JP6601345B2 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

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Publication number
JP6601345B2
JP6601345B2 JP2016163907A JP2016163907A JP6601345B2 JP 6601345 B2 JP6601345 B2 JP 6601345B2 JP 2016163907 A JP2016163907 A JP 2016163907A JP 2016163907 A JP2016163907 A JP 2016163907A JP 6601345 B2 JP6601345 B2 JP 6601345B2
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Japan
Prior art keywords
collision
actuator
vehicle
steering
control
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JP2016163907A
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English (en)
Japanese (ja)
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JP2018032215A (ja
JP2018032215A5 (enExample
Inventor
靖彦 向井
紀泰 能登
哲也 徳田
昌信 山口
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Denso Corp
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Denso Corp
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Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2016163907A priority Critical patent/JP6601345B2/ja
Priority to US16/327,097 priority patent/US20190210597A1/en
Priority to PCT/JP2017/030347 priority patent/WO2018038211A1/ja
Priority to CN201780051362.5A priority patent/CN109641590B/zh
Priority to DE112017004235.6T priority patent/DE112017004235T5/de
Publication of JP2018032215A publication Critical patent/JP2018032215A/ja
Publication of JP2018032215A5 publication Critical patent/JP2018032215A5/ja
Application granted granted Critical
Publication of JP6601345B2 publication Critical patent/JP6601345B2/ja
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • 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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B60R16/033—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for characterised by the use of electrical cells or batteries
    • 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
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4026—Cycles
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2710/18—Braking system
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
JP2016163907A 2016-08-24 2016-08-24 車両制御装置 Active JP6601345B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2016163907A JP6601345B2 (ja) 2016-08-24 2016-08-24 車両制御装置
US16/327,097 US20190210597A1 (en) 2016-08-24 2017-08-24 Vehicle control apparatus
PCT/JP2017/030347 WO2018038211A1 (ja) 2016-08-24 2017-08-24 車両制御装置
CN201780051362.5A CN109641590B (zh) 2016-08-24 2017-08-24 车辆控制装置
DE112017004235.6T DE112017004235T5 (de) 2016-08-24 2017-08-24 Fahrzeugsteuervorrichtung

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016163907A JP6601345B2 (ja) 2016-08-24 2016-08-24 車両制御装置

Publications (3)

Publication Number Publication Date
JP2018032215A JP2018032215A (ja) 2018-03-01
JP2018032215A5 JP2018032215A5 (enExample) 2018-07-26
JP6601345B2 true JP6601345B2 (ja) 2019-11-06

Family

ID=61245044

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016163907A Active JP6601345B2 (ja) 2016-08-24 2016-08-24 車両制御装置

Country Status (5)

Country Link
US (1) US20190210597A1 (enExample)
JP (1) JP6601345B2 (enExample)
CN (1) CN109641590B (enExample)
DE (1) DE112017004235T5 (enExample)
WO (1) WO2018038211A1 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6460033B2 (ja) * 2016-04-11 2019-01-30 株式会社デンソー 車両制御装置
US10773725B1 (en) * 2017-08-25 2020-09-15 Apple Inc. Tire-road friction estimation and mapping
EP3752399A1 (en) * 2018-02-15 2020-12-23 Toyota Motor Europe Control method for a vehicle, computer program, non-transitory computer-readable medium, and automated driving system
CN108859956A (zh) * 2018-07-15 2018-11-23 合肥市智信汽车科技有限公司 一种车辆防撞系统及方法
US11697418B2 (en) * 2018-09-06 2023-07-11 Waymo Llc Road friction and wheel slippage assessment for autonomous vehicles
FR3088275B1 (fr) * 2018-11-13 2021-06-18 Renault Sas Procede et systeme d'evitement d'obstacles comprenant la commande des systemes de braquage et de freinage differentiel
CN109878513A (zh) 2019-03-13 2019-06-14 百度在线网络技术（北京）有限公司 防御性驾驶策略生成方法、装置、设备及存储介质
WO2021054211A1 (ja) * 2019-09-19 2021-03-25 株式会社Ｊｖｃケンウッド 運転支援装置、運転支援方法、及びプログラム
JP7348882B2 (ja) * 2020-07-15 2023-09-21 トヨタ自動車株式会社 運転支援装置、運転支援方法およびプログラム
JP7488165B2 (ja) * 2020-09-23 2024-05-21 株式会社アドヴィックス 車両の旋回制御装置、及び、車両の旋回制御プログラム
JP7593815B2 (ja) * 2021-01-25 2024-12-03 トヨタ自動車株式会社 車両衝突回避支援装置

Family Cites Families (17)

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Publication number Priority date Publication date Assignee Title
JPS558319A (en) 1978-06-30 1980-01-21 Kubota Ltd Centrifugal casting method
JPH02237836A (ja) * 1989-03-13 1990-09-20 Nec Corp 自動車用車載警報装置
JP3612745B2 (ja) * 1994-09-20 2005-01-19 株式会社デンソー 車両用運動特性制御装置
JP4747460B2 (ja) * 2001-06-06 2011-08-17 日産自動車株式会社 車両用制動制御装置
JP4802592B2 (ja) * 2005-07-29 2011-10-26 日産自動車株式会社 車線逸脱防止装置
JP4790521B2 (ja) * 2005-08-24 2011-10-12 日野自動車株式会社 自動制動制御装置
JP4918815B2 (ja) * 2006-06-23 2012-04-18 トヨタ自動車株式会社 衝突回避システム
JP2009096349A (ja) * 2007-10-17 2009-05-07 Mazda Motor Corp 車両用運転支援装置
JP2010163058A (ja) * 2009-01-16 2010-07-29 Fujitsu Ten Ltd 車両運転支援装置
DE102013204893A1 (de) * 2013-03-20 2014-09-25 Robert Bosch Gmbh Verfahren und System zur Vermeidung einer Kollision im Zusammenhang mit Fahrzeugen
US9561795B2 (en) * 2014-05-16 2017-02-07 Hyundai Motor Company Vehicle collision avoidance apparatus and method
JP2015223926A (ja) * 2014-05-28 2015-12-14 アイシン・エィ・ダブリュ株式会社 車両制御システム、方法およびプログラム
US9925980B2 (en) * 2014-09-17 2018-03-27 Magna Electronics Inc. Vehicle collision avoidance system with enhanced pedestrian avoidance
JP6428177B2 (ja) * 2014-11-10 2018-11-28 株式会社デンソー 車両用衝突報知装置
JP6528656B2 (ja) 2014-12-03 2019-06-12 日本製鉄株式会社 ホットスタンプ成形プロセスの解析方法、判定方法、解析装置およびプログラム
JP6485057B2 (ja) * 2015-01-19 2019-03-20 アイシン精機株式会社 運転支援装置
CN105599763B (zh) * 2016-01-22 2019-01-25 奇瑞汽车股份有限公司 一种车辆控制方法和装置

Also Published As

Publication number Publication date
CN109641590A (zh) 2019-04-16
US20190210597A1 (en) 2019-07-11
JP2018032215A (ja) 2018-03-01
WO2018038211A1 (ja) 2018-03-01
CN109641590B (zh) 2022-08-02
DE112017004235T5 (de) 2019-05-09

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