JP6977870B2 - 自動運転車両の制御方法および制御装置 - Google Patents
自動運転車両の制御方法および制御装置 Download PDFInfo
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Description
図1は、本発明の一実施形態に係る自動運転車両の制御システム(以下「車両制御システム」という)Sの全体的な構成を概略的に示している。
車両制御システムSは、ハンドルスイッチ14の操作により自動運転が選択されると、自車両の走行状態、自車両以外の他車両(例えば、先行車両)の走行状態および周囲の交通状況等をもとに、目標とする加速度および減速度を設定する。運転支援システムコントローラ1は、目標加速度を達成するのに必要な車両の要求駆動力を設定し、エンジンコントローラ2に対し、要求駆動力に応じた出力トルクを、駆動源であるエンジンEにより生じさせるための指令信号を出力する。運転支援システムコントローラ1は、さらに、目標減速度を達成するのに必要な車両の要求制動力を設定し、要求制動力に応じた指令信号を自動ホイールブレーキ装置12に出力する。
図2および3は、本実施形態に係る運転支援システムコントローラ1が行う制御(車両駆動制御)の基本的な流れをフローチャートにより示している。図3は、図2に示すフローチャートのA部で実行される処理の内容を示している。運転支援システムコントローラ1は、車両駆動制御を所定時間毎に実行するようにプログラムされている。ただし、現在の車速VSPよりも高い目標車速Vtrgが設定され、車速VSPを目標車速Vtrgに近付けるための加速指示が出力されたときは、加速が終了するまで待機し、加速度特性の適合判定(S107〜111、S205〜209)を実行する。
=g×(Vtrg−VSP) …(1)
本実施形態に係る自動運転車両の制御装置(車両制御システムS)は、以上のように構成され、本実施形態により得られる効果について以下に纏める。
Claims (6)
- 自動運転中の車速を目標車速に近付けるように、自車両の加速度を制御し、
自車両が前方を走行している他車両に追いついた場合に、自車両の車速を前記他車両と
の車間距離に応じて制限し、
自車両が前記前方を走行している他車両に追いつく際の、加速の開始から終了までの加速の継続時間を算出し、
算出された前記加速の継続時間に応じ、前記目標車速に近付ける際の加速度を変更し、
前記加速の継続時間が第一の所定時間に満たない場合には前記加速度を低下させ、前記加速の継続時間が第二の所定時間よりも長い場合には前記加速度を増加させる、自動運転車両の制御方法。 - 請求項1に記載の自動運転車両の制御方法であって、
同一の車速に対して高い加速度を与える第1加速度特性か、前記第1加速度特性よりも低い加速度を与える第2加速度特性か、により、自車両の加速度を制御し、
前記加速の継続時間に応じ、前記第1加速度特性と前記第2加速度特性とを切り換えることで、前記加速度を変更する、
自動運転車両の制御方法。 - 請求項2に記載の自動運転車両の制御方法であって、
前記第1加速度特性による走行中、前記加速の継続時間が前記第一の所定時間に満たない場合に、前記第2加速度特性に切り換え、
前記第2加速度特性による走行中、前記加速の継続時間が前記第二の所定時間よりも長い場合に、前記第1加速度特性に切り換える、
自動運転車両の制御方法。 - 請求項2に記載の自動運転車両の制御方法であって、
前記第1加速度特性と前記第2加速度特性とを切り換えることに代えて、各加速度特性
を前記加速の継続時間に応じて補正し、
前記第1加速度特性による走行中、前記加速の継続時間が前記第一の所定時間に満たない場合に、前記第1加速度特性により与えられる加速度を減少させ、
前記第2加速度特性による走行中、前記加速の継続時間が前記第二の所定時間よりも長い場合に、前記第2加速度特性により与えられる加速度を増大させる、
自動運転車両の制御方法。 - 自動運転中の車速を目標車速に近付けるように、自車両の加速度を制御し、
同一の車速に対して高い加速度を与える第1加速度特性と、前記第1加速度特性よりも低い加速度を与える第2加速度特性と、を切り換えて加速度を制御し、
前記第1加速度特性による走行と、前記第2加速度特性による走行と、のそれぞれの走行時に、各加速度特性による加速の終了を判定し、
前記第2加速度特性による走行中、自車両の前方を前記目標車速よりも低い車速で走行している他車両に対し、前記目標車速への到達後に追いついた場合は、前記第1加速度特性に切り換えるかまたは前記第2加速度特性により与えられる加速度を増大させ、
前記第1加速度特性による走行中、前記他車両に対し、前記目標車速への到達前に追いついた場合は、前記第2加速度特性に切り換えるかまたは前記第1加速度特性により与えられる加速度を減少させる、
自動運転車両の制御方法。 - 車両の駆動源と、
前記駆動源を制御するコントローラと、
を備え、
前記コントローラは、
自動運転中の車速を目標車速に近付けるように、自車両の加速度を制御する加速制御部と、
自車両が前方を走行している他車両に追いついた場合に、自車両の車速を前記他車両との車間距離に応じて制限する車速制限部と、
を備え、
前記加速制御部は、自車両が前記前方を走行している他車両に追いつく際の、加速の開始から終了までの加速の継続時間を算出し、前記加速の継続時間が第一の所定時間に満たない場合には前記加速度を低下させ、前記加速の継続時間が第二の所定時間よりも長い場合には前記加速度を増加させる、
自動運転車両の制御装置。
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JPH06191319A (ja) * | 1992-12-24 | 1994-07-12 | Toyota Motor Corp | 車両用走行制御装置 |
JPH0789366A (ja) * | 1993-09-22 | 1995-04-04 | Mitsubishi Motors Corp | 自動車の走行制御装置 |
JPH09263160A (ja) * | 1996-03-27 | 1997-10-07 | Isuzu Motors Ltd | 車両の速度制御装置 |
US6580996B1 (en) * | 2002-08-07 | 2003-06-17 | Visteon Global Technologies, Inc. | Vehicle adaptive cruise control system and method |
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JP5273250B2 (ja) * | 2009-07-28 | 2013-08-28 | トヨタ自動車株式会社 | 車両制御装置、車両制御方法及び車両制御システム |
CN103640573A (zh) * | 2009-07-28 | 2014-03-19 | 丰田自动车株式会社 | 车辆控制装置、车辆控制方法以及车辆控制系统 |
JP2010159053A (ja) * | 2010-02-26 | 2010-07-22 | Toyota Motor Corp | 車両用走行制御装置 |
JP2012066758A (ja) * | 2010-09-27 | 2012-04-05 | Fuji Heavy Ind Ltd | 車両の走行制御装置 |
JP2014097708A (ja) * | 2012-11-14 | 2014-05-29 | Toyota Motor Corp | 走行環境推定装置およびその方法 |
JP6205947B2 (ja) | 2013-07-26 | 2017-10-04 | 日産自動車株式会社 | 自動運転制御装置 |
JP2017001485A (ja) * | 2015-06-09 | 2017-01-05 | トヨタ自動車株式会社 | 車両の運転支援装置 |
JP6365481B2 (ja) * | 2015-09-23 | 2018-08-01 | トヨタ自動車株式会社 | 車両走行制御装置 |
US10449962B2 (en) * | 2016-06-23 | 2019-10-22 | Honda Motor Co., Ltd. | System and method for vehicle control using vehicular communication |
-
2018
- 2018-03-27 CN CN201880091125.6A patent/CN111886169B/zh active Active
- 2018-03-27 EP EP18913092.5A patent/EP3778328B1/en active Active
- 2018-03-27 US US16/977,551 patent/US11305768B2/en active Active
- 2018-03-27 JP JP2020510234A patent/JP6977870B2/ja active Active
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WO2019186691A1 (ja) | 2019-10-03 |
EP3778328A1 (en) | 2021-02-17 |
US11305768B2 (en) | 2022-04-19 |
US20210001849A1 (en) | 2021-01-07 |
EP3778328B1 (en) | 2023-05-17 |
CN111886169B (zh) | 2024-05-10 |
JPWO2019186691A1 (ja) | 2021-02-12 |
CN111886169A (zh) | 2020-11-03 |
EP3778328A4 (en) | 2021-04-14 |
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