JP7180077B2 - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
- Publication number
- JP7180077B2 JP7180077B2 JP2018025811A JP2018025811A JP7180077B2 JP 7180077 B2 JP7180077 B2 JP 7180077B2 JP 2018025811 A JP2018025811 A JP 2018025811A JP 2018025811 A JP2018025811 A JP 2018025811A JP 7180077 B2 JP7180077 B2 JP 7180077B2
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- JP
- Japan
- Prior art keywords
- vehicle
- assist control
- brake assist
- time
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
-
- 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- 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
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
-
- 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
- B60T2201/03—Brake assistants
-
- 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
- B60T2210/32—Vehicle surroundings
-
- 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
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Description
2 車間距離センサ
3 相対速度センサ
4 車速センサ
5 ブレーキペダルセンサ
6 ECU
7 ブレーキアクチュエータ
8 スロットル弁
61 ブレーキアシスト制御部
T1 作動条件テーブル
Claims (4)
- ドライバーによるブレーキペダルの操作時に、前記ブレーキペダルの踏み込み量に対応する制動力以上の制動力をブレーキに付与するブレーキアシスト制御を行うブレーキアシスト制御部と、
自車両と先行車両との車間距離を検出する車間距離センサと、
前記自車両と前記先行車両との相対速度を検出する相対速度センサと、
前記自車両の車速を検出する車速センサとを備え、
前記ブレーキアシスト制御部は、前記相対速度及び前記車間距離から算出される衝突予想時間が予め定められた第1衝突予想時間以下であって、前記車速及び前記車間距離から算出される車頭時間が基準車頭時間以下の場合、前記ブレーキアシスト制御の作動条件を満たすと判定する一方、前記衝突予想時間が前記第1衝突予想時間より大きい場合であっても、前記車頭時間が前記基準車頭時間以下であって、前記衝突予想時間が前記第1衝突予想時間よりも大きい予め定められた第2衝突予想時間以下の場合、前記作動条件を満たすと判定し、
前記作動条件を満たす領域は、複数の危険レベルを有し、
前記ブレーキアシスト制御部は、前記領域の内、前記衝突予想時間が前記第1衝突予想時間以上でありかつ前記車頭時間が前記基準車頭時間未満の領域の危険レベルを、前記衝突予想時間が前記第1衝突予想時間未満かつ前記車頭時間が前記基準車頭時間未満である領域よりも低くなるよう決定し、前記危険レベルが高くなるにつれて前記制動力を大きく算出する車両の制御装置。 - 前記ブレーキアシスト制御部は、前記ブレーキペダルの踏み込み速度が基準踏み込み速度より大きいという条件を更に満たす場合、前記作動条件を満たすと判定するものであり、前記車頭時間が短くなるにつれて、前記基準踏み込み速度を減少させる請求項1記載の車両の制御装置。
- 前記ブレーキアシスト制御部は、前記ブレーキペダルの踏み込み量に対応する目標減速度が基準目標減速度以上であるという条件を更に満たす場合、前記作動条件を満たすと判定するものであり、前記車頭時間が短くなるにつれて、前記基準目標減速度を減少させる請求項1又は2記載の車両の制御装置。
- 前記ブレーキアシスト制御部は、前記作動条件を満たすと判定した場合、前記車頭時間が短くなるにつれて、前記ブレーキペダルの踏み込み量に対応する制動力に付加するアシスト制動力を増大させる請求項1~3のいずれかに記載の車両の制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018025811A JP7180077B2 (ja) | 2018-02-16 | 2018-02-16 | 車両の制御装置 |
US16/967,558 US20210213918A1 (en) | 2018-02-16 | 2019-01-29 | Vehicle control device |
EP19753893.7A EP3738845B1 (en) | 2018-02-16 | 2019-01-29 | Vehicle control device |
CN201980012627.XA CN111699116A (zh) | 2018-02-16 | 2019-01-29 | 车辆的控制装置 |
PCT/JP2019/002829 WO2019159675A1 (ja) | 2018-02-16 | 2019-01-29 | 車両の制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018025811A JP7180077B2 (ja) | 2018-02-16 | 2018-02-16 | 車両の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019142265A JP2019142265A (ja) | 2019-08-29 |
JP7180077B2 true JP7180077B2 (ja) | 2022-11-30 |
Family
ID=67618582
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018025811A Active JP7180077B2 (ja) | 2018-02-16 | 2018-02-16 | 車両の制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20210213918A1 (ja) |
EP (1) | EP3738845B1 (ja) |
JP (1) | JP7180077B2 (ja) |
CN (1) | CN111699116A (ja) |
WO (1) | WO2019159675A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7035995B2 (ja) * | 2018-12-25 | 2022-03-15 | トヨタ自動車株式会社 | 運転支援装置 |
JP2022091537A (ja) * | 2020-12-09 | 2022-06-21 | トヨタ自動車株式会社 | 運転支援装置 |
JP7471248B2 (ja) * | 2021-03-18 | 2024-04-19 | 株式会社デンソー | 車両制御装置および車両制御方法 |
KR20230055722A (ko) * | 2021-10-19 | 2023-04-26 | 현대모비스 주식회사 | 차량의 타겟 감지 시스템 및 방법 |
CN114604241A (zh) * | 2022-03-31 | 2022-06-10 | 北京百度网讯科技有限公司 | 车辆驾驶风险评估方法、装置、电子设备及边缘计算设备 |
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2018
- 2018-02-16 JP JP2018025811A patent/JP7180077B2/ja active Active
-
2019
- 2019-01-29 EP EP19753893.7A patent/EP3738845B1/en active Active
- 2019-01-29 US US16/967,558 patent/US20210213918A1/en not_active Abandoned
- 2019-01-29 WO PCT/JP2019/002829 patent/WO2019159675A1/ja unknown
- 2019-01-29 CN CN201980012627.XA patent/CN111699116A/zh active Pending
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JP2003246225A (ja) | 2001-12-21 | 2003-09-02 | Nissan Motor Co Ltd | 車両用運転操作補助装置 |
JP2004076724A (ja) | 2002-06-21 | 2004-03-11 | Nissan Motor Co Ltd | 車両用報知装置及びその方法 |
JP2005112243A (ja) | 2003-10-09 | 2005-04-28 | Nissan Motor Co Ltd | 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両 |
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JP2015081075A (ja) | 2013-10-24 | 2015-04-27 | トヨタ自動車株式会社 | 制動装置 |
Also Published As
Publication number | Publication date |
---|---|
US20210213918A1 (en) | 2021-07-15 |
EP3738845A1 (en) | 2020-11-18 |
EP3738845B1 (en) | 2022-12-07 |
JP2019142265A (ja) | 2019-08-29 |
EP3738845A4 (en) | 2020-11-18 |
CN111699116A (zh) | 2020-09-22 |
WO2019159675A1 (ja) | 2019-08-22 |
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