JP6637953B2 - 車両の車線逸脱防止制御装置 - Google Patents
車両の車線逸脱防止制御装置 Download PDFInfo
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- JP6637953B2 JP6637953B2 JP2017253941A JP2017253941A JP6637953B2 JP 6637953 B2 JP6637953 B2 JP 6637953B2 JP 2017253941 A JP2017253941 A JP 2017253941A JP 2017253941 A JP2017253941 A JP 2017253941A JP 6637953 B2 JP6637953 B2 JP 6637953B2
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- control
- yaw rate
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- 230000002265 prevention Effects 0.000 title claims description 47
- 230000010354 integration Effects 0.000 claims description 39
- 230000004069 differentiation Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 20
- 230000001629 suppression Effects 0.000 description 20
- 230000008859 change Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
-
- 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
- B62D6/005—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 treating sensor outputs to obtain the actual yaw rate
-
- 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
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- 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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B6/00—Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral or differential
- G05B6/02—Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral or differential electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
x=AL・z2+BL・z+CL …(1)
x=AR・z2+BR・z+CR …(2)
κ=(2・AL+2・AR)/2=AL+AR …(3)
θyaw=tan-1((BL+BR)/2) …(4)
Ttlc=L/(V・sinθyaw) …(5)
γtgt=γtgt_lane+γtgt_turn …(6)
γtgt_lane=κ・V …(7)
γtgt_turn_1=θyaw/Ttlc …(8)
γtgt_turn_2=−Kyawfb・(θtgt_yaw−θyaw)/Ttgt …(9)
Tp_ff_lane=Kyawr_to_trq・γtgt_lane …(10)
Tp_ff_turn=Kyawr_to_trq・γtgt_turn …(11)
Tp_fb=Kp・(γtgt−γ)+Ki・∫(γtgt−γ)dt+Kd・d(γtgt−γ)/dt…(12)
Tp_fb=Kp・(γtgt−γ)+Kd・d(γtgt−γ)/dt…(13)
Tp=Tp_ff_lane+Tp_ff_turn+Tp_fb …(14)
12 電動パワーステアリングモータ(EPSモータ)
21 舵角センサ
22 トルクセンサ
23 回転角センサ
25 ヨーレートセンサ
50 操舵制御装置
60 目標ヨーレート算出部
70 目標トルク算出部
71 フィードフォワードトルク算出部
72 フィードバックトルク算出部
73 積分可否判定部
150 外部環境認識装置
Claims (3)
- 自車両が走行する車線からの逸脱を防止する車線逸脱防止制御を実行する車両の車線逸脱防止制御装置であって、
前記車線からの逸脱を防止するための目標ヨーレートを算出する目標ヨーレート算出部と、
少なくとも前記目標ヨーレートと実ヨーレートとの偏差に基づくフィードバック制御により、操舵系に付与する目標操舵トルクを算出する目標操舵トルク算出部と、
前記車線に対する自車両の状態及び前記目標ヨーレートに対する前記実ヨーレートの状態に基づいて、前記目標ヨーレートに対する前記フィードバック制御を比例積分微分制御で実行する際に、前記比例積分微分制御における積分制御の可否を判定する積分可否判定部と
を備え、
前記積分可否判定部は、前記車線に対して自車両が略平行になったとき、前記積分制御を否と判定して停止させ、前記積分制御の積分量をリセットすることを特徴とする車両の車線逸脱防止制御装置。 - 前記積分可否判定部は、前記積分制御の停止後に、前記目標ヨーレートに対して実ヨーレートが車線逸脱側に遷移したとき、前記積分量の積分を開始し、前記目標ヨーレートに対する前記フィードバック制御を前記比例積分微分制御とすることを特徴とする請求項1に記載の車両の車線逸脱防止制御装置。
- 前記目標操舵トルク算出部は、前記目標ヨーレートに対する前記フィードバック制御によって算出される操舵トルクに、前記目標ヨーレートに対するフィードフォワード制御によって算出される操舵トルクを加算して前記目標操舵トルクを算出することを特徴とする請求項1又は請求項2に記載の車両の車線逸脱防止制御装置。
Priority Applications (2)
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JP2017253941A JP6637953B2 (ja) | 2017-12-28 | 2017-12-28 | 車両の車線逸脱防止制御装置 |
US16/156,848 US10647349B2 (en) | 2017-12-28 | 2018-10-10 | Lane deviation prevention control device for vehicle |
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JP2017253941A JP6637953B2 (ja) | 2017-12-28 | 2017-12-28 | 車両の車線逸脱防止制御装置 |
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JP2019119278A JP2019119278A (ja) | 2019-07-22 |
JP6637953B2 true JP6637953B2 (ja) | 2020-01-29 |
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JP (1) | JP6637953B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20220116703A (ko) | 2021-02-15 | 2022-08-23 | 현대모비스 주식회사 | 차량의 전방 차선 곡률 예측 방법 및 이를 이용한 차선 추종 제어 시스템 |
Families Citing this family (8)
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US11479245B2 (en) * | 2019-02-14 | 2022-10-25 | Honda Motor Co., Ltd. | Semi-autonomous vehicle control system and method of controlling a semi-autonomous vehicle |
CN111007715A (zh) * | 2019-12-18 | 2020-04-14 | 汉腾汽车有限公司 | 一种基于车辆位置、航向的自主换道方法及系统 |
EP3875350A1 (en) * | 2020-03-06 | 2021-09-08 | Zenuity AB | Method and arrangement for ensuring road tracking up to a predefined lateral acceleration limit using a pid controller in a vehicle |
CN111580541A (zh) * | 2020-06-22 | 2020-08-25 | 中国民航大学 | 一种基于adrc的无人机自抗扰控制系统 |
JP7247994B2 (ja) * | 2020-09-07 | 2023-03-29 | いすゞ自動車株式会社 | 操舵制御装置 |
CN112257687B (zh) * | 2020-12-17 | 2021-03-16 | 中智行科技有限公司 | 车道边线生成方法、装置、电子设备和存储介质 |
CN113619580A (zh) * | 2021-09-15 | 2021-11-09 | 吉林大学 | 一种车道保持系统及其控制方法 |
CN114620128B (zh) * | 2022-04-28 | 2023-03-24 | 国网智慧能源交通技术创新中心(苏州)有限公司 | 牵引车与挂车自动对接的控制方法、系统、存储介质及包括其的车辆 |
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JP4676001B2 (ja) * | 2006-06-02 | 2011-04-27 | 三菱電機株式会社 | 車両用傾斜角度検出装置およびこの装置を使用したロールオーバ判定装置 |
JP5747482B2 (ja) * | 2010-03-26 | 2015-07-15 | 日産自動車株式会社 | 車両用環境認識装置 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20220116703A (ko) | 2021-02-15 | 2022-08-23 | 현대모비스 주식회사 | 차량의 전방 차선 곡률 예측 방법 및 이를 이용한 차선 추종 제어 시스템 |
US11995896B2 (en) | 2021-02-15 | 2024-05-28 | Hyundai Mobis Co., Ltd. | Method of estimating curvature of lane in front of vehicle and lane tracking control system using the same |
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US10647349B2 (en) | 2020-05-12 |
JP2019119278A (ja) | 2019-07-22 |
US20190202497A1 (en) | 2019-07-04 |
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