JP6658414B2 - 加減速制御システム、加減速制御方法 - Google Patents

加減速制御システム、加減速制御方法 Download PDF

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Publication number
JP6658414B2
JP6658414B2 JP2016175524A JP2016175524A JP6658414B2 JP 6658414 B2 JP6658414 B2 JP 6658414B2 JP 2016175524 A JP2016175524 A JP 2016175524A JP 2016175524 A JP2016175524 A JP 2016175524A JP 6658414 B2 JP6658414 B2 JP 6658414B2
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Prior art keywords
vehicle
acceleration
limit value
speed
road
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JP2016175524A
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English (en)
Japanese (ja)
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JP2018039400A (ja
JP2018039400A5 (enExample
Inventor
大治 渡部
大治 渡部
平樹 松本
平樹 松本
久哉 赤塚
久哉 赤塚
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Denso Corp
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Denso Corp
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Priority to JP2016175524A priority Critical patent/JP6658414B2/ja
Priority to US16/330,940 priority patent/US11027740B2/en
Priority to PCT/JP2017/032156 priority patent/WO2018047873A1/ja
Publication of JP2018039400A publication Critical patent/JP2018039400A/ja
Publication of JP2018039400A5 publication Critical patent/JP2018039400A5/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
    • 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
    • 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
    • B60W40/072—Curvature of the road
    • 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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W40/076—Slope angle of the road
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/038—Limiting the input power, torque or speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • 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
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
    • 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
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2720/10—Longitudinal speed
    • B60W2720/103—Speed profile

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
JP2016175524A 2016-09-08 2016-09-08 加減速制御システム、加減速制御方法 Active JP6658414B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016175524A JP6658414B2 (ja) 2016-09-08 2016-09-08 加減速制御システム、加減速制御方法
US16/330,940 US11027740B2 (en) 2016-09-08 2017-09-06 Acceleration and deceleration control system and acceleration and deceleration control method
PCT/JP2017/032156 WO2018047873A1 (ja) 2016-09-08 2017-09-06 加減速制御システム、加減速制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016175524A JP6658414B2 (ja) 2016-09-08 2016-09-08 加減速制御システム、加減速制御方法

Publications (3)

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JP2018039400A JP2018039400A (ja) 2018-03-15
JP2018039400A5 JP2018039400A5 (enExample) 2018-12-13
JP6658414B2 true JP6658414B2 (ja) 2020-03-04

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US (1) US11027740B2 (enExample)
JP (1) JP6658414B2 (enExample)
WO (1) WO2018047873A1 (enExample)

Families Citing this family (15)

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Publication number Priority date Publication date Assignee Title
JP6658414B2 (ja) 2016-09-08 2020-03-04 株式会社デンソー 加減速制御システム、加減速制御方法
WO2019229175A1 (en) * 2018-05-31 2019-12-05 Jaguar Land Rover Limited Apparatus and method for controlling vehicle movement
DE102018219027A1 (de) * 2018-11-08 2020-05-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur fahrerunabhängigen temporären Deaktivierung einer Geschwindigkeitskonstanthaltefunktion für ein einspuriges Kraftfahrzeugs
FR3088590B1 (fr) * 2018-11-16 2020-10-23 Psa Automobiles Sa Regulation de la vitesse d’un vehicule, avec prise en compte de la volonte du conducteur dans un virage
CN111267853B (zh) * 2018-12-03 2021-06-18 广州汽车集团股份有限公司 一种自适应车辆弯道辅助控制方法、装置、计算机设备和存储介质
US11352004B2 (en) * 2019-12-04 2022-06-07 Hyundai Motor Company Vehicle travel control system and control method therefor
KR102890892B1 (ko) * 2019-12-17 2025-11-27 현대자동차주식회사 베이비 모드에 따른 차량 주행제어 방법 및 장치
JP7302545B2 (ja) * 2020-08-03 2023-07-04 トヨタ自動車株式会社 運転支援装置
JP7574596B2 (ja) * 2020-09-30 2024-10-29 株式会社アドヴィックス 制動制御装置
JP7521701B2 (ja) * 2021-06-11 2024-07-24 日産自動車株式会社 車両制御方法及び車両制御装置
CN113879336A (zh) * 2021-10-18 2022-01-04 三一专用汽车有限责任公司 车辆行驶控制方法、装置及车辆
GB2618344B (en) * 2022-05-04 2024-09-11 Jaguar Land Rover Ltd Automatic speed control
CN114648278B (zh) * 2022-05-13 2022-08-05 泗水县瑞安建材有限公司 一种基于智能仓储的建材出入库管理方法
US12286109B2 (en) * 2022-12-27 2025-04-29 Toyota Motor Engineering & Manufacturing North America, Inc. Adaptive driveforce for speed limit control
JP2024168770A (ja) * 2023-05-24 2024-12-05 日立Astemo株式会社 車両運動制御装置、車両運動制御方法

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JP2008230467A (ja) * 2007-03-22 2008-10-02 Mitsubishi Electric Corp 走行支援装置
JP5251216B2 (ja) * 2007-07-31 2013-07-31 日産自動車株式会社 車両用走行制御装置および車両用走行制御方法
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JP2011086000A (ja) * 2009-10-13 2011-04-28 Toyota Motor Corp 運転支援装置
JP5417386B2 (ja) 2011-07-01 2014-02-12 日立オートモティブシステムズ株式会社 車両運動制御装置
JP5796377B2 (ja) * 2011-07-07 2015-10-21 日産自動車株式会社 走行制御装置
JP6201561B2 (ja) * 2013-09-20 2017-09-27 株式会社デンソー 走行軌道生成装置、および走行軌道生成プログラム
JP6658414B2 (ja) 2016-09-08 2020-03-04 株式会社デンソー 加減速制御システム、加減速制御方法

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US11027740B2 (en) 2021-06-08
US20190232965A1 (en) 2019-08-01
JP2018039400A (ja) 2018-03-15
WO2018047873A1 (ja) 2018-03-15

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