ力を解除する、
車両制御方法。 - 車載コンピュータに、
車両の進行方向の状況を認識する周辺状況認識部により認識された前記車両の進行方向の状況に応じてブレーキ装置にブレーキ力を付与させると共に、前記車両の加速時に前記ブレーキ力を解除させ、
前記車両が減速中である場合において、停止する前に加速制御または加速操作の後、前記車両の車速が増加したタイミングで前記ブレーキ力を解除させる、
車両制御プログラム。
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JP2016216355A JP6550663B2 (ja) | 2016-11-04 | 2016-11-04 | 車両制御装置、車両制御方法、および車両制御プログラム |
US15/791,546 US20180126965A1 (en) | 2016-11-04 | 2017-10-24 | Vehicle control device, vehicle control method, and vehicle control program |
CN201711046606.9A CN108016438A (zh) | 2016-11-04 | 2017-10-31 | 车辆控制装置、车辆控制方法以及存储介质 |
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JP7031498B2 (ja) * | 2018-05-30 | 2022-03-08 | トヨタ自動車株式会社 | 運転支援装置 |
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