JP6838623B2 - アダプティブクルーズ制御装置および制御方法 - Google Patents
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Description
Claims (6)
- 自車両(H)の前方を走行する先行車両(P)の動きに基づいて、自車両(H)の走行を制御するためのものであって、
自車両(H)の車速(vh、i)を受信する自車両速度入力手段と、
先行車両(P)と自車両(H)との車間距離を受信する車間距離入力手段と、
自車両(H)の車速(v h、i )に基づいて、先行車両(P)に追従して走行する際の最小安全車間距離(dmin)を定義する安全距離定義手段と、
運転者の選択に基づき、快適車間距離(dcomf)に影響を与える運転者の反応時間(hr)を設定する反応時間設定手段と、
空間領域におけるモデル予測制御として、自車両(H)の牽引力および/または車速が変化したときの自車両(H)におけるエネルギー消費量(J fuel,i (F,v h,i ))、先行車両(P)との車両距離が最小安全車間距離(d min )に近づくほど大きくなる第1のペナルティ(δ 3 )、および、自車両(H)の平均速度が先行車両(P)の平均速度よりも低くなるほど大きくなる第2のペナルティ(δ 2 )に基づき算出される運転コストが最小化されるように自車両(H)の牽引力を定め、その定めた牽引力がアダプティブクルーズ制御で使用されるように構成される運転コスト最適化手段と、を備え、
運転コスト最適化手段は、a)安全距離定義手段によって定義される最小安全車間距離(dmin)だけ減じられる、車間距離センサによって検出される車間距離(dk+1)と、b)反応時間設定手段によって設定された運転者の反応時間(hr)との比率として定義される、自車両(H)のための最高速度基準(Vref)を使用して、第1のペナルティ(δ 3 )を定める、車両アダプティブクルーズ制御装置。 - 第1のペナルティ(δ3)は、自車速(vh、k+1)と最高速度基準(Vref)との差に基づいて定められる、請求項1に記載の車両アダプティブクルーズ制御装置。
- エネルギー消費量(J fuel,i (F,v h,i ))は、自車両(H)の牽引力(F)と、自車両(H)の車速(v h、i )とを含む、予め定められた算出式によって算出される、請求項1または2に記載の車両アダプティブクルーズ制御装置。
- 最小安全車間距離(d min )は、自車両速度入力手段によって受信される自車速(v h、i )に、予め定めた最小時間(h min )を乗じた値に基づいて定められる、請求項1乃至3のいずれかに記載の車両アダプティブクルーズ制御装置。
- 運転者の反応時間(h r )は、運転者がプリセットまたはセットすることが可能であり、
快適車間距離(d comf )は、最小安全車間距離(d min )に、運転者の反応時間(h r )と自車速(v h、i )との積を加算した値として定義される、請求項1乃至4のいずれかに記載の車両アダプティブクルーズ制御装置。 - 自車両(H)の前方を走行する先行車両(P)の動きに基づいて、自車両(H)の走行を制御するための車両アダプティブクルーズ制御を実行するためのものであって、
自車両(H)の車速(vh、i)を受信する車速受信ステップ、
先行車両(P)と自車両(H)との車間距離を受信する車間距離受信ステップ、
自車両(H)の車速(v h、i )に基づいて、先行車両(P)に追従して走行する際の最小安全車間距離(dmin)を定義する定義ステップ、
運転者の選択に基づき、快適車間距離(dcomf)に影響を与える運転者の反応時間(hr)を設定する設定ステップ、
空間領域におけるモデル予測制御として、自車両(H)の牽引力および/または車速が変化したときの自車両(H)におけるエネルギー消費量(J fuel,i (F,v h,i ))、先行車両(P)との車両距離が最小安全車間距離(d min )に近づくほど大きくなる第1のペナルティ(δ 3 )、および、自車両(H)の平均速度が先行車両(P)の平均速度よりも低くなるほど大きくなる第2のペナルティ(δ 2 )に基づき算出される運転コストが最小化されるように自車両(H)の牽引力を定め、その定めた牽引力がアダプティブクルーズ制御で使用される運転コスト最適化ステップ、を備え、
運転コスト最適化ステップにおいて、a)定義ステップによって定義される最小安全車間距離(dmin)だけ減じられる、車間距離受信ステップにて受信される車間距離(dk+1)と、b)設定ステップによって設定された運転者の反応時間(hr)との比率として定義される、自車両(H)のための最高速度基準(V ref )を使用して、第1のペナルティ(δ 3 )を定める、方法。
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DE102018212318.7A DE102018212318B4 (de) | 2018-07-24 | 2018-07-24 | Adaptive geschwindigkeitsregelung |
DE102018212318.7 | 2018-07-24 |
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DE102018221860A1 (de) * | 2018-12-17 | 2020-07-02 | Volkswagen Aktiengesellschaft | Verfahren und Assistenzsystem zur Vorbereitung und/oder Durchführung eines Spurwechsels |
DE102019208878A1 (de) * | 2019-06-19 | 2020-12-24 | Denso Corporation | Vorrichtung und Verfahren zur adaptiven Geschwindigkeitssteuerung |
JP7431623B2 (ja) * | 2020-03-11 | 2024-02-15 | 株式会社Subaru | 車外環境認識装置 |
EP4243464A1 (en) * | 2020-11-05 | 2023-09-13 | LG Electronics Inc. | Method for controlling driving of v2x vehicle by first device in wireless communication system supporting sidelink, and device therefor |
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US11208102B2 (en) | 2021-12-28 |
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