JPWO2018230341A1 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
Description
ステップ102は、外界情報36から、障害物情報が取得できているか判断し、取得できている場合はステップ104に進み、取得できていない場合はステップ105に進む。
図6は、走行路面の摩擦係数μ(以下、路面μ)が高いとき(例えば、路面μ=0.8)に、旋回半径が40m(以下、R40)のカーブを、進入車速50km/hと70km/hで、アクセルおよびブレーキ操作は行わず、ドライバのハンドル操作のみでR40のラインに追従するように走行した場合の走行軌跡のイメージ図である。車両およびタイヤの運動性能から、進入車速50km/hの場合は、R40のラインに沿って走行可能であるが、進入車速70km/hの場合は、R40のラインに沿って走行することができなくなる。このような場合、一般的に、進入車速50km/hに対して70km/hの操舵量および操舵角速度が大きくなり、タイヤ力の非線形性の影響で、操舵角に対するヨーレイトの応答遅れが発生してくる。そのため、R40のラインに追従でる最大の進入車速で走行した場合の横加加速度のピーク値を、ステップ105で用いる閾値Xに設定し、横加加速度Yが、Y<=Xの場合は、操舵角に対するヨーレイトの位相遅れが小さいと判断して、ヨーレイトへの切り替えを可能とし、Y>Xの場合は、操舵角に対するヨーレイトの位相遅れが大きいと判断し、ヨーレイトへの切り替えを不可能と判断する。ただし、路面μが低い場合(例えば、圧雪路など)は、路面μが高い場合と比べて、タイヤ力の影響で、操舵角に対するヨーレイトの応答遅れが発生する車速が低くなる。そこで、例えば、ブラッシュタイヤモデルを用いて算出した、縦方向(進行方向)のタイヤのすべり率の値を逐次監視し、その値に応じて、横加加速度の閾値を変更するテーブルを設定してもよい。ここで、すべり率とは、タイヤの回転面の方向の速度成分uとタイヤの動半径R0、タイヤの回転角速度ωを用いて、制動時は、
制動時(s>0)、
s(路面μ:高)<s(路面μ:低)
駆動時(s<0)、
s(路面μ:高)>s(路面μ:低)
ここで、前後亜速度指令値は、正の場合は加速制御、負の場合は減速制御となる。
ヨーモーメント指令値演算部42は、図14に示すように、ヨーモーメント指令値補正演算部43、ヨーモーメント最終指令値演算部44、からなる。
ヨーモーメント指令値補正演算部(指令値補正部)43では、情報異常診断部37および、情報代替可否判断部38、の結果に基づいて、ドライバ入力情報34、車両運動情報35、外界情報36、を用いて、前後加速度指令の補正値を演算し、その結果を、ヨーモーメント最終指令値演算部44に入力する。
Claims (15)
- 車両の横運動情報を含む車両挙動情報を取得する車両挙動情報取得部と、
該車両挙動情報取得部で取得した前記横運動情報に応じて加減速制御する加減速制御部と、
前記車両挙動情報の異常の有無を診断し、診断情報を出力する診断部と、
前記横運動情報と前記診断情報とに基づき、代替制御の可否を判断する代替可否判断部と、を備える車両制御装置。 - 前記代替可否判断部は、前記車両挙動情報に異常が発生した場合、正常な車両挙動情報に基づいて前記加減速制御を行う代替制御が可能か否かを判断する、請求項1記載の車両制御装置。
- 前記車両挙動情報取得部は、外界情報を取得し、
前記代替可否判断部は、前記横運動情報と前記診断情報と前記外界情報に基づいて、代替制御の可否を判断する、請求項1記載の車両制御装置。 - 前記加減速制御部は、前記代替可否判断部で代替制御が可と判断された場合、加減速制御をするための指令値を補正する指令値補正部を有する、請求項1記載の車両制御装置。
- 前記指令値補正部は、前記指令値に補正ゲインを加えて補正をする、請求項4記載の車両制御装置。
- 前記補正ゲインは、予め定めるか、外界情報に基づいて生成される、請求項5記載の車両制御装置。
- 前記補正ゲインは、予め定めた閾値の範囲内で生成される、請求項5記載の車両制御装置。
- 前記代替可否判断部は、前記診断部で異常有と診断されて、前記外界情報で障害物情報があった場合は、代替制御を可と判断し、
前記加減速制御部は、加減速制御をするための指令値を補正する、請求項3記載の車両制御装置。 - 前記代替可否判断部は、前記診断部で異常有と診断されて、前記外界情報で障害物情報が無く、且つ、前記横運動情報が所定の閾値以下の場合は、代替制御を可と判断し、
前記加減速制御部は、加減速制御をするための指令値を補正せずに加減速制御をする、請求項3記載の車両制御装置。 - 前記代替可否判断部は、前記診断部で異常有と診断されて、前記外界情報で障害物情報が無く、且つ、前記横運動情報が所定の閾値より大きい場合は、代替制御を否と判断する、請求項3記載の車両制御装置。
- 車両の横運動情報を含む車両挙動情報を取得する車両挙動情報取得部と、
該車両挙動情報取得部で取得した前記横運動情報に応じてヨーモーメント制御するヨーモーメント制御部と、
前記車両挙動情報の異常の有無を診断し、診断情報を出力する診断部と、
前記横運動情報と前記診断情報とに基づき、代替制御の可否を判断する代替可否判断部と、を備えたことを特徴とする車両制御装置。 - 車両挙動情報と外界情報を取得する車両挙動情報取得部と、
該車両挙動情報取得部で取得した前記横運動情報に応じて加減速制御する加減速制御部と、
前記車両挙動情報と前記外界情報とに基づき、代替制御の可否を判断する代替可否判断部と、を備える車両制御装置。 - 車両挙動情報と外界情報を取得する車両挙動情報取得部と、
該車両挙動情報取得部で取得した前記横運動情報に応じて加減速制御する加減速制御部と、
前記車両挙動情報の異常の有無を診断し、診断情報を出力する診断部を備え、
前記外界情報と前記診断情報とに基づき、代替制御の可否を判断する代替可否判断部と、を備える車両制御装置。 - 前記代替可否判断部は、前記横運動情報が所定値以上の場合は、代替制御を否と判断し、
前記加減速制御部は、前記代替可否判断部で代替制御が否と判断された場合、加減速制御を中止する、請求項1記載の車両制御装置。 - 前記代替可否判断部は、前記横運動情報が所定値未満の場合は、代替制御を可と判断し、
前記加減速制御部は、前記代替可否判断部で代替制御が可と判断された場合、加減速制御を実行、又は継続する、請求項1記載の車両制御装置。
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