KR20080031457A - 주차 지원 제어 장치 및 주차 지원 제어 시스템 - Google Patents
주차 지원 제어 장치 및 주차 지원 제어 시스템 Download PDFInfo
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- KR20080031457A KR20080031457A KR1020087004405A KR20087004405A KR20080031457A KR 20080031457 A KR20080031457 A KR 20080031457A KR 1020087004405 A KR1020087004405 A KR 1020087004405A KR 20087004405 A KR20087004405 A KR 20087004405A KR 20080031457 A KR20080031457 A KR 20080031457A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
- B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
- B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
- B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
- B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
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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
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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
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (7)
- 차량(VL)을 정지시키는 목표 주차 위치를 구하는 동시에, 상기 목표 주차 위치로 이동하기 위한 이동 궤적을 구하고, 상기 이동 궤적을 따라서 상기 차량(VL)을 이동시키는 지원을 행하는 주차 지원 제어를 실행하고, 이 주차 지원 제어 중에 상기 차량(VL)의 상기 목표 주차 위치로의 도달을 판정한 경우에 차량 정지 제어를 실행하는 주차 지원 제어 장치에 있어서,상기 이동 궤적을 따라서 이동하는 상기 차량(VL)의 현재 위치를 구하는 현재 위치 검출 수단(110)과,상기 현재 위치로부터 상기 목표 주차 위치로 이동할 때까지의 앞 차량(VL)의 변위량(θ, L)을 구하는 변위량 연산 수단(115, 120)과,상기 목표 주차 위치에 도달했다고 판정할 수 있는 상기 차량(VL)의 상기 변위량을 기준 변위량으로 하여, 상기 현재 위치에 있어서의 상기 차량(VL)의 상기 변위량이 상기 기준 변위량에 근접할수록 상기 차량(VL)의 속도가 지연되도록 목표 속도(VREF)를 설정하는 목표 속도 설정 수단(150, 175)과,상기 차량(VL)이 상기 목표 속도로 되도록 제동 요구를 행하여, 상기 변위량이 상기 기준 변위량으로 되면 상기 차량(VL)을 정지시키는 제동 요구 수단(155, 160, 180)과,상기 차량(VL)의 차체 속도(V)를 구하는 차속 검출 수단(100)과,상기 변위량의 초기값에 상당하는 변위량 초기값(θ0, L0)을 설정하는 동시 에, 이 변위량 초기값(θ0, L0)을 기초로, 상기 차량(VL)이 상기 이동 궤적의 어느 위치에 도달했을 때에 상기 차량 정지 제어를 개시하는지의 차량 정지 제어 개시 위치를 결정하는 제어 개시 조건 설정 수단(125)과,상기 변위량이 상기 변위량 초기값(θ0, L0)으로 되었을 때의 상기 차체 속도(V)를 차체 속도 초기값(V0)으로서 설정하는 차체 속도 초기값 설정 수단(135)을 갖고 있고,상기 목표 속도 설정 수단(150, 175)은 상기 현재 위치가 상기 차량 정지 제어 개시 위치에 도달하면, 상기 변위량 초기값(θ0, L0)에 대한 상기 변위량(θ, L)의 비를 상기 차체 속도 초기값(V0)에 곱한 값을 상기 목표 속도(VREF)로서 설정하는 것을 특징으로 하는 주차 지원 제어 장치.
- (삭제)
- 제1항에 있어서, 상기 제어 개시 조건 설정 수단(125)은 상기 차량 정지 제어 개시 위치로서, 상기 이동 경로 중에 있어서의 상기 변위량(θ, L)이 상기 변위량 초기값(θ0, L0)으로 되는 위치, 혹은 그것보다도 앞의 위치를 설정하는 것을 특징으로 하는 주차 지원 제어 장치.
- 제1항 또는 제3항에 있어서, 상기 변위량 연산 수단은 상기 변위량으로서 상기 현재 위치로부터 상기 목표 주차 위치까지의 거리(L)를 구하는 것을 특징으로 하는 주차 지원 제어 장치.
- 제1항, 제3항 또는 제4항 중 어느 한 항에 있어서, 상기 변위량 연산 수단은 상기 변위량으로서 상기 현재 위치에 있어서의 상기 차량(VL)의 방향과 상기 목표 주차 위치에 있어서의 상기 차량(VL)의 방향과의 이루는 각도로서 정의되는 차량 편향각(θ)을 구하는 것을 특징으로 하는 주차 지원 제어 장치.
- 제1항, 제3항 내지 제5항 중 어느 한 항에 있어서, 상기 현재 위치 연산 수단(115)은 상기 차량(VL)에 구비되는 각 차륜(4FL, 4FR, 4RL, 4RR) 각각에 대응하여 구비되는 차륜 속도 센서(5FL, 5FR, 5RL, 5RR)의 검출 신호로부터 적어도 후륜 2륜(4RL, 4RR)의 이동량을 구하는 동시에, 상기 차량(VL)에 구비되는 조타각 센서(51)의 검출 신호로부터 스티어링 각을 구하고, 상기 이동량 및 상기 스티어링 각을 기초로 하여 상기 이동 궤적을 따른 상기 차량(VL)의 이동량을 구함으로써 상기 현재 위치를 구하는 것을 특징으로 하는 주차 지원 제어 장치.
- 제1항, 제3항 내지 제6항 중 어느 한 항에 가재된 주차 지원 제어 장치를 구비하는 동시에,상기 차량(VL)에 구비되는 차륜(4FL, 4FR, 4RL, 4RR)에 제동력을 부여하는 제동력 부여 수단(2, 3)을 갖고,상기 제동 요구 수단(155, 160, 180)으로부터의 상기 제동 요구를 기초로 하 여 상기 제동력 부여 수단(2, 3)을 구동시켜, 상기 목표 속도(VREF)로 되는 제동력을 부여하도록 구성되어 있는 것을 특징으로 하는 주차 지원 제어 시스템.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005218767A JP4882302B2 (ja) | 2005-07-28 | 2005-07-28 | 駐車支援制御装置および駐車支援制御システム |
JPJP-P-2005-00218767 | 2005-07-28 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20080031457A true KR20080031457A (ko) | 2008-04-08 |
KR100969396B1 KR100969396B1 (ko) | 2010-07-14 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020087004405A KR100969396B1 (ko) | 2005-07-28 | 2006-06-23 | 주차 지원 제어 장치 및 주차 지원 제어 시스템 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8055429B2 (ko) |
EP (1) | EP1908656B1 (ko) |
JP (1) | JP4882302B2 (ko) |
KR (1) | KR100969396B1 (ko) |
CN (1) | CN101228054B (ko) |
WO (1) | WO2007013246A1 (ko) |
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JP5262087B2 (ja) * | 2007-11-29 | 2013-08-14 | アイシン精機株式会社 | 駐車支援装置 |
DE102008003662A1 (de) * | 2008-01-09 | 2009-07-16 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Anzeigen der Umgebung eines Fahrzeugs |
JP5098674B2 (ja) * | 2008-01-31 | 2012-12-12 | 株式会社アドヴィックス | 車体速度演算装置 |
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CN102303604A (zh) * | 2011-06-29 | 2012-01-04 | 广东好帮手电子科技股份有限公司 | 一种自动泊车系统 |
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JP6839044B2 (ja) * | 2017-07-24 | 2021-03-03 | 本田技研工業株式会社 | 走行支援装置及び走行支援方法 |
JP6693483B2 (ja) * | 2017-07-26 | 2020-05-13 | 株式会社アドヴィックス | 車両の停止支援装置 |
JP6977589B2 (ja) * | 2018-01-31 | 2021-12-08 | 株式会社デンソー | 車両用警報装置 |
DE102018204134B4 (de) * | 2018-03-19 | 2022-03-17 | Volkswagen Aktiengesellschaft | Verfahren zum Ausparken eines Kraftfahrzeugs aus einem Parkplatz und Kraftfahrzeug mit einer Steuereinheit zum Ausführen eines derartigen Verfahrens |
CN108545069B (zh) | 2018-03-30 | 2020-03-10 | 北京图森未来科技有限公司 | 一种车辆停车控制方法及装置 |
JP2021062727A (ja) * | 2019-10-11 | 2021-04-22 | アイシン精機株式会社 | 駐車支援装置、駐車支援方法及び駐車支援プログラム |
CN111731273B (zh) * | 2020-06-22 | 2022-08-09 | 重庆长安汽车股份有限公司 | 自动泊车限位桩工况识别方法及存储介质 |
CN113428137B (zh) * | 2021-08-06 | 2022-09-09 | 浙江吉利控股集团有限公司 | 泊车控制方法、装置及存储介质 |
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JPH10264839A (ja) | 1997-03-25 | 1998-10-06 | Nissan Motor Co Ltd | 自動駐車装置 |
JPH11105686A (ja) * | 1997-10-07 | 1999-04-20 | Nissan Motor Co Ltd | 自動駐車装置 |
EP1215089B1 (en) * | 2000-06-27 | 2007-01-03 | Kabushiki Kaisha Toyota Jidoshokki | Parking aiding device |
JP2003011760A (ja) * | 2001-06-28 | 2003-01-15 | Toyota Industries Corp | 駐車支援装置 |
JP4161573B2 (ja) * | 2001-06-29 | 2008-10-08 | 株式会社豊田自動織機 | 駐車支援装置 |
JP4234374B2 (ja) * | 2002-08-21 | 2009-03-04 | 三菱自動車工業株式会社 | 駐車支援装置 |
JP3934082B2 (ja) * | 2003-05-16 | 2007-06-20 | トヨタ自動車株式会社 | 走行支援装置 |
JP4389650B2 (ja) | 2004-04-28 | 2009-12-24 | 三菱自動車工業株式会社 | 自動操舵駐車支援装置 |
KR20060008487A (ko) * | 2004-07-21 | 2006-01-27 | 현대자동차주식회사 | 자동 주차 방법 |
JP4557817B2 (ja) * | 2005-06-17 | 2010-10-06 | アイシン精機株式会社 | 運転支援装置 |
JP4818816B2 (ja) * | 2006-06-05 | 2011-11-16 | 富士通株式会社 | 駐車支援プログラム及び駐車支援装置 |
JP5088074B2 (ja) * | 2007-10-01 | 2012-12-05 | 日産自動車株式会社 | 駐車支援装置及び方法 |
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CN101228054B (zh) | 2012-01-04 |
JP4882302B2 (ja) | 2012-02-22 |
JP2007030746A (ja) | 2007-02-08 |
EP1908656A4 (en) | 2013-03-06 |
EP1908656B1 (en) | 2014-04-30 |
EP1908656A1 (en) | 2008-04-09 |
WO2007013246A1 (ja) | 2007-02-01 |
US20090132143A1 (en) | 2009-05-21 |
KR100969396B1 (ko) | 2010-07-14 |
CN101228054A (zh) | 2008-07-23 |
US8055429B2 (en) | 2011-11-08 |
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