JP6610448B2 - 走行制御装置 - Google Patents
走行制御装置 Download PDFInfo
- Publication number
- JP6610448B2 JP6610448B2 JP2016124701A JP2016124701A JP6610448B2 JP 6610448 B2 JP6610448 B2 JP 6610448B2 JP 2016124701 A JP2016124701 A JP 2016124701A JP 2016124701 A JP2016124701 A JP 2016124701A JP 6610448 B2 JP6610448 B2 JP 6610448B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- moment
- steering
- target
- steering mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- 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
-
- 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
- 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
-
- 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
- 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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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, 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
-
- 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
Description
20 操舵機構
34 ホイールシリンダ(ブレーキ装置)
103 第1演算部
104 第2演算部
105 ブレーキ指令出力部
Claims (1)
- 車両を現在位置から目標位置に目標軌跡に沿って旋回移動させるために必要な旋回モーメントである目標モーメントを算出する第1演算部と、
少なくとも前記車両の挙動応答遅れを考慮して、前記車両が前記現在位置から前記目標位置に到達するまでの間に前記車両の操舵機構が発生可能な最大の旋回モーメントである限界モーメントを算出する第2演算部と、
前記目標モーメントが前記限界モーメントより大きい場合に、前記目標モーメントと前記限界モーメントとの差分に対応した不足モーメントを発生させるように、前記車両の複数の車輪の各々に対応して設けられるブレーキ装置に独立した制動力を発生させるブレーキ指令を出力する出力部と、
を備え、
前記挙動応答遅れは、前記車両の運動特性に基づく第1の遅れと、前記操舵機構の機械的または電気的な動作に基づく第2の遅れと、を含み、
前記第2演算部は、前記第1の遅れと、前記第2の遅れと、前記操舵機構が前記車両の状態に応じて発揮可能な操舵能力と、を考慮して、前記限界モーメントを算出し、
前記車両の状態は、前記車両の現在の舵角を含み、
前記操舵能力は、前記車両の現在の舵角との関係で決定される、前記操舵機構が前記車両に付与可能な最大の舵角を含む、
走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016124701A JP6610448B2 (ja) | 2016-06-23 | 2016-06-23 | 走行制御装置 |
PCT/JP2017/023182 WO2017222047A1 (ja) | 2016-06-23 | 2017-06-23 | 走行制御装置 |
US16/310,107 US20190329759A1 (en) | 2016-06-23 | 2017-06-23 | Travel control device |
DE112017003152.4T DE112017003152T5 (de) | 2016-06-23 | 2017-06-23 | Fahrwegsteuervorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016124701A JP6610448B2 (ja) | 2016-06-23 | 2016-06-23 | 走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017226344A JP2017226344A (ja) | 2017-12-28 |
JP6610448B2 true JP6610448B2 (ja) | 2019-11-27 |
Family
ID=60784318
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016124701A Expired - Fee Related JP6610448B2 (ja) | 2016-06-23 | 2016-06-23 | 走行制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20190329759A1 (ja) |
JP (1) | JP6610448B2 (ja) |
DE (1) | DE112017003152T5 (ja) |
WO (1) | WO2017222047A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10227075B2 (en) * | 2016-09-28 | 2019-03-12 | Baidu Usa Llc | System delay estimation method for autonomous vehicle control |
US10054945B2 (en) * | 2016-11-23 | 2018-08-21 | Baidu Usa Llc | Method for determining command delays of autonomous vehicles |
JP7124561B2 (ja) * | 2018-08-28 | 2022-08-24 | 株式会社デンソー | 旋回制御装置 |
JP7453885B2 (ja) | 2020-09-04 | 2024-03-21 | 日立Astemo株式会社 | 車両制御装置及び障害物回避制御方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3137519B2 (ja) * | 1993-01-14 | 2001-02-26 | トヨタ自動車株式会社 | 後輪操舵装置の異常検出装置 |
JP3702779B2 (ja) * | 2000-12-05 | 2005-10-05 | トヨタ自動車株式会社 | 車両の挙動制御装置 |
JP4969833B2 (ja) * | 2005-11-08 | 2012-07-04 | 富士重工業株式会社 | 車両挙動制御装置 |
JP4826308B2 (ja) * | 2006-03-24 | 2011-11-30 | 三菱自動車工業株式会社 | 車両の旋回挙動制御装置 |
JP4396660B2 (ja) * | 2006-05-12 | 2010-01-13 | 三菱自動車工業株式会社 | 車両の旋回挙動制御装置 |
JP2009279971A (ja) * | 2008-05-19 | 2009-12-03 | Mitsubishi Motors Corp | 車両運動制御装置及び車両照明灯制御装置 |
JP5516146B2 (ja) * | 2010-06-30 | 2014-06-11 | トヨタ自動車株式会社 | 車両の走行制御装置 |
JP6000693B2 (ja) * | 2012-07-03 | 2016-10-05 | 日立オートモティブシステムズ株式会社 | 駐車支援装置 |
JP5918167B2 (ja) * | 2013-04-09 | 2016-05-18 | アイシン精機株式会社 | 車両挙動制御装置および車両挙動制御システム |
JP6759538B2 (ja) * | 2015-07-31 | 2020-09-23 | アイシン精機株式会社 | 駐車支援装置及び駐車支援方法 |
-
2016
- 2016-06-23 JP JP2016124701A patent/JP6610448B2/ja not_active Expired - Fee Related
-
2017
- 2017-06-23 DE DE112017003152.4T patent/DE112017003152T5/de not_active Withdrawn
- 2017-06-23 US US16/310,107 patent/US20190329759A1/en not_active Abandoned
- 2017-06-23 WO PCT/JP2017/023182 patent/WO2017222047A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
JP2017226344A (ja) | 2017-12-28 |
DE112017003152T5 (de) | 2019-03-07 |
US20190329759A1 (en) | 2019-10-31 |
WO2017222047A1 (ja) | 2017-12-28 |
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