JP7409281B2 - 運転支援装置 - Google Patents
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- JP7409281B2 JP7409281B2 JP2020173759A JP2020173759A JP7409281B2 JP 7409281 B2 JP7409281 B2 JP 7409281B2 JP 2020173759 A JP2020173759 A JP 2020173759A JP 2020173759 A JP2020173759 A JP 2020173759A JP 7409281 B2 JP7409281 B2 JP 7409281B2
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- 230000008569 process Effects 0.000 description 22
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
-
- 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
- B60W30/181—Preparing for stopping
-
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
-
- 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
- B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
-
- 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
- B60W50/10—Interpretation of driver requests or demands
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0073—Driver overrides controller
-
- 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
- B60W2520/04—Vehicle stop
-
- 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
-
- 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
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/10—Accelerator pedal position
- B60W2540/106—Rate of change
-
- 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
- B60W2552/50—Barriers
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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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
-
- 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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
減速支援制御は、自車両(例えば図1の車両1)の進行方向前方に、減速対象が存在し、自車両のドライバが、アクセルペダル及びブレーキペダルのいずれも踏下していないときに実行されてよい。減速支援制御が実行されると、自車両は、比較的緩やかに減速する緩減速走行となる。
次に、運転支援装置100の構成について図3を参照して説明する。図3において、運転支援装置100は、車両1に搭載されている。運転支援装置100は、ECU(Electronic Control Unit)11と、アクセルペダルセンサ12と、ブレーキペダルセンサ13とを備えて構成されている。尚、図3では、上述した車載カメラ等の減速対象を認識するための構成の図示を省略している。
支援制御部112が行う減速支援制御の解除動作について、図4のフローチャートを参照して説明を加える。
減速支援制御が実行されているときに、ドライバのアクセルペダルの操作に起因して、該減速支援制御の実行が解除される場合、何らの対策も採らなければ、ドライバが減速度の急な変化を感じるおそれがある。これに対して、運転支援装置100では、ドライバのアクセルペダルの操作の程度に応じて要求減速度DEが減少される。具体的には、アクセルペダルの操作の程度が所定程度以上である場合は、該操作の程度が該所定程度未満である場合に比べて、或いは、該操作の程度が強い場合は、該操作の程度が弱い場合に比べて、要求減速度DEが早く減少される。言い換えれば、運転支援装置100では、ドライバのアクセルペダルの操作の程度が所定程度未満の場合は、該操作の程度が該所定程度以上である場合に比べて、或いは、該操作の程度が弱い場合は、該操作の程度が強い場合に比べて、要求減速度DEが遅く減少される。
上述した実施形態では、例えば閾値Th(図5(a)参照)を用いて、アクセルペダルの操作の程度が強いか弱いかが判定される態様が挙げられている。しかしながら、該判定に用いられる閾値は一つに限らず複数であってよい。つまり、アクセルペダルの操作の程度が多段的に判定されてよい。この場合、アクセルペダルの操作の程度が強くなるほど、要求減速度DEが早く減少されてよい。或いは、アクセルペダルの操作の程度に応じて、要求減速度DEの減少の程度が連続的に変更されてよい。この場合も、アクセルペダルの操作の程度が強くなるほど、要求減速度DEが早く減少されてよい。
Claims (9)
- アクセルペダルの操作を検出する第1検出手段と、
ブレーキペダルの操作を検出する第2検出手段と、
少なくとも前記アクセルペダルの操作及び前記ブレーキペダルの操作が検出されない場合に、自車両を自動的に減速させる減速支援制御を開始し、前記減速支援制御が実行されているときに前記アクセルペダルの操作が検出された場合、前記減速支援制御の実行を解除し、前記減速支援制御の実行を解除する際に、前記アクセルペダルの操作の程度に応じて、前記減速支援制御に係る減速制御量を減少させる制御手段と、
を備えることを特徴とする運転支援装置。 - 前記制御手段は、前記減速支援制御の実行を解除する際に、前記アクセルペダルの操作の程度が所定程度より強い場合は、前記アクセルペダルの操作の程度が前記所定程度より弱い場合に比べて、前記減速支援制御に係る減速制御量を早く減少させることを特徴とする請求項1に記載の運転支援装置。
- 前記制御手段は、前記減速支援制御の実行を解除する際に、前記アクセルペダルの操作の程度が強い場合は、前記アクセルペダルの操作の程度が弱い場合に比べて、前記減速支援制御に係る減速制御量を早く減少させることを特徴とする請求項1に記載の運転支援装置。
- 前記制御手段は、前記減速支援制御の実行を解除する際に、前記アクセルペダルの操作の程度が強くなるほど、前記減速支援制御に係る減速制御量を早く減少させることを特徴とする請求項1に記載の運転支援装置。
- 前記アクセルペダルの操作の程度は、前記アクセルペダルのストローク、前記ストロークの単位時間当たりの変化、前記アクセルペダルの踏力、及び、前記踏力の単位時間当たりの変化の少なくとも一つに基づく指標として表されることを特徴とする請求項1乃至4のいずれか一項に記載の運転支援装置。
- 前記制御手段は、前記減速支援制御の実行を解除する際に、前記減速制御量と、前記アクセルペダルの操作から推定される運転者の要求加速度とに基づいて、前記自車両に係る目標加速度を決定し、
前記制御手段は、前記目標加速度が前記要求加速度より小さい場合は、前記目標加速度の時間変化が前記減速制御量の時間変化に対応するように前記目標加速度を決定し、前記目標加速度が前記要求加速度に達した場合は、前記目標加速度の時間変化が前記要求加速度の時間変化に対応するように前記目標加速度を決定する
ことを特徴とする請求項1乃至5のいずれか一項に記載の運転支援装置。 - 前記制御手段は、前記減速支援制御の実行を解除する際に、前記減速支援制御の実行の解除が開始された後の前記アクセルペダルの操作に応じて、前記減速制御量の減らし方を変更することを特徴とする請求項1乃至6のいずれか一項に記載の運転支援装置。
- 前記減速支援制御は、運転者が前記アクセルペダル及び前記ブレーキペダルを踏んでおらず、且つ、前記自車両の減速度が所定値以下であるときに実行されることを特徴とする請求項1乃至7のいずれか一項に記載の運転支援装置。
- 前記減速支援制御は、運転者が前記アクセルペダル及び前記ブレーキペダルを踏んでおらず、且つ、前記自車両の減速又は停止を要求する減速対象と前記自車両との間の距離が所定距離以上であるときに実行されることを特徴とする請求項1乃至8のいずれか一項に記載の運転支援装置。
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Application Number | Priority Date | Filing Date | Title |
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JP2020173759A JP7409281B2 (ja) | 2020-10-15 | 2020-10-15 | 運転支援装置 |
EP21201076.3A EP3984849A1 (en) | 2020-10-15 | 2021-10-05 | Driver assistance device |
CN202111181843.2A CN114368384A (zh) | 2020-10-15 | 2021-10-11 | 驾驶辅助装置 |
US17/500,389 US20220118981A1 (en) | 2020-10-15 | 2021-10-13 | Driver assistance device |
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JP2020173759A JP7409281B2 (ja) | 2020-10-15 | 2020-10-15 | 運転支援装置 |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2001146150A (ja) | 1999-11-19 | 2001-05-29 | Toyota Motor Corp | 車両減速力制御装置 |
JP2012162221A (ja) | 2011-02-09 | 2012-08-30 | Honda Motor Co Ltd | 自動制動装置 |
JP2016147506A (ja) | 2015-02-10 | 2016-08-18 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
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DE10015303B4 (de) * | 2000-03-28 | 2016-11-03 | Robert Bosch Gmbh | Verfahren zum Abbrechen eines Bremseingriffs eines Abstandsregelsystems eines Kraftfahrzeugs |
JP2011148342A (ja) * | 2010-01-19 | 2011-08-04 | Toyota Motor Corp | 車両制御装置 |
JP6645471B2 (ja) * | 2017-04-18 | 2020-02-14 | トヨタ自動車株式会社 | 車両の駆動力制御装置 |
JP7035995B2 (ja) * | 2018-12-25 | 2022-03-15 | トヨタ自動車株式会社 | 運転支援装置 |
JP7147569B2 (ja) | 2019-01-15 | 2022-10-05 | トヨタ自動車株式会社 | 運転支援装置 |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP2001146150A (ja) | 1999-11-19 | 2001-05-29 | Toyota Motor Corp | 車両減速力制御装置 |
JP2012162221A (ja) | 2011-02-09 | 2012-08-30 | Honda Motor Co Ltd | 自動制動装置 |
JP2016147506A (ja) | 2015-02-10 | 2016-08-18 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
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JP2022065285A (ja) | 2022-04-27 |
US20220118981A1 (en) | 2022-04-21 |
EP3984849A1 (en) | 2022-04-20 |
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