JP7185511B2 - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
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- JP7185511B2 JP7185511B2 JP2018229141A JP2018229141A JP7185511B2 JP 7185511 B2 JP7185511 B2 JP 7185511B2 JP 2018229141 A JP2018229141 A JP 2018229141A JP 2018229141 A JP2018229141 A JP 2018229141A JP 7185511 B2 JP7185511 B2 JP 7185511B2
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- 238000002474 experimental method Methods 0.000 description 3
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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
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W30/18—Propelling the vehicle
-
- 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
-
- 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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
-
- 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
-
- 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
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0012—Feedforward or open loop systems
-
- 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
- B60W2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
-
- 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
- B60W2520/14—Yaw
-
- 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
- B60W2520/40—Torque distribution
- B60W2520/406—Torque distribution between left and right wheel
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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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
-
- 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)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
δtff=Gff・κ …(1)
δth=δx+δy=Gl・Δx+Gy・θt …(2)
δt=δtff+K1・δth …(3)
γm=V/ρ=(1/(1+As・V2))・(V/Lw)・(δ+((Kf+Kr)/(2・Lw・Kf・Kr))・Mzc …(4)
Mzh=((1+As・V2)・Lw/ρ-δth)・(2・Lw・Kf・Kr)/(Kf+Kr) …(5)
Mz=K2・(Mzh+Mzix) …(6)
Trl=-(rt/d)・ΔMz …(7)
Trr=+(rt/d)・ΔMz …(8)
2 駆動系
3 操舵系
13 第1モータ
16fl、16fr 前輪
17 第2モータ
18 第3モータ
20rl,20rr 後輪
25 第1モータ制御部
26 第2モータ制御部
27 第3モータ制御部
39 電動パワーステアリング装置(EPS装置)
40 EPS制御部
41 走行環境認識装置
42 ナビゲーションシステム
50 制御ユニット
50a 走行路情報取得部
50b 操舵制御部
50c 制駆動力制御部
50d 制御割合設定部
δt 目標操舵角
Mz 目標ヨーモーメント
Claims (5)
- 自車両が目標コースに沿って走行するよう制御する車両の走行制御装置であって、
前記目標コースに沿って自車両を走行させる操舵制御量を算出し、算出した前記操舵制御量に基づいて自車両の操舵系を制御する操舵制御部と、
前記目標コースに対する自車両のズレ量に基づいて自車両に付加するヨーモーメントを算出し、算出した前記ヨーモーメントに基づいて車輪の制駆動力配分を制御する制駆動力制御部と、
前記目標コースに対する自車両の位置ズレを修正する際の前記操舵制御部による操舵制御と前記制駆動力制御部による制駆動力配分制御との制御割合を、前記目標コースに対する自車両の車幅方向の横位置偏差に基づいて設定し、設定した前記制御割合で前記操舵制御と前記制駆動力配分制御とを実行させて前記目標コースに対する自車両の位置ズレを修正する制御割合設定部とを備え、
前記制御割合設定部は、自車両の位置に応じた制御帯として、前記目標コースを含む第1の制御帯と、該第1の制御帯に隣接する第2の制御帯とを設け、前記制御割合を、前記第1の制御帯では前記制駆動力配分制御を主とする割合に設定し、前記第2の制御帯では前記操舵制御と前記制駆動力配分制御とを協調制御させる割合に設定する
ことを特徴とする車両の走行制御装置。 - 前記制御割合設定部は、前記第1の制御帯に自車両が位置する場合、前記操舵制御に対する前記制御割合をゼロとして前記制駆動力配分制御を実行させ、前記第2の制御帯に自車両が位置する場合、前記横位置偏差が大きくなるほど前記操舵制御に対する前記制御割合を大きくするとともに前記制駆動力配分制御に対する前記制御割合を小さくし、前記横位置偏差が小さくなるほど前記操舵制御に対する前記制御割合を小さくするとともに前記制駆動力配分制御に対する前記制御割合を大きくすることにより、前記操舵制御と前記制駆動力配分制御との協調制御を実行させることを特徴とする請求項1に記載の車両の走行制御装置。
- 前記操舵制御部は、前記操舵制御量を、前記目標コースの曲率に基づくフィードフォワード制御の操舵制御量と、前記目標コースに対する自車両の前記ズレ量に基づくフィードバック制御の操舵制御量とに基づいて算出し、前記フィードバック制御の操舵制御量を前記制御割合に従って補正することを特徴とする請求項1又は請求項2に記載の車両の走行制御装置。
- 前記制駆動力制御部は、前記フィードバック制御の操舵制御量に対応するヨーモーメントを算出し、算出した前記ヨーモーメントを前記制御割合に従って補正することを特徴とする請求項3に記載の車両の走行制御装置。
- 前記目標コースに対する前記ズレ量は、自車両の対車線ヨー角及び前記横位置偏差であることを特徴とする請求項1から請求項4の何れか一項に記載の車両の走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018229141A JP7185511B2 (ja) | 2018-12-06 | 2018-12-06 | 車両の走行制御装置 |
US16/658,922 US11505191B2 (en) | 2018-12-06 | 2019-10-21 | Vehicle traveling control device |
CN201911068641.XA CN111284486A (zh) | 2018-12-06 | 2019-11-05 | 车辆的行驶控制装置 |
DE102019131288.4A DE102019131288A1 (de) | 2018-12-06 | 2019-11-20 | Fahrzeugsteuervorrichtung |
Applications Claiming Priority (1)
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JP2018229141A JP7185511B2 (ja) | 2018-12-06 | 2018-12-06 | 車両の走行制御装置 |
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JP2020090215A JP2020090215A (ja) | 2020-06-11 |
JP7185511B2 true JP7185511B2 (ja) | 2022-12-07 |
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US (1) | US11505191B2 (ja) |
JP (1) | JP7185511B2 (ja) |
CN (1) | CN111284486A (ja) |
DE (1) | DE102019131288A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102017212603A1 (de) * | 2017-07-21 | 2019-01-24 | Robert Bosch Gmbh | Verfahren zum Bereitstellen und zum Verbessern einer Positionswahrscheinlichkeitsverteilung für GNSS-Empfangsdaten |
JP7216579B2 (ja) * | 2019-03-08 | 2023-02-01 | 日立Astemo株式会社 | 車両運動制御装置、車両運動制御方法、及び車両運動制御システム |
JP7372784B2 (ja) * | 2019-08-30 | 2023-11-01 | マツダ株式会社 | 中央演算装置 |
CN114940163B (zh) * | 2022-04-25 | 2023-03-24 | 北京宾理信息科技有限公司 | 一种后轮转向车辆的横向运动控制方法、后轮转向车辆及电子系统 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005271844A (ja) | 2004-03-26 | 2005-10-06 | Toyota Motor Corp | 車輌の走行制御装置 |
DE102009025058A1 (de) | 2008-06-13 | 2009-12-17 | Volkswagen Ag | Vorrichtung und Verfahren zur Beeinflussung der Fahrzeugquerdynamik |
JP2010058691A (ja) | 2008-09-04 | 2010-03-18 | Fuji Heavy Ind Ltd | 操向支援装置 |
JP2016150683A (ja) | 2015-02-18 | 2016-08-22 | トヨタ自動車株式会社 | 車両の運転支援制御装置 |
JP2018161996A (ja) | 2017-03-27 | 2018-10-18 | 株式会社Subaru | 車両の走行制御装置 |
JP2018167731A (ja) | 2017-03-30 | 2018-11-01 | 株式会社Subaru | 車両の走行制御装置 |
JP2018167734A (ja) | 2017-03-30 | 2018-11-01 | 株式会社Subaru | 車両の走行制御装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4215026B2 (ja) * | 2005-05-18 | 2009-01-28 | トヨタ自動車株式会社 | 車輌の走行制御装置 |
EP3281832B1 (en) * | 2015-04-10 | 2022-09-21 | Hitachi Astemo, Ltd. | Travel control device for vehicle |
EP3293065B1 (en) * | 2016-09-12 | 2021-02-24 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Steering control system and a method for controlling steering |
JP6898636B2 (ja) * | 2017-03-30 | 2021-07-07 | 株式会社Subaru | 車両の走行制御装置 |
JP6961791B2 (ja) * | 2018-02-21 | 2021-11-05 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、およびプログラム |
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2018
- 2018-12-06 JP JP2018229141A patent/JP7185511B2/ja active Active
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2019
- 2019-10-21 US US16/658,922 patent/US11505191B2/en active Active
- 2019-11-05 CN CN201911068641.XA patent/CN111284486A/zh active Pending
- 2019-11-20 DE DE102019131288.4A patent/DE102019131288A1/de active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005271844A (ja) | 2004-03-26 | 2005-10-06 | Toyota Motor Corp | 車輌の走行制御装置 |
DE102009025058A1 (de) | 2008-06-13 | 2009-12-17 | Volkswagen Ag | Vorrichtung und Verfahren zur Beeinflussung der Fahrzeugquerdynamik |
JP2010058691A (ja) | 2008-09-04 | 2010-03-18 | Fuji Heavy Ind Ltd | 操向支援装置 |
JP2016150683A (ja) | 2015-02-18 | 2016-08-22 | トヨタ自動車株式会社 | 車両の運転支援制御装置 |
JP2018161996A (ja) | 2017-03-27 | 2018-10-18 | 株式会社Subaru | 車両の走行制御装置 |
JP2018167731A (ja) | 2017-03-30 | 2018-11-01 | 株式会社Subaru | 車両の走行制御装置 |
JP2018167734A (ja) | 2017-03-30 | 2018-11-01 | 株式会社Subaru | 車両の走行制御装置 |
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Publication number | Publication date |
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DE102019131288A1 (de) | 2020-06-10 |
CN111284486A (zh) | 2020-06-16 |
US20200180626A1 (en) | 2020-06-11 |
JP2020090215A (ja) | 2020-06-11 |
US11505191B2 (en) | 2022-11-22 |
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