JP6564411B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP6564411B2 JP6564411B2 JP2017051307A JP2017051307A JP6564411B2 JP 6564411 B2 JP6564411 B2 JP 6564411B2 JP 2017051307 A JP2017051307 A JP 2017051307A JP 2017051307 A JP2017051307 A JP 2017051307A JP 6564411 B2 JP6564411 B2 JP 6564411B2
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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
- B60W30/08—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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
-
- 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
- B60W30/10—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
- 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
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
-
- 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
- B60W2552/35—Road bumpiness, e.g. pavement or potholes
-
- 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
- B60W2710/08—Electric propulsion units
-
- 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
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
- B60W2720/40—Torque distribution
- B60W2720/406—Torque distribution between left and right wheel
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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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Description
モータ制御部は、自車両の走行車線からの逸脱が所定時間以上継続すると、所定時間未満のときよりも、駆動モータのトルクの増減の周期を長くしてもよい。
画像処理部220は、2つの撮像装置170それぞれから画像データを取得し、一方の画像データから任意に抽出したブロック(例えば、水平4画素×垂直4画素の配列)に対応するブロックを他方の画像データから検索する、所謂パターンマッチングを用いて視差を導き出す。ここで、「水平」は、撮像した輝度画像の画面横方向を示し、「垂直」は、撮像した輝度画像の画面縦方向を示す。
モータ制御部200は、電気自動車100が自動運転中であるか否かを判定する。自動運転中である場合、ステップS302に処理を移し、自動運転中でない場合、当該トルク制御処理を終了する。
モータ制御部200は、逸脱検出部230が自車両の走行車線からの逸脱を検出したか否かを判定する。逸脱検出部230が自車両の走行車線からの逸脱を検出している場合、ステップS304に処理を移し、逸脱検出部230が自車両の走行車線からの逸脱を検出していない場合、当該トルク制御処理を終了する。
モータ制御部200は、自車両がランブルストリップスやチャッターバー上を走行しているか否かを判定する。自車両がランブルストリップスやチャッターバー上を走行していない場合、ステップS306に処理を移す。自車両がランブルストリップスやチャッターバー上を走行している場合、当該トルク制御処理を終了する。
モータ制御部200は、自車両の走行車線からの逸脱が所定時間以上継続しているか否かを判定する。自車両の走行車線からの逸脱が所定時間以上継続していない場合(所定時間未満の場合)、ステップS308に処理を移す。自車両の走行車線からの逸脱が所定時間以上継続している場合、ステップS310に処理を移す。
モータ制御部200は、モータジェネレータ112、114、116、118のトルクを増減させる。このとき、モータ制御部200は、自車両が走行車線から対向車線側に逸脱すると、チャッターバー上の走行を模した振動が生じるように、トルクを増減させる。モータ制御部200は、自車両が走行車線から対向車線と反対側に逸脱すると、ランブルストリップス上の走行を模した振動が生じるように、トルクを増減させる。モータ制御部200は、自車両が走行車線から逸脱した側のモータジェネレータ112、116、または、モータジェネレータ114、118のトルクを増減させる。音声制御部206は、モータジェネレータ112、114、116、118のトルクを増減させている間、スピーカ156に振動音を出力させる。
モータ制御部200は、ステップS308と同様に、モータジェネレータ112、114、116、118のトルクを増減させる。このとき、モータ制御部200は、モータジェネレータ112、114、116、118のトルクの増減幅を、ステップS308よりも大きくさせるか、または、ステップS308よりも長い時間をかけてトルクを増減させる。音声制御部206は、モータジェネレータ112、114、116、118のトルクを増減させている間、スピーカ156に振動音を出力させる。
102 右前輪(車輪)
104 左前輪(車輪)
106 右後輪(車輪)
108 左後輪(車輪)
112、114、116、118 モータジェネレータ(駆動モータ)
156 スピーカ(音声出力部)
200 モータ制御部
230 逸脱検出部
232 突出検出部
Claims (3)
- 自車両の走行車線からの逸脱を検出する逸脱検出部と、
前記逸脱検出部が逸脱を検出すると、車輪に駆動力を伝達する駆動モータのトルクを増減させるモータ制御部と、
を備え、
前記モータ制御部は、前記自車両の走行車線からの逸脱の継続時間に応じて、前記駆動モータのトルクの増減の周期を変化させる車両制御装置。 - 前記モータ制御部は、前記自車両の走行車線からの逸脱が所定時間以上継続すると、前記所定時間未満のときよりも、前記駆動モータのトルクの増減の周期を長くする請求項1に記載の車両制御装置。
- 前記逸脱検出部が逸脱を検出すると、前記駆動モータのトルクの増減に同期した振動音を生じさせる音声出力部を備える請求項1または2に記載の車両制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017051307A JP6564411B2 (ja) | 2017-03-16 | 2017-03-16 | 車両制御装置 |
CN201711291964.6A CN108622087B (zh) | 2017-03-16 | 2017-12-08 | 车辆控制装置 |
US15/842,491 US10821999B2 (en) | 2017-03-16 | 2017-12-14 | Vehicle control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017051307A JP6564411B2 (ja) | 2017-03-16 | 2017-03-16 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018157656A JP2018157656A (ja) | 2018-10-04 |
JP6564411B2 true JP6564411B2 (ja) | 2019-08-21 |
Family
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Family Applications (1)
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JP2017051307A Active JP6564411B2 (ja) | 2017-03-16 | 2017-03-16 | 車両制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10821999B2 (ja) |
JP (1) | JP6564411B2 (ja) |
CN (1) | CN108622087B (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10766415B2 (en) * | 2018-04-05 | 2020-09-08 | Ford Global Technologies, Llc | Vehicle wheel torque adjustment |
CN111791716B (zh) * | 2019-04-08 | 2021-12-03 | 华为技术有限公司 | 车辆扭矩处理方法、装置、车辆控制器及车辆 |
JP7300321B2 (ja) * | 2019-06-20 | 2023-06-29 | 株式会社Subaru | 制動制御装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3736413B2 (ja) * | 2001-09-28 | 2006-01-18 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP4062172B2 (ja) * | 2003-05-28 | 2008-03-19 | 日産自動車株式会社 | 車両用警報装置、及びこれを備えた車線逸脱防止装置 |
JP2005130613A (ja) * | 2003-10-23 | 2005-05-19 | Nissan Motor Co Ltd | 車両 |
JP3982483B2 (ja) * | 2003-11-13 | 2007-09-26 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP4259290B2 (ja) * | 2003-11-26 | 2009-04-30 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP3991987B2 (ja) * | 2004-01-07 | 2007-10-17 | 日産自動車株式会社 | 車線逸脱報知装置 |
US7109850B2 (en) * | 2004-03-29 | 2006-09-19 | Nissan Technical Center North America, Inc. | Rumble strip responsive systems |
JP5003402B2 (ja) | 2007-10-12 | 2012-08-15 | トヨタ自動車株式会社 | 運転支援装置 |
JP5080602B2 (ja) * | 2010-03-19 | 2012-11-21 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
US8581714B2 (en) * | 2011-05-20 | 2013-11-12 | Ford Global Technologies, Llc | Method and apparatus for generating vehicle vibration to alert vehicle user of warning |
EP2835793B1 (en) * | 2012-04-02 | 2018-10-10 | Toyota Jidosha Kabushiki Kaisha | Driving assistance device |
JP6304785B2 (ja) * | 2014-05-23 | 2018-04-04 | 本田技研工業株式会社 | 走行支援装置及び走行支援装置の制御方法 |
KR102096334B1 (ko) * | 2015-06-03 | 2020-04-02 | 클리어모션, 아이엔씨. | 차체 모션 및 승객 경험을 제어하기 위한 방법 및 시스템 |
JP6387948B2 (ja) * | 2015-12-11 | 2018-09-12 | トヨタ自動車株式会社 | 車両の運転支援装置 |
CN106043279B (zh) * | 2016-07-06 | 2018-06-22 | 吉林大学 | 基于侧风影响的车道偏移控制系统及其控制方法 |
JP6547767B2 (ja) * | 2017-01-17 | 2019-07-24 | トヨタ自動車株式会社 | 車線内走行支援装置 |
-
2017
- 2017-03-16 JP JP2017051307A patent/JP6564411B2/ja active Active
- 2017-12-08 CN CN201711291964.6A patent/CN108622087B/zh active Active
- 2017-12-14 US US15/842,491 patent/US10821999B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20180265097A1 (en) | 2018-09-20 |
CN108622087B (zh) | 2023-04-14 |
US10821999B2 (en) | 2020-11-03 |
CN108622087A (zh) | 2018-10-09 |
JP2018157656A (ja) | 2018-10-04 |
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