JP6864000B2 - 自律緊急制動システムを備えた車両の制御システム及び制御方法 - Google Patents
自律緊急制動システムを備えた車両の制御システム及び制御方法 Download PDFInfo
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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
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
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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
- 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
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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
- B60T8/17558—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 collision avoidance or collision mitigation
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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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
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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
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W30/08—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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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
- 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
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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
- 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
- B60T2201/024—Collision mitigation systems
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
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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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
- B60T2210/24—Curve radius
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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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
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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
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/02—Longitudinal grip
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/30—ESP control system
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
Claims (14)
- 車両(10)の前方の交通状況を監視して、特定の条件が満たされたときに前記車両のブレーキを自動的にかけて、前記車両(10)の前方の物体(22)との衝突を回避するように構成された自律緊急制動システム(16)を備えた車両(10)の制御システムであって、
前記自律緊急制動システムが考えられうる介入を開始したとき、当該自律緊急制動システムの制動前フェーズの一部である摩擦推定制動を行うように構成された制動制御手段(26)と、
前記行われた摩擦推定制動に基づいて、縦車輪スリップの関数としての車両の制動力容量を推定するように構成された制動力容量推定手段(28)と、
前記車両の前方の道路曲率に関する情報を取得するように構成された道路情報手段(30)と、
前記取得された道路曲率に関する情報に基づいて、自律緊急制動中に必要な横タイヤ力を予測するように構成された横タイヤ力予測手段(32)と、
前記推定された制動力容量及び前記予測された必要な横タイヤ力に基づいて、前記自律緊急制動システムの制動ストラテジを適用するように構成された制動ストラテジ適用手段(34)と、
を含んだことを特徴とする制動システム。 - 前記車両の前方の道路曲率に関する情報は、前記車両のカメラ(38)から取得された、
請求項1に記載の制御システム。 - 前記車両の前方の道路曲率に関する情報は、前記車両のナビゲーションシステム(40)から取得された、
請求項1に記載の制御システム。 - 前記車両の前方の道路曲率に関する情報は、半径(r)を含んでいる、
請求項1〜3のいずれか1つに記載の制御システム。 - 前記横タイヤ力予測手段(32)は、前記車両の前方の前記道路の自車線(48)において、前記自律緊急制動システムによって検出された物体(22)に対して、前記車両が衝突しない望ましい状態に向かって横タイヤ力を繰り返し予測することによって、前記横タイヤ力を予測するように構成された、
請求項1〜4のいずれか1つに記載の制御システム。 - 前記制動制御手段(26)は、前記車両の特定の車軸にのみ前記摩擦推定制動を行うように構成された、
請求項1〜5のいずれか1つに記載の制御システム。 - 前記制動制御手段(26)は、前記考えられうる介入が開始されたとき、又は、前記考えられうる介入が開始された後の所定時間、前記摩擦推定制動を直接行うように構成された、
請求項1〜6のいずれか1つに記載の制御システム。 - 前記車両は、トレーラ(14)を含んだ連結式車両であり、
前記制動ストラテジ適用手段(34)は、トレーラの安定性を維持するために十分な摩擦が残るように、前記制動ストラテジを適用するように構成された、
請求項1〜7のいずれか1つに記載の制御システム。 - 前記自律緊急制動システムが、前記適用された制動ストラテジに基づいて、前記車両が制動しても前記自律緊急制動システムによって検出された物体(22)を回避することができないと判定した場合、前記車両の運転者に警報するように構成された警報手段(52)を更に備えた、
請求項1〜8のいずれか1つに記載の制御システム。 - 前記自律緊急制動システムが、前記適用された制動ストラテジに基づいて、前記車両が制動しても前記自律緊急制動システムによって検出された物体(22)を回避することができないと判定した場合、前記車両のそれぞれを自動的に制動して、前記物体を回避するために必要な前記車両のヨー運動を増加又は減少させることによって、前記自律緊急制動システムによって検出された前記物体を回避するための運転者の操舵操作を支援するように構成された支援手段(54)を更に備えた、
請求項1〜9のいずれか1つに記載の制御システム。 - 請求項1〜10のいずれか1つに記載の制御システム(18)を備えた車両(10)。
- 車両(10)の前方の交通状況を監視して、特定の条件が満たされたときに前記車両のブレーキを自動的にかけて、前記車両(10)の前方の物体(22)との衝突を回避するように構成された自律緊急制動システム(16)を備えた車両(10)の制御方法であって、
前記自律緊急制動システムが考えられうる介入を開始したとき、当該自律緊急制動システムの制動前フェーズの一部である摩擦推定制動を行うステップと、
前記行われた摩擦推定制動に基づいて、縦車輪スリップの関数としての前記車両の制動力容量を推定するステップと、
前記車両の前方の道路曲率に関する情報を取得するステップと、
前記取得された道路曲率に関する情報に基づいて、自律緊急制動中に必要な横タイヤ力を予測するステップと、
前記推定された制動力容量及び前記予測された必要な横タイヤ力に基づいて、前記自律緊急制動システムの制動ストラテジを適用するステップと、
を含んだことを特徴とする制御方法。 - プログラムがコンピュータで実行されたとき、請求項12のステップを実行する、プログラムコード手段を含んだコンピュータプログラム。
- プログラムがコンピュータで実行されたとき、請求項12のステップを実行する、プログラムコード手段を含んだコンピュータプログラムを保持するコンピュータ可読媒体。
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EPPCT/EP2015/075625 | 2015-11-03 | ||
PCT/EP2015/075625 WO2017076436A1 (en) | 2015-11-03 | 2015-11-03 | A control system and method for a vehicle comprising an autonomous emergency braking system |
PCT/EP2016/076435 WO2017076910A1 (en) | 2015-11-03 | 2016-11-02 | A control system and method for a vehicle comprising an autonomous emergency braking system |
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JP2018535891A JP2018535891A (ja) | 2018-12-06 |
JP6864000B2 true JP6864000B2 (ja) | 2021-04-21 |
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US (1) | US11007988B2 (ja) |
EP (1) | EP3371015B1 (ja) |
JP (1) | JP6864000B2 (ja) |
CN (1) | CN108349467B (ja) |
WO (2) | WO2017076436A1 (ja) |
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DE102016219757A1 (de) * | 2016-10-11 | 2018-04-12 | Volkswagen Aktiengesellschaft | Ausweichunterstützung für ein Fahrzeug |
KR102657439B1 (ko) * | 2016-10-11 | 2024-04-15 | 에이치엘만도 주식회사 | 차량 제어 장치 및 그 제어 방법 |
JP6692324B2 (ja) * | 2017-06-19 | 2020-05-13 | 三菱重工業株式会社 | 制御装置、制御システム、移動体、制御方法及びプログラム |
GB2579202A (en) * | 2018-11-23 | 2020-06-17 | Caterpillar Sarl | A method of monitoring the brake performance of a machine |
EP3934947B1 (en) * | 2019-03-07 | 2023-06-07 | Volvo Truck Corporation | A method for estimating vehicle motion state during a vehicle maneuver |
US20220258728A1 (en) * | 2021-02-16 | 2022-08-18 | Atieva, Inc. | Physical feedback confirmation from assisted-driving system about traffic event |
CN117320935A (zh) * | 2021-03-15 | 2023-12-29 | 动态Ad有限责任公司 | 制动仲裁 |
WO2022228653A1 (en) * | 2021-04-26 | 2022-11-03 | Volvo Truck Corporation | Vehicle control based on dynamically configured longitudinal wheel slip limits |
EP4337504A1 (en) * | 2021-05-10 | 2024-03-20 | Volvo Truck Corporation | Emergency maneuvering based on a pre-determined axle brake torque difference |
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CN108349467B (zh) | 2021-07-16 |
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WO2017076910A1 (en) | 2017-05-11 |
JP2018535891A (ja) | 2018-12-06 |
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US11007988B2 (en) | 2021-05-18 |
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