JPWO2017077807A1 - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
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Abstract
Description
ステップS1にて、ここでは道路種別取得手段として機能する走行制御ECU44は、ナビゲーション装置36等によって生成されて自身の記憶装置に記憶されている走行経路の情報[基本的には、道路の制限速度(最高速度)等をリンクの付随情報として含む現在地から目的地までのオブジェクト(ノード・リンク・ノード)の結合情報]に基づきこれから走行しようとする前方レーンの道路種別RDの情報(後述)を取得する。
図5は、変形例1に係る車両走行制御装置12Aの構成及び動作を説明する道路曲率RCに対する制御量Acの特性図である。
図6は、変形例2に係る車両走行制御装置12Bの動作説明に供されるフローチャートであり、図7は、変形例2に係る車両走行制御装置12Bの構成及び動作を説明する道路曲率RCに対する制御量Acの特性図である。
一般に、例えば自動操舵制御での制限値である操舵制限量は、対向車との接触を回避できる程度の比較的に小さい値に設定されていた。
Claims (7)
- 車両(10)の走行時に運転の少なくとも一部を支援するため、前記車両(10)のアクチュエータ(46)を自動的に制御する車両走行制御装置(12、12A、12B)であって、
前記車両(10)が走行する道路種別(RD)の情報を取得する道路種別取得手段と、
前記車両(10)が走行する前方の道路形状(RS)の情報を取得する道路形状取得手段と、
前記前方の道路を走行するのに要する前記アクチュエータ(46)の制御量(Ac)を設定する制御量設定手段と、
前記道路種別(RD)の情報と前記道路形状(RS)の情報のうち、優先度の高い一方の前記情報に基づき前記制御量(Ac)の設定範囲を制限する設定範囲制限手段と、
を備えることを特徴とする車両走行制御装置(12、12A、12B)。 - 請求項1に記載の車両走行制御装置(12、12A、12B)において、
前記設定範囲制限手段は、
前記道路種別取得手段で取得された前記道路種別(RD)の情報に基づき制限される前記制御量(Ac)の設定範囲を環境制限量(Aer)とする一方、前記道路形状取得手段で取得された前記道路形状(RS)の情報に基づき制限される前記制御量(Ac)の設定範囲を必要制限量(Anr)とし、
前記必要制限量(Anr)と、前記環境制限量(Aer)のうち、小さい値に基づき前記制御量(Ac)の設定範囲を制限する
ことを特徴とする車両走行制御装置(12、12A、12B)。 - 請求項2に記載の車両走行制御装置(12A)において、
前記制御量設定手段により設定される、前記前方の道路を走行するのに要する前記アクチュエータ(46)の制御量(Ac)を必要制御量(Anc)とし、
前記設定範囲制限手段は、
前記必要制御量(Anc)に制御緩和量(β)を上乗せした値を前記必要制限量(Anr)とし、前記制御緩和量(β)は、前記必要制御量(Anc)が増大する程、小さい値を採るように設定する
ことを特徴とする車両走行制御装置(12A)。 - 請求項3に記載の車両走行制御装置(12B)において、
前記必要制御量(Anc)が、前記環境制限量(Aer)を上回る値、あるいは前記環境制限量(Aer)から所定制限量(α)を差し引いた修正環境制限量(Aer´)を上回る値となる場合には、前記車両(10)の走行支援制御の少なくとも一部を解除又は禁止する
ことを特徴とする車両走行制御装置(12B)。 - 請求項1〜4のいずれか1項に記載の車両走行制御装置(12、12A、12B)において、
前記車両(10)の周囲の障害物を検出する障害物検出手段(30)をさらに備え、
前記設定範囲制限手段は、
前記車両(10)が前記障害物検出手段(30)により検出された前記障害物との接触の可能性に応じて、前記制御量(Ac)の設定範囲を変更する
ことを特徴とする車両走行制御装置(12、12A、12B)。 - 請求項2〜5のいずれか1項に記載の車両走行制御装置(12、12A、12B)において、
前記車両(10)の進行方向に基づいて操舵角を設定する操舵角設定手段と、
前記操舵角設定手段により設定された操舵角となるように前記アクチュエータ(62)を自動操舵する自動操舵手段(60)と、
前記車両(10)の加減速を自動制御する自動加減速手段(70、80)と、
をさらに備え、
前記道路形状取得手段は、
前記車両(10)の進行方向前方の道路における曲率(RC)を取得する曲率取得手段をさらに備え、
前記環境制限量(Aer)は、
前記道路種別取得手段で取得された前記道路種別(RD)の情報に基づき、前記自動操舵における前記操舵角を制限する値として設定され、
前記設定範囲制限手段は、
前記環境制限量(Aer)と前記必要制限量(Anr)のうち、小さい値に基づき前記操舵角を制限すると共に、前記曲率取得手段で取得された前記道路の曲率(RC)が閾値曲率(L2)を上回る値となる場合、前記自動操舵手段(60)による自動操舵を解除あるいは禁止するか、前記自動加減速手段(70、80)により前記車両(10)を減速させる
ことを特徴とする車両走行制御装置(12、12A、12B)。 - 請求項6に記載の車両走行制御装置(12、12A、12B)において、
前記環境制限量(Aer)は、
前記道路種別取得手段で取得された前記道路種別(RD)の情報に基づき、前記自動加減速手段(70、80)における前記加減速を制限する値として設定され、
前記必要制限量(Anr)は、
前記道路形状取得手段で取得された前記道路形状(RS)の情報に基づき、前記自動加減速手段(70、80)における前記加減速を制限する値として設定され、
前記設定範囲制限手段は、
前記環境制限量(Aer)と前記必要制限量(Anr)のうち、小さい値に基づき前記自動加減速手段(70、80)により自動制御される加減速を制限する
ことを特徴とする車両走行制御装置(12、12A、12B)。
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