JP6853068B2 - 偏向制御装置 - Google Patents
偏向制御装置 Download PDFInfo
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- JP6853068B2 JP6853068B2 JP2017039595A JP2017039595A JP6853068B2 JP 6853068 B2 JP6853068 B2 JP 6853068B2 JP 2017039595 A JP2017039595 A JP 2017039595A JP 2017039595 A JP2017039595 A JP 2017039595A JP 6853068 B2 JP6853068 B2 JP 6853068B2
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- control
- vehicle
- steering
- control unit
- deflection
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- 230000003247 decreasing effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 28
- 230000008859 change Effects 0.000 description 18
- 230000008569 process Effects 0.000 description 16
- 230000002265 prevention Effects 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 7
- 239000012530 fluid Substances 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- 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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/083—Lane monitoring; Lane Keeping Systems using active brake actuation
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- 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
- B60T2220/03—Driver counter-steering; Avoidance of conflicts with ESP 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Description
実施形態に係る偏向制御装置が搭載された車両1の構成について、図1を参照して説明する。図1は、実施形態に係る車両1の構成を示すブロック図である。
次に、本実施形態に係る車線逸脱抑制動作について、図2のフローチャートを参照して説明する。
次に、上述の車線逸脱抑制動作と並行して実施される制御解除動作について、図3のフローチャートを参照して説明する。本実施形態に係る制御解除動作は、逸脱回避制御(図2のステップS108〜S111)が実施されているときに、車両1のドライバによる操舵操作が検知された場合に、ドライバの操作意思を優先すべく逸脱回避制御を解除するための動作である。
次に、実施形態に係る操舵介入判定について説明する。ここでは、操舵介入判定の具体例を2つ挙げる。
第1の判定方法について、図7(a)のフローチャートを参照して説明する。図7(a)において、LDA制御部172は、データ取得部171を介して取得された操舵角センサ156の検出結果に基づいて、逸脱回避制御の開始時の操舵角を取得する(ステップS301)。
第2の判定方法について、図8(a)のフローチャートを参照して説明する。第2の判定方法について、第1の判定方法と重複する説明を省略するとともに、図面上における共通箇所には同一符号を付して示す。
本実施形態では、ドライバの操舵介入により逸脱回避制御が解除される場合、逸脱回避制御が解除される際の逸脱回避制御に係る制御量(ここでは、目標ヨーレート)に基づいて、該制御量の漸減勾配又は漸減時間が決定される。このため、ドライバの操舵介入により逸脱回避制御が解除される場合、逸脱回避制御に係る制御量が減少すること、及び、ドライバの操舵操作に起因するヨーレートの変化を、ドライバが対処可能な程度の変化に抑えることができる。この結果、ドライバの操舵介入により逸脱回避制御が解除される場合のドライバの違和感を抑制することができる。
Claims (1)
- 左右輪の制動力差により自車両を偏向させる偏向制御を実施する偏向制御装置であって、
前記偏向制御の実施中に、前記偏向制御により前記自車両が偏向される方向とは反対方向に前記自車両を偏向させる操舵操作が検知された場合、前記偏向制御を解除する解除手段を備え、
前記解除手段は、前記偏向制御を解除する場合、前記操舵操作が検知された際の前記偏向制御に係る制御量が大きいほど長くなる、所定時間をかけて前記制御量を減らし、
前記解除手段は、前記操舵操作が検知された際の前記制御量が大きいほど、前記制御量の減少勾配を小さくする
ことを特徴とする偏向制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017039595A JP6853068B2 (ja) | 2017-03-02 | 2017-03-02 | 偏向制御装置 |
DE102018100065.0A DE102018100065B4 (de) | 2017-03-02 | 2018-01-03 | Umlenkungssteuervorrichtung |
CN201810049470.5A CN108528447B (zh) | 2017-03-02 | 2018-01-18 | 偏转控制装置 |
US15/900,888 US10654456B2 (en) | 2017-03-02 | 2018-02-21 | Deflection control apparatus |
US16/845,880 US20200238963A1 (en) | 2017-03-02 | 2020-04-10 | Deflection control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017039595A JP6853068B2 (ja) | 2017-03-02 | 2017-03-02 | 偏向制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018144557A JP2018144557A (ja) | 2018-09-20 |
JP6853068B2 true JP6853068B2 (ja) | 2021-03-31 |
Family
ID=63171487
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017039595A Active JP6853068B2 (ja) | 2017-03-02 | 2017-03-02 | 偏向制御装置 |
Country Status (4)
Country | Link |
---|---|
US (2) | US10654456B2 (ja) |
JP (1) | JP6853068B2 (ja) |
CN (1) | CN108528447B (ja) |
DE (1) | DE102018100065B4 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6809344B2 (ja) * | 2017-04-04 | 2021-01-06 | トヨタ自動車株式会社 | 偏向制御装置 |
EP3831614B1 (en) | 2018-07-31 | 2023-09-06 | FUJIFILM Corporation | Planographic printing plate original plate, planographic printing plate original plate laminate body, platemaking method for planographic printing plate, and planographic printing method |
JP7205154B2 (ja) | 2018-10-16 | 2023-01-17 | トヨタ自動車株式会社 | 表示装置 |
JP2020104738A (ja) | 2018-12-27 | 2020-07-09 | トヨタ自動車株式会社 | 報知装置 |
JP7209681B2 (ja) * | 2020-12-17 | 2023-01-20 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、及びプログラム |
WO2024116365A1 (ja) * | 2022-12-01 | 2024-06-06 | 株式会社Subaru | 運転支援装置、運転支援方法及び記録媒体 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4369198B2 (ja) * | 2003-10-10 | 2009-11-18 | 株式会社ジェイテクト | 車両用操舵制御装置 |
US7212901B2 (en) | 2003-10-29 | 2007-05-01 | Nissan Motor Co., Ltd. | Lane departure prevention apparatus |
JP4162013B2 (ja) | 2006-04-03 | 2008-10-08 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP2009061876A (ja) * | 2007-09-05 | 2009-03-26 | Nippon Soken Inc | 停止時制動力制御装置 |
JP5547607B2 (ja) * | 2010-10-29 | 2014-07-16 | アイシン精機株式会社 | 車両の横方向運動制御装置 |
JP5644752B2 (ja) * | 2011-12-22 | 2014-12-24 | トヨタ自動車株式会社 | 制動力制御装置 |
JP2013184618A (ja) * | 2012-03-09 | 2013-09-19 | Nissan Motor Co Ltd | 車両のヨーモーメント制御装置 |
RU2647823C2 (ru) * | 2013-01-10 | 2018-03-19 | Ниссан Мотор Ко., Лтд. | Устройство помощи при вождении в полосе |
JP6030459B2 (ja) * | 2013-01-24 | 2016-11-24 | トヨタ自動車株式会社 | 車両の操舵制御装置 |
RU2643748C2 (ru) * | 2013-02-21 | 2018-02-05 | Ниссан Мотор Ко., Лтд. | Устройство управления рулением транспортного средства и способ управления рулением транспортного средства |
-
2017
- 2017-03-02 JP JP2017039595A patent/JP6853068B2/ja active Active
-
2018
- 2018-01-03 DE DE102018100065.0A patent/DE102018100065B4/de active Active
- 2018-01-18 CN CN201810049470.5A patent/CN108528447B/zh active Active
- 2018-02-21 US US15/900,888 patent/US10654456B2/en active Active
-
2020
- 2020-04-10 US US16/845,880 patent/US20200238963A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
US20180251107A1 (en) | 2018-09-06 |
DE102018100065B4 (de) | 2022-07-14 |
JP2018144557A (ja) | 2018-09-20 |
CN108528447B (zh) | 2021-11-02 |
CN108528447A (zh) | 2018-09-14 |
US20200238963A1 (en) | 2020-07-30 |
DE102018100065A1 (de) | 2018-09-06 |
US10654456B2 (en) | 2020-05-19 |
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