JPWO2017145555A1 - 走行制御装置及び走行制御システム - Google Patents
走行制御装置及び走行制御システム Download PDFInfo
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- 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
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
Description
特許文献1では操舵開始点からカーブ開始点までに、車体を曲率に合わせて傾かせるための操舵操作をすることで、乗り心地の良いカーブ走行をさせる方法が開示されているが、加減速を伴ってカーブを走行する場合については触れられていない。
前記GVC軌道算出手段により求められた走行軌道が、前記車線形状検知部により検知された車線内に収まるように、カーブ手前に操舵開始点を決定する操舵開始点決定部と、を有する。
11 左前輪
12 右前輪
13 左後輪
14 右後輪
15 走行制御装置
16 慣性センサ
17 GPSセンサ
18 操舵装置
19 駆動装置
20 制動制御装置
21 左前輪制動装置
22 右前輪制動装置
23 左後輪制動装置
24 右後輪制動装置
25 減速機
26 ドライブシャフト
27 操舵角センサ
28 カメラ
29 側方画像センサ
31 左前輪車輪速センサ
32 右前輪車輪速センサ
33 左後輪車輪速センサ
34 右後輪車輪速センサ
201 操舵開始点判断装置
202 車線形状検知部
203 目標車速推定部
204 操舵開始点決定部
Claims (11)
- カーブの形状を検知するカーブ形状検知部と、
自車速度に基づき、横方向の加速度と前後方向の加速度の関係であるG-Gダイアグラムが弧状を描くような関係を満たす推定軌道を算出する推定軌道算出手段と、
前記推定軌道が、前記カーブ内に収まるように、カーブ手前に操舵開始点を決定する操舵開始点決定部と、
を有することを特徴とする走行制御装置。 - 前記推定軌道が前記車線内に収まらないと判断した場合、
前記推定軌道が前記車線内に収まる車速となるように減速制御する請求項1に記載の走行制御装置。 - 前記推定軌道が前記車線内に収まらないと判断した場合、
一定車速で安定して走行できる車速となるように減速制御する請求項1に記載の走行制御装置。 - 前記自車速度が、前記カーブを一定速度で安定して走行できる速度である目標車速か否かを判断する目標車速推定部をさらに有し、
前記目標車速推定部が否であると判断した場合に、推定軌道算出手段が作動する請求項1乃至3の何れかに記載の走行制御装置。 - 前記カーブ形状検知部で検知されたカーブの車線幅が、予め定めたカーブの車線幅よりも大きい場合には、予め定めた操舵開始点よりも早い位置から操舵操作を開始するように前記制御指令値を出力する請求項1に記載の走行制御装置。
- 前記目標車速が前記カーブの曲率に基づいて決定される車速より大きい場合は、前記操舵開始点のタイミングで自車の横運動に基づく前後加速度の制御を開始し、
前記目標車速が前記カーブの曲率に基づいて決定される車速より小さい場合は、前記走行制御部から出力された指令に基づいて予め定めた走行経路に沿って車速と操舵の制御を開始する請求項4に記載の走行制御装置。 - 前記操舵開始点決定部は、
前記推定軌道と、前記カーブ形状と、に基づいて車線を逸脱するか否かを判断し、判断した結果に基づいて操舵開始点を決定する請求項1に記載の走行制御装置。 - 請求項1乃至3に記載の走行制御装置と、
前記走行制御装置から出力される制御指令に基づき駆動するブレーキ、ステアリング、アクセル、
を備える車両。 - 請求項4に記載の走行制御装置と、
前記走行制御装置から出力される制御指令に基づき駆動するアクチュエータと、
を備える車両。 - 前記操舵開始点は、車線幅、車体幅、車速、カーブ曲率、前記推定軌道のうち少なくとも1つに基づき決定される請求項1乃至3に記載の走行制御装置。
- 前記操舵開始点で、前記推定軌道に基づき車両を制御する請求項1乃至3に記載の走行制御装置。
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JP2016035032 | 2016-02-26 | ||
JP2016035032 | 2016-02-26 | ||
PCT/JP2017/000915 WO2017145555A1 (ja) | 2016-02-26 | 2017-01-13 | 走行制御装置及び走行制御システム |
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JPWO2017145555A1 true JPWO2017145555A1 (ja) | 2018-11-22 |
JP6752875B2 JP6752875B2 (ja) | 2020-09-09 |
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EP (1) | EP3421314A4 (ja) |
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US9511681B2 (en) * | 2013-05-09 | 2016-12-06 | Rockwell Automation, Inc. | Controlled motion system having an improved track configuration |
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JP6634100B2 (ja) * | 2018-01-12 | 2020-01-22 | 本田技研工業株式会社 | 走行軌道決定装置及び自動運転装置 |
CN109360445B (zh) * | 2018-07-09 | 2021-02-09 | 重庆大学 | 一种基于横向与纵向运动学特征分布的高速换道风险检测方法 |
US20210213941A1 (en) * | 2018-09-27 | 2021-07-15 | Hitachi Automotive Systems, Ltd. | Vehicle Control Device |
GB2578917B (en) * | 2018-11-14 | 2021-10-06 | Jaguar Land Rover Ltd | Vehicle control system and method |
FR3088882B1 (fr) * | 2018-11-23 | 2020-10-30 | Psa Automobiles Sa | Régulation de la vitesse d’un véhicule en virage en fonction de la consigne de vitesse |
CN111267853B (zh) * | 2018-12-03 | 2021-06-18 | 广州汽车集团股份有限公司 | 一种自适应车辆弯道辅助控制方法、装置、计算机设备和存储介质 |
JP7258677B2 (ja) * | 2019-07-05 | 2023-04-17 | 日産自動車株式会社 | 運転制御方法及び運転制御装置 |
FR3100622B1 (fr) * | 2019-09-10 | 2021-09-17 | Renault Sas | Procédé de démarrage de conduite autonome d’un véhicule automobile. |
US11548520B2 (en) * | 2019-10-11 | 2023-01-10 | Mitsubishi Electric Research Laboratories, Inc. | Control of autonomous vehicles adaptive to user driving preferences |
US11472395B2 (en) * | 2020-02-28 | 2022-10-18 | Cnh Industrial America Llc | System and method for executing multi-mode turns with a work vehicle |
JP2021154858A (ja) * | 2020-03-26 | 2021-10-07 | 本田技研工業株式会社 | 車両の走行制御装置 |
CN111674393B (zh) * | 2020-05-12 | 2021-12-07 | 坤泰车辆系统(常州)有限公司 | 自动驾驶系统车道居中辅助功能长弯道行驶的控制方法 |
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JP7523329B2 (ja) * | 2020-11-25 | 2024-07-26 | 日立Astemo株式会社 | 車両統合制御装置、および、車両統合制御方法 |
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