WO2014188779A1 - 駐車支援装置および駐車支援方法 - Google Patents
駐車支援装置および駐車支援方法 Download PDFInfo
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- WO2014188779A1 WO2014188779A1 PCT/JP2014/058615 JP2014058615W WO2014188779A1 WO 2014188779 A1 WO2014188779 A1 WO 2014188779A1 JP 2014058615 W JP2014058615 W JP 2014058615W WO 2014188779 A1 WO2014188779 A1 WO 2014188779A1
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- WIPO (PCT)
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- current command
- command value
- value
- parking
- steering
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- 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
Definitions
- the present invention calculates a first current command value according to the steering input of the driver and a second current command value according to the steering power required to guide the vehicle to the target parking position. Based on the value and the second current command value, a current command value for operating the steering mechanism is calculated as a third current command value.
- the first current command value is gradually changed from the first current command value to the second current command value during the first time.
- the value of the third current command value is gradually changed from the value of the second current command value to the value of the first current command value at a second time different from the first time.
- the steering support characteristic in which the correspondence relationship between the steering torque, the vehicle speed, and the first current command value is predetermined is stored in advance in the ROM of the steering support control unit 21 in the form of a map or an arithmetic expression.
- the steering assist characteristic is such that the absolute value of the first current command increases as the absolute value of the steering torque increases, and the absolute value of the first current command value decreases as the vehicle speed increases. Is set.
- the positive / negative sign of the first current command value is a positive first current command value when steering in one direction and a negative first value when steering in the other direction according to the steering angle and steering angular velocity. The current command value is determined.
- the parking assist control device 30 includes, for example, a microcomputer composed of a CPU, a ROM, a RAM, and an I / O interface, and controls the driving of the electric motor 40 according to a control program stored in the ROM, thereby parking the vehicle. Car parking support control is performed to assist.
- the parking assistance control device 30 calculates a motor current command value Im for controlling the driving of the electric motor 40 and outputs the calculated motor current command value Im to the steering assistance control device 20.
- the steering assist control device 20 receives the motor current command value Im from the parking support control device 30, the steering assist control device 20 supplies the electric current of the received motor current command value Im to the electric motor 40 via the in-vehicle battery.
- the steering power required to guide the vehicle to the target parking position can be applied to the steering device 10.
- the driver can move the vehicle to the target parking position only by adjusting the vehicle speed and adjusting the stop position by the accelerator operation and the brake operation without performing the steering operation.
- the calculation of the first current command value I1 by the parking assistance control device 30 can be performed by the same method as the calculation of the first current command value I1 by the steering assistance control device 20 described above. That is, the parking assistance control device 30 refers to the steering assistance characteristic in which the correspondence relationship between the steering torque, the vehicle speed, and the first current command value is determined in advance, and based on the current steering torque and the current vehicle speed, The first current command value can be calculated.
- the parking assistance control device 30 may be configured to directly acquire the first current command value calculated by the steering assistance control device 20 from the steering assistance control device 20.
- the parking assist control device 30 calculates the positional relationship between the current vehicle position and the target parking position, and calculates a target parking route for parking at the target parking position. Then, the parking assist control device 30 calculates a necessary steering angle based on the target parking route and the current vehicle position, and calculates a current value to be supplied to the electric motor 40 necessary to achieve the steering angle.
- the second current command value I2 is calculated.
- the graph shown in FIG. 2A shows an example of the first current command value I1, the second current command value I2, and the motor current command value Im in the scene where the parking assist control is started.
- the current command value I1 is indicated by a one-dot chain line
- the second current command value I2 is indicated by a broken line
- the motor current command value Im is indicated by a solid line.
- the graph shown in FIG. 2 (B) displays the gain of the motor current command value Im
- the graph shown in FIG. 2 (C) displays on / off of the parking assist control.
- the parking support control device 30 takes the time Ta as shown in FIG. 2A when the parking support control is switched from off to on and the parking support control is started.
- the value of the current command value Im is changed from the value of the first current command value I1 to the value of the second current command value I2.
- the time Ta can be set to, for example, 200 to 500 milliseconds, and can be appropriately changed depending on the vehicle type, tuning, and the like.
- the parking support control device 30 has a value of the first current command value I1 as shown in FIG. 2 (A) when the parking support control is off. Is calculated as the value of the motor current command value Im.
- the parking support control device 30 switches to FIG. 2 (B) when the parking support control is switched from off to on at time t1 and the parking support control is started.
- the gain of the motor current command value Im is changed, and the gain of the motor current command value Im is changed until the value of the motor current command value Im becomes the value of the second current command value I2.
- the parking assistance control apparatus 30 changes the value of the motor current command value Im from the value of the first current command value I1 to the value of the second current command value I2.
- the graph shown in FIG. 3A shows an example of the first current command value I1, the second current command value I2, and the motor current command value Im in the scene where the parking assistance control is stopped.
- the first current command value I1 is indicated by a one-dot chain line
- the second current command value I2 is indicated by a broken line
- the motor current command value Im is indicated by a solid line.
- the graph shown in FIG. 3B displays the gain of the motor current command value Im
- the graph shown in FIG. 3C displays on / off of the parking assist control.
- the motor current is set so that the motor current command value Im becomes the second current command value I2, as shown in FIG.
- the gain of the command value Im is controlled, so that the value of the motor current command value Im becomes the value of the second current command value I2, as shown in FIG.
- the parking support control device 30 As shown in B), the gain of the motor current command value Im is changed so that the value of the motor current command value Im changes from the value of the second current command value I2 to the value of the first current command value I1. Thereby, the parking assistance control apparatus 30 changes the value of the motor current command value Im from the value of the second current command value I2 to the value of the first current command value I1.
- the parking assistance control apparatus 30 gradually changes the value of the motor current command value Im over time Tb as shown in FIG. Thereby, in this embodiment, when the driver cancels the parking assistance control, the value of the motor current command value Im instantaneously changes from the value of the second current command value I2 to the value of the first current command value I1. This can effectively prevent the driver from feeling uncomfortable.
- FIG. 4 is a diagram for explaining parking support processing according to the present embodiment. Note that the parking support process described below is executed by the parking support device 30.
- step S101 it is determined whether or not the parking support control has been switched from off to on.
- the process proceeds to step S102.
- parking assistance control is not switched from OFF to ON, the process proceeds to step S109.
- step S105 the change of the gain of the motor current command value Im is stopped, and in the subsequent step S106, the motor 40 is driven by the motor current command value Im that is the value of the second current command value I2.
- the motor current command value Im becomes the second current command value I2
- parking assist control is performed with the second current command value I2. Will be.
- step S107 it is determined whether or not the parking support control has been stopped, that is, whether or not the parking support control has been switched from on to off. If the parking support control has been switched from on to off, the process proceeds to step S108. On the other hand, if the parking support control has not been switched from on to off, the parking support control is not performed and the parking support shown in FIG. The control process ends. That is, in the parking support control process shown in FIG. 4, after the parking support control is turned off, the parking support control is not executed until the parking support control is switched from off to on.
- step S109 based on the gain changed in step S108, the motor current command value Im is output and transmitted to the steering assist control device 20. As a result, as in step S103, the rotational torque corresponding to the motor current command value Im is applied to the steering device 10.
- step S110 it is determined whether or not the value of the motor current command value Im has changed from the value of the second current command value I2 to the value of the first current command value I1. If the value of the motor current command value Im is not yet the value of the first current command value I1, the process returns to step S108, and the gain of the motor current command value Im is gradually changed to the value of the first current command value I1. The motor 40 is driven by the changed motor current command value Im. On the other hand, when the value of the motor current command value Im becomes the value of the first current command value I1, the parking assistance control shown in FIG. 4 is terminated. In this case, the steering support control by the steering support control device 20 is performed.
- the value of the motor current command value Im is set to the first time over the first time Ta.
- the value of the current command value I1 is gradually changed from the value of the current command value I1 to the value of the second current command value I2.
- the value of the motor current command value Im is set to the second value over a second time Tb that is not zero.
- the current command value I2 is gradually changed from the current command value I2 to the first current command value I1.
- the motor current command value Im is instantaneously changed from the second current command value I2 to the first current, contrary to the driver's intention.
- the length of the second time Tb when the parking support control is stopped is shorter than the length of the first time Ta when the parking support control is started. Therefore, even when a driver cancels parking assistance control for emergency avoidance, parking assistance control can be stopped quickly.
- FIG. 5 is a figure for demonstrating the effect of this embodiment.
- the value of the motor current command value Im is changed from the value of the first current command value I1 to the value of the second current command value I2 by changing the gain of the motor current command value Im itself.
- the present invention is not limited to this configuration.
- the gain of the first current command value I1 and the gain of the second current command value are changed, and the gained first current command value I1 and the first current command value I1 are changed.
- a configuration in which the value of the motor current command value Im is changed from the value of the first current command value I1 to the value of the second current command value I2 by calculating the motor current command value Im based on the two current command values. It is good.
- the parking support control device 30 changes to FIG.
- the gain of the first current command value I1 is gradually decreased from 100% to 0% over time Ta, and as shown in FIG.
- the gain of the command value I2 is gradually increased from 0% to 100%.
- the parking assistance control apparatus 30 is the current command value I1 ′ obtained by multiplying the first current command value I1 by the gain of the first current command value I1 and the second current command value at each timing from the time t1 to the time t2.
- a total value of a current command value I2 ′ obtained by multiplying I2 by a gain of the second current command value I2 is calculated, and the calculated total value is calculated as a motor current command value Im.
- the value of the motor current command value Im can be gradually changed from the value of the first current command value I1 to the value of the second current command value I2.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
本出願は、2013年5月22日に出願された日本国特許出願の特願2013-107811に基づく優先権を主張するものであり、文献の参照による組み込みが認められる指定国については、上記の出願に記載された内容を参照により本出願に組み込み、本出願の記載の一部とする。
10…ステアリング装置
20…操舵支援制御装置
21…操舵支援制御ユニット
22…モードスイッチ
23…モード制御ユニット
30…駐車支援制御装置
31…駐車支援制御スイッチ
32…ディスプレイ
40…電動モータ
Claims (4)
- ステアリングの操舵角に応じて車輪を操舵する操舵機構と、
前記操舵機構に前記車輪の操舵動力を付与する駆動手段と、
運転者による操舵を支援するために、前記運転者の操舵入力に応じた電流指令値を第1電流指令値として算出する第1演算手段と、
車両を目標駐車位置に誘導する駐車支援に必要な操舵動力に応じた電流指令値を第2電流指令値として算出する第2演算手段と、
前記駐車支援時に、前記第1電流指令値および前記第2電流指令値に基づいて、前記操舵機構に供給する電流の指令値を第3電流指令値として算出し、前記駆動手段に前記第3電流指令値に応じた電流を供給することで、前記駆動手段に駆動力を付与する制御手段と、を備え、
前記制御手段は、前記駐車支援が開始された場合には、第1時間をかけて、前記第3電流指令値の値を、前記第1電流指令値の値から前記第2電流指令値の値に徐々に変化させるとともに、前記駐車支援制御が停止された場合には、前記第1時間とは異なる第2時間をかけて、前記第3電流指令値の値を、前記第2電流指令値の値から前記第1電流指令値の値に徐々に変化させることを特徴とする駐車支援装置。 - 請求項1に記載の駐車支援装置において、
前記第1時間は前記第2時間のよりも長い時間であることを特徴とする駐車支援装置。 - 請求項1または2に記載の駐車支援装置において、
前記第2時間はゼロよりも長い時間であることを特徴とする駐車支援装置。 - 車両を目標駐車位置まで誘導する駐車支援制御が実行可能な駐車支援方法において、
運転者の操舵入力に応じた第1電流指令値と、車両を前記目標駐車位置に誘導するために必要な操舵動力に応じた第2電流指令値とを算出し、前記第1電流指令値および前記第2電流指令値に基づいて、操舵機構に供給する電流の指令値を第3電流指令値として算出し、前記駐車支援制御が開始された場合には、第1時間をかけて、前記第3電流指令値の値を、前記第1電流指令値の値から前記第2電流指令値の値に徐々に変化させるとともに、前記駐車支援制御が停止された場合には、前記第1時間とは異なる第2時間をかけて、前記第3電流指令値の値を、前記第2電流指令値の値から前記第1電流指令値の値に徐々に変化させることを特徴とする駐車支援方法。
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JP2015518135A JP6103049B2 (ja) | 2013-05-22 | 2014-03-26 | 駐車支援装置および駐車支援方法 |
CN201480029030.3A CN105339239B (zh) | 2013-05-22 | 2014-03-26 | 停车辅助装置及停车辅助方法 |
EP14800765.1A EP3000693B1 (en) | 2013-05-22 | 2014-03-26 | Parking assist device, and parking assist method |
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JP2013107811 | 2013-05-22 | ||
JP2013-107811 | 2013-05-22 |
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JP (1) | JP6103049B2 (ja) |
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WO2017208781A1 (ja) * | 2016-05-31 | 2017-12-07 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP6954506B1 (ja) * | 2020-04-21 | 2021-10-27 | 日本精工株式会社 | ステアリング装置 |
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JPH0374256A (ja) * | 1989-06-08 | 1991-03-28 | Fuji Heavy Ind Ltd | 自動車用電動式パワステアリング装置兼自動操舵装置 |
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JP2007331479A (ja) * | 2006-06-13 | 2007-12-27 | Jtekt Corp | 車両用操舵装置 |
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JP4287452B2 (ja) * | 2006-09-12 | 2009-07-01 | 本田技研工業株式会社 | 車両の自動操舵装置 |
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JP5446500B2 (ja) * | 2009-06-22 | 2014-03-19 | 日産自動車株式会社 | 駐車支援装置及び駐車支援方法 |
JP5426686B2 (ja) * | 2009-10-20 | 2014-02-26 | 本田技研工業株式会社 | 電動パワーステアリング装置 |
CN104583057B (zh) * | 2013-04-04 | 2017-04-26 | 日本精工株式会社 | 电动助力转向装置 |
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- 2014-03-26 JP JP2015518135A patent/JP6103049B2/ja active Active
- 2014-03-26 EP EP14800765.1A patent/EP3000693B1/en active Active
- 2014-03-26 CN CN201480029030.3A patent/CN105339239B/zh active Active
- 2014-03-26 WO PCT/JP2014/058615 patent/WO2014188779A1/ja active Application Filing
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JPH0374256A (ja) * | 1989-06-08 | 1991-03-28 | Fuji Heavy Ind Ltd | 自動車用電動式パワステアリング装置兼自動操舵装置 |
JP2003291836A (ja) * | 2002-03-29 | 2003-10-15 | Mitsubishi Motors Corp | パワーステアリング装置 |
JP2007276708A (ja) * | 2006-04-10 | 2007-10-25 | Omron Corp | 感性識別装置、アシスト力制御装置、アシスト力設定装置、感性識別方法、アシスト力制御方法、アシスト力設定方法、感性識別プログラム、アシスト力制御プログラム、アシスト力設定プログラム、および記録媒体 |
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JP6103049B2 (ja) | 2017-03-29 |
EP3000693B1 (en) | 2018-09-05 |
EP3000693A1 (en) | 2016-03-30 |
JPWO2014188779A1 (ja) | 2017-02-23 |
EP3000693A4 (en) | 2016-05-18 |
CN105339239A (zh) | 2016-02-17 |
CN105339239B (zh) | 2017-12-29 |
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