JP7267372B2 - 車両用制御装置 - Google Patents
車両用制御装置 Download PDFInfo
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- JP7267372B2 JP7267372B2 JP2021162004A JP2021162004A JP7267372B2 JP 7267372 B2 JP7267372 B2 JP 7267372B2 JP 2021162004 A JP2021162004 A JP 2021162004A JP 2021162004 A JP2021162004 A JP 2021162004A JP 7267372 B2 JP7267372 B2 JP 7267372B2
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- 230000005856 abnormality Effects 0.000 claims description 23
- 230000001133 acceleration Effects 0.000 claims description 18
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- 238000010248 power generation Methods 0.000 description 12
- 230000004043 responsiveness Effects 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000009825 accumulation Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000002747 voluntary effect Effects 0.000 description 4
- 230000000717 retained effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
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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
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/038—Limiting the input power, torque or speed
-
- 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
- B60W10/20—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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
- Power Steering Mechanism (AREA)
Description
11 操舵装置
21 制御装置
22 車速センサ
23 加速度センサ
31 電源システム
32 バッテリー
33 発電装置
Claims (3)
- 運転者が操作する操作部材と車輪を転舵する転舵部材とが機械的に切り離され、電源システムの供給電力により動作する操舵装置を備えた車両に搭載される車両用制御装置であって、
前記操舵装置に関係する異常を検知すると、上限速度を目標として車速を制限する車速制限制御を行い、
この車速制限制御では、制限された車速に基づき目標減速度を設定して、その目標減速度に実減速度が近づくように減速度制御を行うとともに、その減速度制御において減速度が加速側に変化することを制限し、
前記減速度制御としてフィードバック制御を行い、
前記フィードバック制御の開始時に、前記フィードバック制御における積分項の初期値を前記目標減速度に設定することを特徴とする車両用制御装置。 - 運転者が操作する操作部材と車輪を転舵する転舵部材とが機械的に切り離され、電源システムの供給電力により動作する操舵装置を備えた車両に搭載される車両用制御装置であって、
前記操舵装置に関係する異常を検知すると、上限速度を目標として車速を制限する車速制限制御を行い、
この車速制限制御では、制限された車速に基づき目標減速度を設定して、その目標減速度に実減速度が近づくように減速度制御を行うとともに、その減速度制御において減速度が加速側に変化することを制限し、
前記減速度制御としてフィードバック制御を行い、
前記フィードバック制御における積分項が加速側に変化することを制限することを特徴とする車両用制御装置。 - 運転者が操作する操作部材と車輪を転舵する転舵部材とが機械的に切り離され、電源システムの供給電力により動作する操舵装置を備えた車両に搭載される車両用制御装置であって、
前記操舵装置に関係する異常を検知すると、上限速度を目標として車速を制限する車速制限制御を行い、
この車速制限制御では、制限された車速に基づき目標減速度を設定して、その目標減速度に実減速度が近づくように減速度制御を行うとともに、その減速度制御において減速度が加速側に変化することを制限し、
前記減速度制御としてフィードバック制御を行い、
運転者のブレーキ操作による減速度が前記目標減速度よりも大きくなった場合に、前記フィードバック制御における積分項を前記目標減速度に設定することを特徴とする車両用制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021162004A JP7267372B2 (ja) | 2021-09-30 | 2021-09-30 | 車両用制御装置 |
US17/947,413 US20230097944A1 (en) | 2021-09-30 | 2022-09-19 | Vehicle control device |
CN202211150076.3A CN115891639A (zh) | 2021-09-30 | 2022-09-21 | 车辆控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021162004A JP7267372B2 (ja) | 2021-09-30 | 2021-09-30 | 車両用制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2023051382A JP2023051382A (ja) | 2023-04-11 |
JP7267372B2 true JP7267372B2 (ja) | 2023-05-01 |
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JP2021162004A Active JP7267372B2 (ja) | 2021-09-30 | 2021-09-30 | 車両用制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20230097944A1 (ja) |
JP (1) | JP7267372B2 (ja) |
CN (1) | CN115891639A (ja) |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003276587A (ja) | 2002-03-20 | 2003-10-02 | Nissan Motor Co Ltd | 減速度制御装置 |
JP2003327011A (ja) | 2002-05-10 | 2003-11-19 | Mitsubishi Electric Corp | 車両用走行制御装置 |
JP2004168257A (ja) | 2002-11-22 | 2004-06-17 | Toyoda Mach Works Ltd | 車両用操舵装置および異常検出装置 |
JP2007253840A (ja) | 2006-03-24 | 2007-10-04 | Toyota Motor Corp | ブレーキ制御装置 |
JP2009101714A (ja) | 2007-10-19 | 2009-05-14 | Toyota Central R&D Labs Inc | 運転走行支援装置 |
JP2017094992A (ja) | 2015-11-26 | 2017-06-01 | 株式会社デンソー | 退避走行支援装置、退避走行支援方法 |
JP2019059299A (ja) | 2017-09-26 | 2019-04-18 | トヨタ自動車株式会社 | 運転支援装置 |
JP2019130958A (ja) | 2018-01-29 | 2019-08-08 | 株式会社ジェイテクト | 操舵制御装置 |
-
2021
- 2021-09-30 JP JP2021162004A patent/JP7267372B2/ja active Active
-
2022
- 2022-09-19 US US17/947,413 patent/US20230097944A1/en active Pending
- 2022-09-21 CN CN202211150076.3A patent/CN115891639A/zh active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003276587A (ja) | 2002-03-20 | 2003-10-02 | Nissan Motor Co Ltd | 減速度制御装置 |
JP2003327011A (ja) | 2002-05-10 | 2003-11-19 | Mitsubishi Electric Corp | 車両用走行制御装置 |
JP2004168257A (ja) | 2002-11-22 | 2004-06-17 | Toyoda Mach Works Ltd | 車両用操舵装置および異常検出装置 |
JP2007253840A (ja) | 2006-03-24 | 2007-10-04 | Toyota Motor Corp | ブレーキ制御装置 |
JP2009101714A (ja) | 2007-10-19 | 2009-05-14 | Toyota Central R&D Labs Inc | 運転走行支援装置 |
JP2017094992A (ja) | 2015-11-26 | 2017-06-01 | 株式会社デンソー | 退避走行支援装置、退避走行支援方法 |
JP2019059299A (ja) | 2017-09-26 | 2019-04-18 | トヨタ自動車株式会社 | 運転支援装置 |
JP2019130958A (ja) | 2018-01-29 | 2019-08-08 | 株式会社ジェイテクト | 操舵制御装置 |
Also Published As
Publication number | Publication date |
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CN115891639A (zh) | 2023-04-04 |
US20230097944A1 (en) | 2023-03-30 |
JP2023051382A (ja) | 2023-04-11 |
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