JP7219649B2 - 車両の制御装置及び車両の制御方法 - Google Patents
車両の制御装置及び車両の制御方法 Download PDFInfo
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
-
- 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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
- G07C5/0833—Indicating performance data, e.g. occurrence of a malfunction using audio means
-
- 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
- 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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/70—Indexing codes relating to the special location or mounting of sensors on the wheel or the tire
-
- 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
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Description
まず、図1を参照して、本実施形態に係る車両1の構成について説明する。図1は、本実施形態に係る車両1の構成例を示す説明図である。
車両1の走行中、各車輪3にはタイヤ力Fが発生する。車両1の加速時には正の前後力Fxが発生し、車両1の制動時には負の前後力Fxが発生する。また、車両1の旋回時には、前後力Fxと合わせて、正負いずれかの横力Fyが発生する。車輪3に作用する前後力Fx及び横力Fyの合力がタイヤ力Fとなる。かかるタイヤ力Fが、タイヤ力限界値F_maxを超える領域(危険領域)では、タイヤがスリップする可能性が生じる。
次に、電子制御ユニット50による動作例を説明する。図4は、電子制御ユニット50による制御処理を示すフローチャートである。
の警告部53は、タイヤ力限界値F_max及び警告開始閾値F_minを算出する(ステップS11)。例えば、警告部53は、撮像装置21や状態量センサ23の検出信号及びその他の路面状態を推定可能な情報に基づいて走行路の路面摩擦係数μを設定し、当該路面摩擦係数μにあらかじめ設定された係数をかけて、タイヤ力限界値F_max及び警告開始閾値F_minを算出する。
以上説明した本実施形態に係る車両の制御装置は種々の変形が可能である。
例えば、警告部53は、警告音を発生させる際に、タイヤ力Fの大きさに応じて音量又は警告音の発生間隔を異ならせてもよい。具体的に、警告部53は、タイヤ力限界値F_maxと警告開始閾値F_minとの差Xから、タイヤ力限界値F_maxとタイヤ力Fとの差X1を引いた値(X-X1)が大きくなるにつれて警告音の音量を大きくし、かつ、警告音の発生間隔を短くすることができる。これにより、路面摩擦係数μの違いによってタイヤ力限界値F_max及び警告開始閾値F_minが変動する場合であっても、警告音の音量や発生間隔の制御を適切に行うことができる。
3,3LF,3RF,3LR,3RR 車輪
31,31LF,31RF,31LR,31RR タイヤ力センサ
35,35a,35b,35c,35d スピーカ
50 電子制御ユニット
51 タイヤ力推定部
53 警告部
55 旋回状態検出部
Claims (5)
- 各車輪に設けられたタイヤ力センサと、
前記タイヤ力センサのセンサ信号に基づいて各車輪のタイヤ力を推定するタイヤ力推定部と、
車両の旋回状態を検出する旋回状態検出部と、
推定されたタイヤ力に基づいて少なくとも一つの車輪が限界状態と推定された場合に、前記旋回状態に応じた異なる態様で警告音を発生させる警告部と、を備え、
前記警告部は、前記旋回状態に基づいて車両の衝突予測位置を求め、前記衝突予測位置の方向から乗員に前記警告音が聞こえるように前記警告音を発生させる、
車両の制御装置。 - 前記警告部は、前記車両が直進中であり、かつ、少なくともいずれか一つの車輪が限界状態と推定された場合、前記車両の前方から前記乗員に前記警告音が聞こえるように前記警告音を発生させる、
請求項1に記載の車両の制御装置。 - 前記警告部は、前記車両が旋回中であり、かつ、全ての車輪が限界状態と推定された場合、前記車両の前後左右全ての方向から前記乗員に前記警告音が聞こえるように前記警告音を発生させる、
請求項1に記載の車両の制御装置。 - 前記警告部は、前記車両が旋回中であり、かつ、前輪が限界状態と推定された場合、前記車両の前方の旋回外側から前記乗員に前記警告音が聞こえるように前記警告音を発生させる、
請求項1に記載の車両の制御装置。 - 前記警告部は、前記車両が旋回中であり、かつ、後輪が限界状態と推定された場合、前記車両の後方の旋回外側から前記乗員に前記警告音が聞こえるように前記警告音を発生させる、
請求項1に記載の車両の制御装置。
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US16/743,430 US10970945B2 (en) | 2019-03-25 | 2020-01-15 | Control apparatus for vehicle and control method for vehicle |
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Citations (4)
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JP2005306121A (ja) | 2004-04-19 | 2005-11-04 | Koyo Seiko Co Ltd | 車両姿勢制御装置 |
JP2007313966A (ja) | 2006-05-24 | 2007-12-06 | Advics:Kk | 車両状態判定装置、並びに該車両状態判定装置を備えた車両の警報装置及び運動制御装置 |
JP2009090842A (ja) | 2007-10-10 | 2009-04-30 | Jtekt Corp | 車両用制御装置 |
JP2012146316A (ja) | 2012-03-01 | 2012-08-02 | Nissan Motor Co Ltd | 警報装置およびその方法 |
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JP2736395B2 (ja) | 1990-03-19 | 1998-04-02 | 日本電子工業 株式会社 | 車輪作用力測定装置及び構造体の応力測定装置 |
EP0819912B1 (en) * | 1996-07-15 | 2004-11-17 | Toyota Jidosha Kabushiki Kaisha | Vehicle driving condition prediction device and warning device using the prediction device |
JP3783073B2 (ja) | 1997-05-21 | 2006-06-07 | 日本電子工業株式会社 | 構造体の作用力計測方法および装置 |
JP4703817B2 (ja) | 2000-06-16 | 2011-06-15 | 株式会社ブリヂストン | 路面摩擦係数の推定方法と路面摩擦係数推定装置、路面状態の推定方法と路面状態推定装置、及び、路面滑り警告装置 |
DE10160059A1 (de) * | 2000-12-30 | 2002-08-01 | Bosch Gmbh Robert | System und Verfahren zur Beurteilung eines Beladungszustandes eines Kraftfahrzeugs |
EP1518769B1 (en) | 2002-07-02 | 2010-04-28 | JTEKT Corporation | Vehicle control system |
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US7908112B2 (en) * | 2008-11-24 | 2011-03-15 | GM Global Technology Operations LLC | Dynamic observer for the estimation of vehicle lateral velocity |
JP5993804B2 (ja) * | 2013-06-12 | 2016-09-14 | 株式会社ブリヂストン | タイヤ接地状態推定方法 |
US10168252B1 (en) * | 2017-12-21 | 2019-01-01 | Ford Global Technologies, Llc | Methods and apparatus to facilitate tire force estimation |
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2005306121A (ja) | 2004-04-19 | 2005-11-04 | Koyo Seiko Co Ltd | 車両姿勢制御装置 |
JP2007313966A (ja) | 2006-05-24 | 2007-12-06 | Advics:Kk | 車両状態判定装置、並びに該車両状態判定装置を備えた車両の警報装置及び運動制御装置 |
JP2009090842A (ja) | 2007-10-10 | 2009-04-30 | Jtekt Corp | 車両用制御装置 |
JP2012146316A (ja) | 2012-03-01 | 2012-08-02 | Nissan Motor Co Ltd | 警報装置およびその方法 |
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