JP7505442B2 - 車両 - Google Patents
車両 Download PDFInfo
- Publication number
- JP7505442B2 JP7505442B2 JP2021075172A JP2021075172A JP7505442B2 JP 7505442 B2 JP7505442 B2 JP 7505442B2 JP 2021075172 A JP2021075172 A JP 2021075172A JP 2021075172 A JP2021075172 A JP 2021075172A JP 7505442 B2 JP7505442 B2 JP 7505442B2
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- vehicle
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- deceleration
- host vehicle
- speed
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- 230000001133 acceleration Effects 0.000 claims description 41
- 238000010586 diagram Methods 0.000 description 16
- 230000036461 convulsion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000006399 behavior Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 230000002542 deteriorative effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
-
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W40/02—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 ambient conditions
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2554/804—Relative 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
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
5 電子制御ユニット(制御装置)
100 車両(自車両)
101 第1車両
102 第2車両
Claims (3)
- 自車両と同一車線かつ自車両の前方を走行する第1車両を認識し、自車両と同一車線かつ前記第1車両の前方を走行する第2車両を認識し、前記第1車両及び前記第2車両の走行情報を取得するように構成された走行情報取得装置と、
自車両の車速を制御して自車両と前記第1車両との車間距離を調節する追従制御の実施中に、前記第2車両が認識された場合は、前記第1車両の車速と前記第2車両の車速との車速差に基づいて、自車両の加減速時の挙動を制御するように構成された制御装置と、
を備え、
前記制御装置は、
自車両が前記第1車両よりも速く、かつ前記第1車両が前記第2車両よりも速く、かつ前記車速差が所定の閾値以上で、かつ前記第2車両が加速中であれば、前記第2車両が認識されていない場合よりも、前記車間距離を調節する際の自車両の減速度の時間変化率を小さくするように構成される、
車両。 - 前記制御装置は、
自車両が前記第1車両よりも速く、かつ前記第1車両が前記第2車両よりも速く、かつ前記車速差が所定の閾値以上であれば、前記第2車両が認識されていない場合よりも、前記車間距離を調節する際の自車両の減速開始タイミングを早くするように構成される、
請求項1に記載の車両。 - 前記制御装置は、
自車両が前記第1車両よりも遅く、かつ前記第1車両が前記第2車両よりも速く、かつ前記車速差が所定の閾値以上であれば、前記第2車両が認識されていない場合よりも、前記車間距離を調節する際の自車両の加速度の時間変化率を小さくするように構成される、
請求項1に記載の車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021075172A JP7505442B2 (ja) | 2021-04-27 | 2021-04-27 | 車両 |
US17/652,838 US20220340134A1 (en) | 2021-04-27 | 2022-02-28 | Vehicle, control method for a vehicle and non-transitory computer storage medium |
CN202210412711.4A CN115339443A (zh) | 2021-04-27 | 2022-04-19 | 车辆、车辆的控制方法及非临时性的计算机存储介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021075172A JP7505442B2 (ja) | 2021-04-27 | 2021-04-27 | 車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022169250A JP2022169250A (ja) | 2022-11-09 |
JP7505442B2 true JP7505442B2 (ja) | 2024-06-25 |
Family
ID=83693827
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021075172A Active JP7505442B2 (ja) | 2021-04-27 | 2021-04-27 | 車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20220340134A1 (ja) |
JP (1) | JP7505442B2 (ja) |
CN (1) | CN115339443A (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102023102525A1 (de) * | 2023-02-02 | 2024-08-08 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum betreiben einer adaptiven geschwindigkeitsregelung |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001199257A (ja) | 2000-01-17 | 2001-07-24 | Denso Corp | 車両用走行制御装置 |
JP2004106588A (ja) | 2002-09-13 | 2004-04-08 | Fuji Heavy Ind Ltd | 車両用運転支援装置 |
JP2007001383A (ja) | 2005-06-22 | 2007-01-11 | Nissan Motor Co Ltd | 走行支援装置及び走行支援方法 |
JP2011084105A (ja) | 2009-10-13 | 2011-04-28 | Toyota Motor Corp | 走行支援装置 |
JP2016028925A (ja) | 2014-07-25 | 2016-03-03 | 株式会社デンソー | 車両制御装置および車両制御プログラム |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3327217B2 (ja) * | 1998-08-05 | 2002-09-24 | 三菱自動車工業株式会社 | 車両の走行制御方法 |
JP3835438B2 (ja) * | 2003-07-11 | 2006-10-18 | トヨタ自動車株式会社 | 衝突対応車両制御システム |
US9254846B2 (en) * | 2013-05-03 | 2016-02-09 | Google Inc. | Predictive reasoning for controlling speed of a vehicle |
JP6075329B2 (ja) * | 2014-06-06 | 2017-02-08 | 株式会社デンソー | 車両制御装置および車両制御プログラム |
US9630624B2 (en) * | 2015-09-21 | 2017-04-25 | Volkswagen Ag | Method to enhance safe acceleration and lead-vehicle distance keeping performance, by measuring forward vehicle gaps |
WO2018132614A2 (en) * | 2017-01-12 | 2018-07-19 | Mobileye Vision Technologies Ltd. | Rules-based navigation |
JP7255562B2 (ja) * | 2020-07-16 | 2023-04-11 | トヨタ自動車株式会社 | 車両の運転支援制御装置 |
-
2021
- 2021-04-27 JP JP2021075172A patent/JP7505442B2/ja active Active
-
2022
- 2022-02-28 US US17/652,838 patent/US20220340134A1/en active Pending
- 2022-04-19 CN CN202210412711.4A patent/CN115339443A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001199257A (ja) | 2000-01-17 | 2001-07-24 | Denso Corp | 車両用走行制御装置 |
JP2004106588A (ja) | 2002-09-13 | 2004-04-08 | Fuji Heavy Ind Ltd | 車両用運転支援装置 |
JP2007001383A (ja) | 2005-06-22 | 2007-01-11 | Nissan Motor Co Ltd | 走行支援装置及び走行支援方法 |
JP2011084105A (ja) | 2009-10-13 | 2011-04-28 | Toyota Motor Corp | 走行支援装置 |
JP2016028925A (ja) | 2014-07-25 | 2016-03-03 | 株式会社デンソー | 車両制御装置および車両制御プログラム |
Also Published As
Publication number | Publication date |
---|---|
CN115339443A (zh) | 2022-11-15 |
JP2022169250A (ja) | 2022-11-09 |
US20220340134A1 (en) | 2022-10-27 |
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