JP6728921B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP6728921B2 JP6728921B2 JP2016082142A JP2016082142A JP6728921B2 JP 6728921 B2 JP6728921 B2 JP 6728921B2 JP 2016082142 A JP2016082142 A JP 2016082142A JP 2016082142 A JP2016082142 A JP 2016082142A JP 6728921 B2 JP6728921 B2 JP 6728921B2
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- 239000012530 fluid Substances 0.000 description 1
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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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of 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
- 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
- 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
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
-
- 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
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60W2720/106—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
車両の運転を支援する運転支援装置であって、
前記車両に対する先行車両の相対速度、および、前記車両と前記先行車両との間の車間距離を取得する情報取得部と、
前記相対速度および前記車間距離に応じた緊急度が予め記憶されたテーブルと、
前記テーブルから、前記情報取得部によって取得された前記相対速度および前記車間距離に応じた緊急度を読み出し、読み出した緊急度に基づく傾きを有する目標加減速度を求め、求めた目標加減速度をブレーキ圧を制御するための制御信号として出力する制御部と、
を具備する。
まず、本発明の一実施の形態に係る運転支援装置を含む車両の構成について説明する。
次に、本実施の形態の運転支援装置30の構成について説明する。
y =a × x + b ……… (1)
ここで、a、bは予め決められた固定値であり、xは緊急度である。
以上のように、本実施の形態に係る運転支援装置30は、先行車両の相対速度および先行車両との間の車間距離を取得する情報取得部31と、相対速度および車間距離に応じた緊急度が予め記憶されたテーブル33と、テーブル33から情報取得部31によって取得された相対速度および車間速度に応じた緊急度xを読み出し、読み出した緊急度xに基づく傾きyを有する目標加減速度を求め、求めた目標加減速度をブレーキ圧を制御するための制御信号(目標加減速度)として出力するACC制御部32と、を有するので、安全性を確保しつつも、主ブレーキによる不必要な急減速を回避した制動支援を実現できる。
2 トレーラ
3 車両本体部
4 ホース
5 コック
6 カプラロックスイッチ
7 積載部
8 トレーラ車輪
10 駆動系統
11 エンジン
12 クラッチ
13 変速機
14 推進軸
15 差動装置
16 駆動軸
17 車輪
18 エンジン用ECU
19 動力伝達用ECU
20 制動系統
21 常用ブレーキ(主ブレーキ)
22 リターダ
23 排気ブレーキ
24 ブレーキ用ECU
30 運転支援装置
31 情報取得部
32 ACC制御部
33 テーブル
41 車間距離検出部
42 ACC用操作部
43 アクセル操作検出部
44 ブレーキ操作検出部
45 車速センサ
50 情報出力部
Claims (2)
- 車両の運転を支援する運転支援装置であって、
前記車両に対する先行車両の相対速度、および、前記車両と前記先行車両との間の車間距離を取得する情報取得部と、
前記相対速度および前記車間距離に応じた緊急度が予め記憶されたテーブルと、
前記情報取得部が取得した情報と、前記テーブルに格納された緊急度とに基づいて、少なくとも1つのブレーキを制御するための制御信号を出力する制御部と、
を備え、
前記制御部は、
前記相対速度と前記車間距離とに基づいて目標加減速度を決定し、
前記テーブルから読み取った緊急度を用いて、前記目標加減速度の時間方向での変化の度合いを示す傾きを決定し、
前記目標加減速度が第2の閾値以下である場合、前記決定した傾きに従って変化するように前記目標加減速度を制御し、
前記目標加減速度が第1の閾値(ただし第1の閾値>第2の閾値である)以下の場合、エンジンブレーキまたは補助ブレーキの少なくとも一方を作動させ、
前記目標加減速度が前記第2の閾値以下の場合、前記決定した傾きに従って変化するように制御された前記目標加減速度を使用して常用ブレーキを作動させ、
前記目標加減速度が前記第1の閾値以下でかつ前記第2の閾値より大きい場合、前記決定した傾きを使用せずに前記エンジンブレーキまたは前記補助ブレーキの少なくとも一方を作動させる、
運転支援装置。 - 前記制御部は、
前記目標加減速度の時間方向での変化の度合いを示す傾きyを次式(1)を用いて求める、
y =a × x + b ……… (1)
ここで、a、bは予め決められた目標加減速度の固定値であり、xは緊急度である、
請求項1に記載の運転支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016082142A JP6728921B2 (ja) | 2016-04-15 | 2016-04-15 | 運転支援装置 |
PCT/JP2017/014812 WO2017179570A1 (ja) | 2016-04-15 | 2017-04-11 | 運転支援装置 |
CN201780021647.4A CN109070883B (zh) | 2016-04-15 | 2017-04-11 | 驾驶辅助装置 |
US16/093,665 US10676089B2 (en) | 2016-04-15 | 2017-04-11 | Driving assistance device |
EP17782383.8A EP3444158A4 (en) | 2016-04-15 | 2017-04-11 | DRIVING ASSISTANCE DEVICE |
Applications Claiming Priority (1)
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JP2016082142A JP6728921B2 (ja) | 2016-04-15 | 2016-04-15 | 運転支援装置 |
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JP2017190103A JP2017190103A (ja) | 2017-10-19 |
JP6728921B2 true JP6728921B2 (ja) | 2020-07-22 |
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JP2016082142A Active JP6728921B2 (ja) | 2016-04-15 | 2016-04-15 | 運転支援装置 |
Country Status (5)
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---|---|
US (1) | US10676089B2 (ja) |
EP (1) | EP3444158A4 (ja) |
JP (1) | JP6728921B2 (ja) |
CN (1) | CN109070883B (ja) |
WO (1) | WO2017179570A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10124777B2 (en) * | 2017-02-22 | 2018-11-13 | Arnaldo C. Gomes | Multiple-stage collision avoidance braking system and method |
US10576946B2 (en) | 2017-02-22 | 2020-03-03 | Arnaldo C. Gomes | Collision avoidance braking system and method |
JP7243392B2 (ja) | 2019-03-29 | 2023-03-22 | マツダ株式会社 | 車両走行制御装置 |
CN112758093B (zh) * | 2021-01-25 | 2022-05-03 | 北京罗克维尔斯科技有限公司 | Acc车速控制方法、装置、acc控制器、存储介质及车辆 |
JP2023030552A (ja) * | 2021-08-23 | 2023-03-08 | トヨタ自動車株式会社 | 車両用表示制御装置、車両用表示装置、車両用表示制御方法およびプログラム |
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JPH0717295A (ja) | 1993-07-01 | 1995-01-20 | Isuzu Motors Ltd | 車両の速度制御装置 |
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JP3470453B2 (ja) * | 1995-04-06 | 2003-11-25 | 株式会社デンソー | 車間距離制御装置 |
JP3143063B2 (ja) * | 1996-06-07 | 2001-03-07 | 株式会社日立製作所 | 移動体の走行制御装置 |
JP3537027B2 (ja) | 1998-10-07 | 2004-06-14 | アイシン精機株式会社 | 自動制動装置 |
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JP3846366B2 (ja) * | 2002-02-18 | 2006-11-15 | 日産自動車株式会社 | 走行速度制御装置 |
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WO2016050253A1 (en) | 2014-10-02 | 2016-04-07 | Volvo Truck Corporation | Method to prevent from a collision between a vehicle and a front obstacle and vehicle associated with this method |
-
2016
- 2016-04-15 JP JP2016082142A patent/JP6728921B2/ja active Active
-
2017
- 2017-04-11 EP EP17782383.8A patent/EP3444158A4/en active Pending
- 2017-04-11 CN CN201780021647.4A patent/CN109070883B/zh active Active
- 2017-04-11 WO PCT/JP2017/014812 patent/WO2017179570A1/ja active Application Filing
- 2017-04-11 US US16/093,665 patent/US10676089B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN109070883A (zh) | 2018-12-21 |
US20190071083A1 (en) | 2019-03-07 |
EP3444158A1 (en) | 2019-02-20 |
CN109070883B (zh) | 2021-08-06 |
WO2017179570A1 (ja) | 2017-10-19 |
EP3444158A4 (en) | 2019-04-24 |
US10676089B2 (en) | 2020-06-09 |
JP2017190103A (ja) | 2017-10-19 |
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