JP6764478B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
- Publication number
- JP6764478B2 JP6764478B2 JP2018523660A JP2018523660A JP6764478B2 JP 6764478 B2 JP6764478 B2 JP 6764478B2 JP 2018523660 A JP2018523660 A JP 2018523660A JP 2018523660 A JP2018523660 A JP 2018523660A JP 6764478 B2 JP6764478 B2 JP 6764478B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- brake
- fluid pressure
- brake fluid
- distribution ratio
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
-
- 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
- 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
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/245—Longitudinal vehicle inclination
-
- 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
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/246—Change of direction
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/3205—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration acceleration
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed 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
- 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
- B60W30/08—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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
-
- 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
- B60T2201/022—Collision avoidance 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
-
- 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
- B60W2720/40—Torque distribution
- B60W2720/403—Torque distribution between front and rear axle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Description
まず、本発明に係る車両制御装置による制御の基本的な考え方を説明する。
まず、ステアリング操作が無い直線路(直線状の道路)を走行中のシーンについて説明する。
次に、ステアリング操作が有る場合について説明する。ここでは、前方の障害物(例えば車両)を回避する場合に、特許文献1で述べられている、ステアリング操作による横運動に連係して自動的に加減速する制御によって、ステアリング操作に応じて減速するシーンについて説明する。ここで、特許文献1に記載される制御は、前後加速度と横加速度の合成加速度ベクトル(G)の軌跡が車両重心固定の座標系において、なめらかな曲線を描くように方向づけられ(Vectoring)、G-Vectoring(商標登録)制御と呼ばれている。具体的な加減速指令値(目標前後加速度Gxc)は、以下の(数1)に示す通り、基本的に、横加加速度Gy_dotにゲインCxyを掛け、一次遅れを付与した値を、前後加減速指令にするというシンプルな制御則である。
これは、前記したステアリング操作が無い場合の理由とほぼ同じ理由によるものである。
これにより、車両が旋回方向の内側(障害物を回避する方向)を向きやすくなり、図4に示す、障害物を操舵回避する場合の障害物に対する自車のX軸方向(進行方向)の余裕距離がZとなり、後輪より前輪のブレーキ液圧の配分比を大きくすることにより、余裕を持って障害物を回避することができる。また、後輪より前輪のブレーキ液圧の配分比を大きくした場合は、図4に示すように、障害物をスムーズに(余分な膨らみ無く)回避することもできる。
前方のブレーキと後方のブレーキとに対するブレーキ液圧の分配割合(前後配分比)は、外界情報、車両情報、横運動情報などから得られた衝突危険度を元に、どの程度の減速指令に対する車両減速度の応答性が必要かを判断し、ブレーキ液圧の前後配分比RFRを決定する。
(図8中、t31からt34)においては、ブレーキ液圧の前後配分比RFRを、予め決められた初期配分比RFR0に対して前輪寄りとすることにより、前輪の1輪(前左輪もしくは前右輪)に対して発生させることができる液量が増加するため、ブレーキ液圧の前後配分比が初期配分比RFR0のときに比べて、短時間で制動力を発生させることが可能となり、応答性を改善することができる。
図11は、本発明に係る車両制御装置を備えた車両の全体構成を示したものである。
図12は、図11に示すADASコントローラ(本発明に係る車両制御装置)30とESC31の信号伝達構成を示したものである。
図14は、直線路の前方に障害物がある場合の障害物に対する減速開始距離違いの2ケース(ケース1、ケース2)の制動の様子を示したものである。
Claims (3)
- 車両の前後左右に備えられるブレーキに対するブレーキ液圧の分配割合を調整して前記車両の走行状態を制御する車両制御装置であって、
前記車両の舵角操作によって発生する横方向運動に応じて前記車両の前後加速度を制御する前後加速度制御手段を有し、
前記舵角操作が行われる場合には、前記舵角操作が行われない場合に比べて、後方のブレーキに対する前記ブレーキ液圧よりも前方のブレーキに対する前記ブレーキ液圧が大きく、かつ、前方のブレーキと後方のブレーキとに対する前記ブレーキ液圧の分配割合の差が大きくなるように、前方のブレーキと後方のブレーキとの間で前記ブレーキ液圧の分配割合を変更し、
前記車両が直進路を走行中に減速する場合は、予め定めた前方及び後方のブレーキに減速指令値を出力し、前記ブレーキ液圧を前方及び後方のブレーキに分配し、前記車両が直進路からカーブ路に進入して減速する場合は、前方のブレーキのみに減速指令値を出力し、前記ブレーキ液圧を前方のブレーキに分配し、前記車両がカーブ路から脱出して直線路を走行中に減速する場合は、前方及び後方のブレーキに減速指令値を出力し、前記ブレーキ液圧を前方及び後方のブレーキに分配することを特徴とする車両制御装置。 - 前記前後加速度制御手段は、前記車両の横加加速度に基づいて前記車両の前後加速度を制御し、
前記車両制御装置は、前記車両の衝突危険度が予め定めた値より高い場合、前記ブレーキ液圧を前方のブレーキのみに分配することを特徴とする、請求項1に記載の車両制御装置。 - 前記車両制御装置は、前記車両の衝突危険度に基づいて、前記ブレーキ液圧を前方のブレーキのみに分配するか、前方及び後方のブレーキに分配するかを決定することを特徴とする、請求項1に記載の車両制御装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016118523 | 2016-06-15 | ||
JP2016118523 | 2016-06-15 | ||
PCT/JP2017/020602 WO2017217256A1 (ja) | 2016-06-15 | 2017-06-02 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2017217256A1 JPWO2017217256A1 (ja) | 2019-03-14 |
JP6764478B2 true JP6764478B2 (ja) | 2020-09-30 |
Family
ID=60664157
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018523660A Active JP6764478B2 (ja) | 2016-06-15 | 2017-06-02 | 車両制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11273810B2 (ja) |
EP (1) | EP3473507B1 (ja) |
JP (1) | JP6764478B2 (ja) |
CN (1) | CN109311462B (ja) |
WO (1) | WO2017217256A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016219757A1 (de) * | 2016-10-11 | 2018-04-12 | Volkswagen Aktiengesellschaft | Ausweichunterstützung für ein Fahrzeug |
JP6985645B2 (ja) * | 2018-02-02 | 2021-12-22 | マツダ株式会社 | 車両の制御方法、車両システム及び車両の制御装置 |
GB2579202A (en) * | 2018-11-23 | 2020-06-17 | Caterpillar Sarl | A method of monitoring the brake performance of a machine |
JP7135808B2 (ja) * | 2018-12-07 | 2022-09-13 | トヨタ自動車株式会社 | 衝突回避支援装置 |
JP2020203655A (ja) * | 2019-06-19 | 2020-12-24 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 制御装置及び制御方法 |
JP7120186B2 (ja) * | 2019-08-29 | 2022-08-17 | トヨタ自動車株式会社 | 車両制御システム |
US11548520B2 (en) * | 2019-10-11 | 2023-01-10 | Mitsubishi Electric Research Laboratories, Inc. | Control of autonomous vehicles adaptive to user driving preferences |
US20210237699A1 (en) * | 2020-02-05 | 2021-08-05 | Ford Global Technologies, Llc | Alternating braking method for smooth stopping from adaptive cruise control |
Family Cites Families (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2679416B2 (ja) * | 1990-12-21 | 1997-11-19 | 日産自動車株式会社 | 車両の制動力前後配分制御装置 |
JP3214141B2 (ja) | 1992-09-07 | 2001-10-02 | 日産自動車株式会社 | 制動力制御装置 |
JP4085452B2 (ja) * | 1997-11-05 | 2008-05-14 | トヨタ自動車株式会社 | 車輌の制動力制御装置 |
JPH11255089A (ja) * | 1998-03-12 | 1999-09-21 | Fuji Heavy Ind Ltd | 車両の自動ブレーキ制御装置 |
JP4228555B2 (ja) * | 2001-06-11 | 2009-02-25 | トヨタ自動車株式会社 | 車輌の制動制御装置 |
JP3950729B2 (ja) * | 2002-04-23 | 2007-08-01 | アイシン精機株式会社 | 車両の運動制御装置 |
US7178881B2 (en) * | 2003-06-25 | 2007-02-20 | Delphi Technologies, Inc. | Rear pressure control and rear dynamic proportioning in a vehicle brake system |
JP4391304B2 (ja) * | 2004-04-23 | 2009-12-24 | 日産自動車株式会社 | 減速制御装置 |
JP4224824B2 (ja) * | 2004-07-21 | 2009-02-18 | トヨタ自動車株式会社 | 制駆動力制御装置 |
JP4628819B2 (ja) * | 2005-02-22 | 2011-02-09 | 本田技研工業株式会社 | 反力装置の制御方法 |
JP4479551B2 (ja) | 2005-03-16 | 2010-06-09 | トヨタ自動車株式会社 | 摩擦/回生制動手段を備え制動力配分制御を行う車輌 |
DE102005053864A1 (de) * | 2005-11-11 | 2007-05-16 | Bosch Gmbh Robert | Fahrdynamikregelungssystem mit erweiterter Bremsfunktion |
JP4743121B2 (ja) * | 2006-03-29 | 2011-08-10 | 日産自動車株式会社 | 車両の衝突時ブレーキ配分制御装置 |
JP4568302B2 (ja) | 2007-05-18 | 2010-10-27 | 株式会社日立製作所 | 加加速度情報を用いた車両の前後加速度制御装置 |
US20090212935A1 (en) * | 2008-02-24 | 2009-08-27 | Qi Luo | Anti-collision Emergency Braking System |
JP5272448B2 (ja) * | 2008-03-04 | 2013-08-28 | 日産自動車株式会社 | 車両用運転支援装置及び車両用運転支援方法 |
JP5181744B2 (ja) | 2008-03-11 | 2013-04-10 | 日産自動車株式会社 | 車線逸脱防止装置及びその方法 |
CN101380946A (zh) * | 2008-10-23 | 2009-03-11 | 北京理工大学 | 车辆弯道制动稳定性阶梯控制系统 |
JP4920054B2 (ja) | 2009-03-30 | 2012-04-18 | 株式会社日立製作所 | 車両運動制御装置 |
DE102009055059B4 (de) * | 2009-12-21 | 2023-02-02 | Robert Bosch Gmbh | Reduzieren des Lenkmoments bei Bremsmanövern |
US9175701B2 (en) * | 2010-09-02 | 2015-11-03 | Kelsey-Hayes Company | Speed control strategy |
US9318023B2 (en) * | 2011-08-31 | 2016-04-19 | GM Global Technology Operations LLC | System and method for collision avoidance maneuver path determination with jerk limit |
JP2014148182A (ja) * | 2013-01-31 | 2014-08-21 | Hitachi Automotive Systems Ltd | 車両の走行制御装置 |
JP6138655B2 (ja) * | 2013-10-10 | 2017-05-31 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置 |
DE102014200435A1 (de) * | 2014-01-13 | 2015-07-16 | Ford Global Technologies, Llc | Verfahren zum Betreiben eines Bremssystems eines Kraftfahrzeugs sowie Bremssystem für ein Kraftfahrzeug |
DE102014210382A1 (de) * | 2014-06-03 | 2015-12-03 | Robert Bosch Gmbh | Verfahren zur Verteilung einer Bremskraft und Bremseinrichtung |
JP6416574B2 (ja) | 2014-09-29 | 2018-10-31 | 日立オートモティブシステムズ株式会社 | 車両の制御方法、車両制御システム、車両制御装置、および制御プログラム |
JP6302825B2 (ja) * | 2014-11-28 | 2018-03-28 | 株式会社アドヴィックス | 衝突回避装置 |
JP6684518B2 (ja) | 2016-02-26 | 2020-04-22 | ダイハツ工業株式会社 | 自動ブレーキ装置 |
-
2017
- 2017-06-02 US US16/090,806 patent/US11273810B2/en active Active
- 2017-06-02 CN CN201780017826.0A patent/CN109311462B/zh active Active
- 2017-06-02 WO PCT/JP2017/020602 patent/WO2017217256A1/ja unknown
- 2017-06-02 JP JP2018523660A patent/JP6764478B2/ja active Active
- 2017-06-02 EP EP17813158.7A patent/EP3473507B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN109311462A (zh) | 2019-02-05 |
EP3473507A4 (en) | 2020-02-12 |
EP3473507B1 (en) | 2022-10-12 |
US20200324748A1 (en) | 2020-10-15 |
WO2017217256A1 (ja) | 2017-12-21 |
CN109311462B (zh) | 2021-03-05 |
EP3473507A1 (en) | 2019-04-24 |
US11273810B2 (en) | 2022-03-15 |
JPWO2017217256A1 (ja) | 2019-03-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6764478B2 (ja) | 車両制御装置 | |
JP6654121B2 (ja) | 車両運動制御装置 | |
JP6731234B2 (ja) | 車両運動制御装置及びその方法 | |
JP6764312B2 (ja) | 車両運動制御装置、車両運動制御方法、車両運動制御プログラム | |
JP6814710B2 (ja) | 車両運動制御装置及びその方法、並びに、目標軌道生成装置及びその方法 | |
WO2015151565A1 (ja) | 車両の運動制御システム、車両、および、プログラム | |
JP5915152B2 (ja) | 走行支援装置及び走行支援方法 | |
JP7032178B2 (ja) | 車両制御装置 | |
US20180126965A1 (en) | Vehicle control device, vehicle control method, and vehicle control program | |
JP6567994B2 (ja) | 近接性に基づくエンジン制御システム | |
JP7443177B2 (ja) | 衝突回避支援装置 | |
JP6882145B2 (ja) | 車両の制動支援装置、制御装置及び制動支援方法 | |
JP6375034B2 (ja) | 車両の運動制御システム | |
JPWO2019008647A1 (ja) | 運転支援車両の目標車速生成方法及び目標車速生成装置 | |
WO2018139294A1 (ja) | 移動物体予測装置 | |
JP7180077B2 (ja) | 車両の制御装置 | |
JP2019137283A (ja) | 運転支援装置、運転支援方法及び運転支援システム | |
JP2018089990A (ja) | 運転支援装置 | |
JP2020100166A (ja) | 車両運動制御装置及びその方法 | |
JP6776543B2 (ja) | 車両制御システム | |
JP7377940B2 (ja) | 制御装置及び車両 | |
JP4966736B2 (ja) | 車両操作支援装置 | |
JP4928221B2 (ja) | 車両挙動制御装置 | |
JP2019119298A (ja) | 車両用制御装置 | |
US20220089150A1 (en) | Turning controller for vehicle, computer-readable medium storing turning control program, and turning control method for vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20181107 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190806 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190828 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200128 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200306 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20200818 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200911 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6764478 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |