JP7071851B2 - 車両制御装置、車両制御方法および車両追従走行システム - Google Patents
車両制御装置、車両制御方法および車両追従走行システム 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
- 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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/18—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
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
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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
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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
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
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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
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
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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
- B60W2552/40—Coefficient of friction
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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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
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
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- 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
Description
Claims (16)
- 先行車と後続車とが非機械的に連結して追従走行する車両追従走行システムにおける前記先行車に搭載される車両制御装置であって、
入力された前記後続車の車両諸元のうち最小回転半径に関する情報を含む前記後続車の車両性能に関する情報に基づいて、前記先行車の運動状態を制限するための指令を出力することを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記出力された前記先行車の運動状態を制限するための指令は、前記先行車の制動または駆動または操舵に関するアクチュエータへ入力されることを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置において、
前記車両性能は、前記後続車に搭載される路面状態取得部より取得された前記後続車の車輪の接地路面の摩擦係数に基づいて求められる前記後続車の最大加速度であることを特徴とする車両制御装置。 - 請求項3に記載の車両制御装置において、
前記アクチュエータは制動に関する制動アクチュエータを備え、
前記先行車及び前記後続車が制動状態となるとき、前記後続車の車輪の接地路面の摩擦係数に基づいて求められた前記後続車の最大加速度に基づいて、前記制動アクチュエータに制動力を低下させる指令を出力することを特徴とする車両制御装置。 - 請求項3に記載の車両制御装置において、
前記アクチュエータは駆動に関する駆動アクチュエータを備え、
前記先行車及び前記後続車が駆動状態となるとき、前記後続車の車輪の接地路面の摩擦係数に基づいて求められた前記後続車の最大加速度に基づいて、前記駆動アクチュエータに駆動力を低下させる指令を出力することを特徴とする車両制御装置。 - 請求項3に記載の車両制御装置において、
前記アクチュエータは、制動に関する制動アクチュエータと、駆動に関する駆動アクチュエータと、を備え、
前記先行車及び前記後続車がカーブ走行状態となるとき、前記後続車の車輪の接地路面の摩擦係数に基づいて求められた前記後続車の最大加速度に基づいて、前記駆動アクチュエータに駆動力を低下させる指令を出力、または前記制動アクチュエータに制動力を強化させる指令を出力することを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置において、
前記車両性能は、前記後続車で取得された地図に関する情報に基づいて求められる前記後続車の最大加速度であることを特徴とする車両制御装置。 - 請求項7に記載の車両制御装置において、
前記アクチュエータは、制動に関する制動アクチュエータと、駆動に関する駆動アクチュエータと、を備え、
前記後続車で取得された地図に関する情報のうち地形に関する情報に基づいて、前記駆動アクチュエータに駆動力を制限する指令を出力、または前記制動アクチュエータに制動力を制限する指令を出力することを特徴とする車両制御装置。 - 請求項7に記載の車両制御装置において、
前記アクチュエータは、制動に関する制動アクチュエータと、駆動に関する駆動アクチュエータと、を備え、
前記後続車で取得された地図に関する情報のうち走行規定値に関する情報に基づいて、前記駆動アクチュエータに駆動力を制限する指令を出力、または前記制動アクチュエータに制動力を制限する指令を出力することを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置において、
前記アクチュエータは操舵に関する操舵アクチュエータを備え、
前記最小回転半径に関する情報に基づいて、前記操舵アクチュエータに操舵角を制限する指令を出力することを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置において、
前記アクチュエータは駆動に関する駆動アクチュエータを備え、
前記先行車及び前記後続車が駆動状態となるとき、前記後続車の車両諸元のうち駆動性能に関する情報に基づいて、前記駆動アクチュエータに駆動力を制限する指令を出力することを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置において、
前記アクチュエータは制動に関する制動アクチュエータを備え、
前記先行車及び前記後続車が制動状態となるとき、前記後続車の車両諸元のうち制動性能に関する情報に基づいて、前記制動アクチュエータに制動力を制限する指令を出力することを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記出力された前記先行車の運動状態を制限するための指令は、前記先行車の運転者に通知する警告音や警告灯であることを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置において、
前記アクチュエータは、制動に関する制動アクチュエータと、駆動に関する駆動アクチュエータと、を備え、
前記後続車は複数の走行モードを有し、該複数の走行モードの内、選択された走行モードに対応した前記後続車の車両性能に関する情報に基づいて、前記先行車の運動状態を制限するための指令を出力することを特徴とする車両制御装置。 - 先行車と後続車とが非機械的に連結して追従走行する車両追従走行システムにおける前記先行車にて行われる車両制御方法であって、
入力された前記後続車の車両諸元のうち最小回転半径に関する情報を含む前記後続車の車両性能に関する情報に基づいて、前記先行車の運動状態を制限するための指令を出力することを特徴とする車両制御方法。 - 先行車と後続車とが非機械的に連結して追従走行する車両追従走行システムであって、
前記先行車は、
前記後続車の車両性能に関する情報が入力される入力部と、
前記入力部より入力された前記後続車の車両諸元のうち最小回転半径に関する情報を含む前記後続車の車両性能に関する情報に基づいて、前記先行車の運動状態を制限するための指令を出力する出力部と、
前記出力部より出力された前記先行車の運動状態を制限するための指令が入力され、前記先行車の制動または駆動または操舵を制御するアクチュエータと、
を備えることを特徴とする車両追従走行システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2018046239A JP7071851B2 (ja) | 2018-03-14 | 2018-03-14 | 車両制御装置、車両制御方法および車両追従走行システム |
DE112019001273.8T DE112019001273T5 (de) | 2018-03-14 | 2019-01-21 | Fahrzeugsteuervorrichtung, Fahrzeugsteuerverfahren und Nachfolgesystem des vorausfahrenden Fahrzeugs |
US16/979,769 US20210016773A1 (en) | 2018-03-14 | 2019-01-21 | Vehicle Control Apparatus, Vehicle Control Method, and Preceding Vehicle Following System |
CN201980018117.3A CN111836746A (zh) | 2018-03-14 | 2019-01-21 | 车辆控制装置、车辆控制方法和车辆追随行驶系统 |
PCT/JP2019/001596 WO2019176285A1 (ja) | 2018-03-14 | 2019-01-21 | 車両制御装置、車両制御方法および車両追従走行システム |
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JP2021142841A (ja) | 2020-03-11 | 2021-09-24 | 本田技研工業株式会社 | 車両及びその制御装置 |
JP2021142840A (ja) | 2020-03-11 | 2021-09-24 | 本田技研工業株式会社 | 車両及びその制御装置 |
CN112158200B (zh) * | 2020-09-25 | 2022-04-01 | 厦门大学 | 基于驾驶员特性的智能电动汽车跟车控制系统及方法 |
CN112215209B (zh) * | 2020-11-13 | 2022-06-21 | 中国第一汽车股份有限公司 | 跟车目标确定方法、装置、车辆及存储介质 |
CN113022555B (zh) * | 2021-03-01 | 2023-01-20 | 重庆兰德适普信息科技有限公司 | 一种速差滑移转向车辆的目标跟随控制方法和装置 |
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JP2001001791A (ja) | 1999-04-19 | 2001-01-09 | Toyota Motor Corp | 車両の制御装置 |
JP2012027862A (ja) | 2010-07-27 | 2012-02-09 | Toyota Motor Corp | 車両制御システム |
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JPH08318765A (ja) * | 1995-05-25 | 1996-12-03 | Hitachi Ltd | 情報化自動車制御装置及び方法 |
KR100721046B1 (ko) * | 2003-01-13 | 2007-05-22 | 주식회사 만도 | 차량 안정성 제어 시스템 |
US8442735B2 (en) * | 2005-06-15 | 2013-05-14 | Ford Global Technologies, Llc | Traction control system and method |
JP5234429B2 (ja) * | 2009-03-31 | 2013-07-10 | 株式会社エクォス・リサーチ | 車両制御装置、車両、及び車両制御プログラム |
JP6299167B2 (ja) * | 2013-11-12 | 2018-03-28 | 富士通株式会社 | 凹凸分析プログラム、凹凸分析方法、および凹凸分析装置 |
US9514651B2 (en) * | 2014-08-19 | 2016-12-06 | Here Global B.V. | Optimal warning distance |
JP6394497B2 (ja) * | 2015-05-25 | 2018-09-26 | トヨタ自動車株式会社 | 車両の自動運転システム |
JP6350465B2 (ja) * | 2015-09-15 | 2018-07-04 | トヨタ自動車株式会社 | 車両の制御装置 |
US10007271B2 (en) * | 2015-12-11 | 2018-06-26 | Avishtech, Llc | Autonomous vehicle towing system and method |
EP3575173B1 (en) * | 2016-03-03 | 2022-07-20 | Volvo Truck Corporation | A vehicle with autonomous driving capability |
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- 2019-01-21 WO PCT/JP2019/001596 patent/WO2019176285A1/ja active Application Filing
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JP2001001791A (ja) | 1999-04-19 | 2001-01-09 | Toyota Motor Corp | 車両の制御装置 |
JP2012027862A (ja) | 2010-07-27 | 2012-02-09 | Toyota Motor Corp | 車両制御システム |
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CN111836746A (zh) | 2020-10-27 |
JP2019156197A (ja) | 2019-09-19 |
US20210016773A1 (en) | 2021-01-21 |
WO2019176285A1 (ja) | 2019-09-19 |
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