WO2008102735A1 - 車両走行支援装置及び方法 - Google Patents

車両走行支援装置及び方法 Download PDF

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Publication number
WO2008102735A1
WO2008102735A1 PCT/JP2008/052670 JP2008052670W WO2008102735A1 WO 2008102735 A1 WO2008102735 A1 WO 2008102735A1 JP 2008052670 W JP2008052670 W JP 2008052670W WO 2008102735 A1 WO2008102735 A1 WO 2008102735A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
travel
condition
change
torque
Prior art date
Application number
PCT/JP2008/052670
Other languages
English (en)
French (fr)
Inventor
Yasushi Makino
Hideyuki Iwakiri
Yuuichi Kubota
Tomohiko Endo
Yukiko Kawabata
Miyuki Omori
Kiyotaka Moriizumi
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to KR1020097016917A priority Critical patent/KR101035318B1/ko
Priority to CN2008800052314A priority patent/CN101616832B/zh
Priority to DE602008003753T priority patent/DE602008003753D1/de
Priority to AT08711494T priority patent/ATE490140T1/de
Priority to EP08711494A priority patent/EP2113436B1/en
Priority to US12/513,934 priority patent/US8126625B2/en
Publication of WO2008102735A1 publication Critical patent/WO2008102735A1/ja

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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
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • 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
    • 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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18063—Creeping
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0604—Throttle position
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Vehicle Body Suspensions (AREA)
  • Automatic Assembly (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

　本発明は、道路環境に適合した態様でトルクを可変することができる車両走行支援装置の提供を目的とする。本発明は、車両の走行時の車輪の駆動トルクを変化させて車両の走行を支援する車両走行支援装置１０Ａにおいて、前記駆動トルクを増加させるトルクアップ手段３６，３８と、車両の進行方向に存在する路面の段差を検出する段差検出手段１２Ａ、５６と、前記トルクアップ手段の作動が許容される第１の状態と、前記トルクアップ手段の作動が抑制される第２の状態とを切り替える切替手段１２Ａとを備え、前記切替手段は、前記段差検出手段により段差が検出された場合に、前記第１の状態を形成することを特徴とする。
PCT/JP2008/052670 2007-02-20 2008-02-18 車両走行支援装置及び方法 WO2008102735A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1020097016917A KR101035318B1 (ko) 2007-02-20 2008-02-18 차량 주행 지원장치 및 방법
CN2008800052314A CN101616832B (zh) 2007-02-20 2008-02-18 车辆行驶辅助装置以及车辆行驶辅助方法
DE602008003753T DE602008003753D1 (de) 2007-02-20 2008-02-18 Vorrichtung und verfahren zur fahrhilfe eines fahrzeuges
AT08711494T ATE490140T1 (de) 2007-02-20 2008-02-18 Vorrichtung und verfahren zur fahrhilfe eines fahrzeuges
EP08711494A EP2113436B1 (en) 2007-02-20 2008-02-18 Device and method for assisting travel of vehicle
US12/513,934 US8126625B2 (en) 2007-02-20 2008-02-18 Vehicle drive assist apparatus and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007039793A JP4386082B2 (ja) 2007-02-20 2007-02-20 車両走行支援装置
JP2007-039793 2007-02-20

Publications (1)

Publication Number Publication Date
WO2008102735A1 true WO2008102735A1 (ja) 2008-08-28

Family

ID=39710012

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/052670 WO2008102735A1 (ja) 2007-02-20 2008-02-18 車両走行支援装置及び方法

Country Status (8)

Country Link
US (1) US8126625B2 (ja)
EP (1) EP2113436B1 (ja)
JP (1) JP4386082B2 (ja)
KR (1) KR101035318B1 (ja)
CN (1) CN101616832B (ja)
AT (1) ATE490140T1 (ja)
DE (1) DE602008003753D1 (ja)
WO (1) WO2008102735A1 (ja)

Cited By (2)

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EP2317338A3 (de) * 2009-10-29 2011-10-12 Robert Bosch GmbH Verfahren zur Erkennung von Objekten mit geringer Höhe
JPWO2020075686A1 (ja) * 2018-10-12 2021-09-09 京セラ株式会社 電子機器、電子機器の制御方法、及び電子機器の制御プログラム

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JP2007030700A (ja) * 2005-07-27 2007-02-08 Aisin Seiki Co Ltd 駐車支援装置
JP2008195263A (ja) * 2007-02-14 2008-08-28 Denso Corp 車両用後退支援装置
JP5361410B2 (ja) * 2009-01-22 2013-12-04 株式会社東芝 画像処理装置
JP5316805B2 (ja) * 2009-03-16 2013-10-16 株式会社リコー 車載カメラ装置の画像調整装置及び車載カメラ装置
JP5282730B2 (ja) * 2009-12-15 2013-09-04 トヨタ自動車株式会社 運転支援装置
DE102010001922A1 (de) * 2010-02-15 2011-08-18 Robert Bosch GmbH, 70469 Verfahren und Vorrichtung zum Parken eines Kraftfahrzeugs
WO2011132272A1 (ja) * 2010-04-21 2011-10-27 トヨタ自動車株式会社 車両の駐車支援装置およびそれを備える電動車両
KR101731988B1 (ko) * 2010-06-03 2017-05-02 현대모비스 주식회사 주차 보조 시스템 및 이를 이용한 장애물 탐지 방법
JP5010715B2 (ja) * 2010-06-17 2012-08-29 トヨタ自動車株式会社 車両の駐車支援装置およびそれを備える電動車両
JP5273121B2 (ja) * 2010-10-19 2013-08-28 株式会社デンソー 発進支援装置
DE102010062235A1 (de) * 2010-12-01 2012-06-06 Robert Bosch Gmbh Fahrerassistenzsystem zur Detektion eines Objekts in einer Fahrzeugumgebung
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JP2014101101A (ja) * 2012-11-22 2014-06-05 Denso Corp 駐車支援装置
JP5862799B2 (ja) * 2012-11-27 2016-02-16 日産自動車株式会社 車両用加速抑制装置及び車両用加速抑制方法
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JP7040098B2 (ja) * 2018-02-15 2022-03-23 トヨタ自動車株式会社 操舵支援装置
JP6984558B2 (ja) * 2018-07-26 2021-12-22 トヨタ自動車株式会社 車両走行支援装置
KR102586445B1 (ko) * 2018-08-08 2023-10-06 현대자동차주식회사 주차 보조를 위한 장애물 높이 측정 시스템
KR102616205B1 (ko) * 2018-10-08 2023-12-21 주식회사 에이치엘클레무브 후방 경보 장치, 그 방법 및 제어 시스템
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EP2113436A4 (en) 2010-03-10
EP2113436A1 (en) 2009-11-04
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KR101035318B1 (ko) 2011-05-20
CN101616832A (zh) 2009-12-30
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CN101616832B (zh) 2012-04-18

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