WO2017130507A1 - 車両の自動運転システムおよび自動運転方法 - Google Patents

車両の自動運転システムおよび自動運転方法 Download PDF

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Publication number
WO2017130507A1
WO2017130507A1 PCT/JP2016/082535 JP2016082535W WO2017130507A1 WO 2017130507 A1 WO2017130507 A1 WO 2017130507A1 JP 2016082535 W JP2016082535 W JP 2016082535W WO 2017130507 A1 WO2017130507 A1 WO 2017130507A1
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WIPO (PCT)
Prior art keywords
accelerator
vehicle speed
vehicle
brake
parameter
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PCT/JP2016/082535
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English (en)
French (fr)
Japanese (ja)
Inventor
渡邉　健二
正康 菅家
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株式会社明電舎
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Application filed by 株式会社明電舎 filed Critical 株式会社明電舎
Priority to KR1020187023542A priority Critical patent/KR101987244B1/ko
Priority to CN201680080291.7A priority patent/CN108603807B/zh
Publication of WO2017130507A1 publication Critical patent/WO2017130507A1/ja

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles

Definitions

  • the present invention relates to an automatic driving system and an automatic driving method for a vehicle, and in particular, control in the case of automatically driving a facility to be tested using an actuator or the like in a power measurement system for testing an engine, a transmission, a completed vehicle, or the like. It relates to a method for changing parameters.
  • 104 is an automatic driving device that reads an operation pattern in the database 102, receives an operation instruction from the setting device 101, and instructs the control device 103 an instantaneous target value based on the operation pattern.
  • the control device 103 is used in a test vehicle (not shown) mounted on the chassis dynamometer based on the automatic operation control parameters set by the setting device 101 and the instantaneous target value instructed from the automatic operation device 104.
  • Control target 105 (accelerator, brake, actuator for clutch operation, etc.) 105 is controlled.
  • the control of the control target 105 is performed by a drive robot (not shown) mounted in the cab of the vehicle.
  • the set driving pattern is, for example, a JC08 mode used in a fuel consumption rate test or a pattern created uniquely.
  • control parameters for automatic operation are set to the control device regardless of the operation pattern data, and after the setting, the same value is always reflected during operation. For this reason, for example, when exhaust gas mode operation such as JC08 mode is performed in a test of a completed vehicle, even if the speed followability is bad at a specific part (operation time) of the mode, the travel pattern of other parts (operation time) The parameter could not be changed so as not to affect it.
  • the present invention solves the above-described problems, and an object of the present invention is to use an automatic driving system and an automatic vehicle that can use a control parameter linked to a driving pattern and perform control that is effective only at a specific timing by the parameter. It is to provide a driving method.
  • An automatic driving system for a vehicle for solving the above problem is an automatic driving system for a vehicle that automatically drives a vehicle on a chassis dynamometer, An automatic driving device for performing automatic driving of the vehicle; A control device for controlling a control target of automatic driving in the vehicle; Define the relationship between the vehicle speed or throttle opening with respect to the time for each step, or set the driving pattern that defines the relationship between the vehicle speed or throttle opening with respect to the distance for each step, the basics for controlling the automatic driving of the vehicle
  • a setting device for accepting setting of parameters and setting of schedule interlocking parameters incorporated in each step of schedule data indicated by the operation pattern, setting operation patterns and schedule interlocking parameters in a database, and setting basic parameters in the control device And comprising
  • the automatic driving device reads an operation pattern and a schedule interlock parameter from the database, gives a target value based on the operation pattern to the control device, sets the schedule interlock parameter to the control device, The control device controls the control object based on the given target value, a set basic parameter, and a schedule interlocking
  • the automatic driving method for a vehicle includes a setting device for setting an operation pattern and a control parameter for automatically driving the vehicle on the chassis dynamometer, and an automatic driving device for executing the automatic driving of the vehicle.
  • an automatic driving method for a vehicle in a system comprising: a control device that controls a control target of automatic driving in the vehicle, The setting device defines the relationship between the vehicle speed or the throttle opening with respect to the time for each step, or sets the driving pattern in which the relationship between the vehicle speed or the throttle opening with respect to the distance is defined for each step, and automatically operates the vehicle.
  • the setting device sets the accepted operation pattern and schedule interlocking parameters in a database, and sets the accepted basic parameters in the control device;
  • the automatic driving device reads the driving pattern and schedule interlocking parameters from the database;
  • the automatic driving device gives a target value based on the read operation pattern to the control device, and sets the read schedule interlocking parameter in the control device;
  • the control device controlling the control object based on the given target value and the set basic parameter and schedule interlock parameter; It is provided with.
  • the vehicle automatic driving system according to the first aspect, wherein the setting device defines a parameter initial value for schedule data in which the schedule interlocking parameter is not incorporated, and the parameter initial value is set.
  • the parameter initial value is set in a schedule interlocking parameter read from the database.
  • the set basic parameters include a brake stroke at a stop time and a deceleration of the brake
  • the control device is configured to turn on a brake when performing a function of operating a brake with an operation amount of the set brake stroke at a stop time and an opening control for following an accelerator opening to a specified opening. And a function of decelerating with the deceleration of the brake.
  • the accelerator or brake can be quickly or slowly operated at a desired smooth operation level.
  • the accelerator operation amount can be reduced when the engine is colder than the engine coolant temperature threshold, and an increase in driving force due to idling up during the cold can be suppressed.
  • the vehicle speed control that matches the driving force characteristic in the cold region is performed. be able to.
  • an automatic driving system for a vehicle according to the first or second aspect, wherein the set schedule interlocking parameter includes an accelerator response time that defines a vehicle speed followability by an accelerator and a vehicle speed followability by a brake.
  • the control device includes a function of operating an accelerator with the set accelerator response time and a function of operating a brake with operability determined by the set brake P gain.
  • Accelerator-brake switching vehicle speed deviation for switching from accelerator to brake for traveling in the vehicle accelerator-brake switching time deviation for defining allowable time deviation for switching from accelerator to brake, and switching from brake to accelerator Brake ⁇ accelerator switching vehicle speed deviation that defines the allowable vehicle speed deviation, and brake ⁇ accelerator switching time deviation that defines the allowable time deviation for switching from the brake to the accelerator, Based on the set accelerator ⁇ brake switching vehicle speed deviation, accelerator ⁇ brake switching time deviation, brake ⁇ accelerator switching vehicle speed deviation, and brake ⁇ accelerator switching time deviation, the control device switches from accelerator to brake, It is characterized by having a function for switching to the accelerator.
  • an automatic driving system for a vehicle wherein the set schedule interlocking parameter is set when the vehicle speed detection is greater than the vehicle speed command during vehicle speed tracking control by an accelerator.
  • the set schedule interlocking parameter is set when the vehicle speed detection is greater than the vehicle speed command during vehicle speed tracking control by an accelerator.
  • An automatic driving system for a vehicle is the automatic driving system according to claim 1, wherein the set schedule interlocking parameter is an accelerator in a pattern of shifting from deceleration to acceleration using a brake in an automatic transmission vehicle.
  • the accelerator lead time which is the time that goes back from the point of time when the vehicle is decelerated along with the downshift when on, and the accelerator opening when the accelerator is on.
  • the control device has a function of forcibly releasing the brake at a time corresponding to the set accelerator preceding time and turning on the accelerator at the set accelerator opening.
  • rapid acceleration can be realized in a pattern that shifts from deceleration to acceleration using a brake in an automatic transmission vehicle (AT vehicle).
  • AT vehicle automatic transmission vehicle
  • the vehicle speed followability can be improved in a continuously variable transmission vehicle that is difficult to follow acceleration by setting the vehicle speed deviation and the accelerator addition amount at the time of reacceleration.
  • the automatic driving system for a vehicle according to a thirteenth aspect is the automatic driving system according to any one of the first to twelfth aspects, wherein the setting device sets, changes, and confirms the driving pattern, the basic parameter, and the schedule interlocking parameter.
  • a display unit that displays a screen for performing an operation is provided.
  • linkage parameter can be performed smoothly.
  • a control parameter switchedule interlocking parameter
  • a parameter value effective only at a specific timing during operation is set, and the parameter value Since the controlled object can be controlled based on the above, automatic operation can be performed without the set parameter value affecting other timings.
  • the control parameter switchedule interlocking parameter
  • the vehicle speed control that matches the driving force characteristic in the cold region is performed. be able to.
  • (7) According to the invention described in claim 7, it is possible to realize a desired vehicle speed followability and a desired accelerator / brake operability.
  • (8) According to the invention described in claim 8, it is possible to realize traveling that faithfully follows the reference mode of the driving pattern, and to reduce the frequency of switching from the accelerator to the brake and from the brake to the accelerator. Can do.
  • each operation of setting, changing, and confirming the operation pattern, the basic parameter, and the schedule interlocking parameter can be performed smoothly.
  • moves by feedforward control and feedback control in the control apparatus of the example of embodiment of this invention.
  • the characteristic view which shows the relationship of the coefficient y with respect to the vehicle speed deviation x and P gain when the accelerator return reinforcement coefficient a which is a schedule interlocking parameter in the example embodiment of this invention is 0.1.
  • the timing chart of the reference vehicle speed, the brake stroke, and the accelerator stroke for demonstrating the accelerator preceding time at the time of the deceleration-> acceleration and the accelerator opening which are schedule interlocking
  • the display screen figure which shows the mode of the setting of the shift timing which is a control parameter in the display part of the example of embodiment of this invention.
  • the display screen figure which shows the mode of the setting of the shift table which is a control parameter in the display part of the embodiment of this invention.
  • the display screen figure which shows the mode of the setting of the clutch function (at the time of start) which is a control parameter in the display part of the embodiment of this invention.
  • the display screen figure which shows the mode of the setting of the clutch function (at the time of gear shifting) which is a control parameter in the display part of the embodiment of this invention.
  • the display screen figure which shows the mode of the setting of the shift function which is a control parameter in the display part of the embodiment of this invention.
  • the display screen figure which shows the mode of the setting of the engine automatic start which is a control parameter in the display part of the example of embodiment of this invention.
  • the block diagram which shows an example of the conventional automatic driving
  • FIG. 1 shows an automatic driving system for a vehicle according to a first embodiment of the present invention.
  • Reference numeral 111 denotes a setting device composed of, for example, a computer for robot control.
  • the setting device 111 defines the relationship between the vehicle speed or the throttle opening with respect to the time for each step, or sets the driving pattern in which the relationship between the vehicle speed or the throttle opening with respect to the distance is defined for each step.
  • the setting of the basic parameters for controlling the schedule and the setting of the schedule interlocking parameters incorporated for each step of the schedule data indicated by the operation pattern are received by the display screen (display unit) of the computer, respectively, and the operation pattern and the schedule interlocking parameter are received.
  • the basic parameters are set in the control device 113 in the database 112. Further, the setting device 111 outputs a driving instruction to the automatic driving device 114 that executes the automatic driving of the vehicle.
  • the automatic driving device 114 reads an operation pattern and a schedule interlock parameter from the database 112, gives an instantaneous target value based on the operation pattern to the control device 113, and sets the schedule interlock parameter in the control device 113.
  • the control device 113 Based on the basic parameter set by the setting device 111, the schedule interlock parameter set by the automatic driving device 114, and the given instantaneous target value, the control device 113 is used for the test mounted on the chassis dynamometer. A control target (accelerator, brake, actuator for clutch operation, etc.) 105 in a vehicle (not shown) is controlled.
  • the control of the control object 105 is performed by a drive robot (registered trademark) (not shown) mounted in the cab of the vehicle, and a control signal for the drive robot is output from the control device 113.
  • a drive robot registered trademark
  • the control device 113 and the automatic operation device 114 are configured by a computer, for example, and include hardware resources of a normal computer such as ROM, RAM, CPU, input device, output device, communication interface, hard disk, recording medium, and driving device thereof. ing.
  • control device 113 and the automatic driving device 114 are mounted with a functional unit that executes each process described later.
  • Engine control parameter A parameter that can be changed when adjusting the operation of the drive robot.
  • Schedule Standard pattern such as JC08 mode, or original pattern data.
  • AVR vehicle speed control
  • AQR opening control
  • Engine control parameter (2) Shift timing (3) Shift table (4) Clutch function (5) Shift function (6) Automatic engine start Among the engine control parameters, basic parameters are transferred from the setting device 111 to the control device 113. It is set directly and the following parameters are used.
  • the schedule interlock parameter is set from the automatic driving device 114 to the control device 113 in conjunction with the operation pattern, and the parameter is incorporated in advance for each step of the schedule data.
  • the value of the control parameter can be changed at a specific timing.
  • Table 1 The parameters shown in Table 1 below are used as the schedule interlocking parameters.
  • AC represents the accelerator
  • BR represents the brake
  • FB represents the feedback.
  • FIG. 2 shows an automatic driving system for a vehicle according to the second embodiment, and the same parts as those in FIG.
  • the setting device 121 has the same function as the setting device 111 of FIG. 1, and further sets parameter initial values for schedule data in which the schedule interlocking parameter is not incorporated (parameter setting is unnecessary). And has a function of giving the parameter initial value to the automatic driving device 124.
  • the control device 123 is similar to the control device 113 of FIG. 1, the basic parameters set by the setting device 121, the instantaneous target value given from the automatic driving device 124, and the schedule interlocking parameters (driving pattern set by the automatic driving device 124).
  • the control target 105 is controlled based on parameter initial values for parameters not incorporated in (Schedule).
  • the “engine control parameter” button is clicked to display the engine control parameter screen as shown in FIG.
  • the basic parameters on the left side of FIG. 3 display all of the basic parameters (1) Brake stroke [%] to (11) Start preceding time (cold) [s] at the time of the above-mentioned basic parameters.
  • the interlocking parameters show only (1) Accelerator response time to (12) Deceleration ⁇ AC opening during acceleration in Table 1.
  • Basic parameters are parameters that can be set for each vehicle, and set the basic functions for driving.
  • the basic parameters can be changed during the schedule operation, and the changed parameters are reflected in the vehicle data.
  • the parameter change procedure during scheduled operation is to display the schedule monitor screen, display the parameter setting window, change the parameter value, and click the Apply button.
  • the schedule interlocking parameter is a parameter that can be changed for each step of the schedule data, and is set in advance in the schedule data when it is desired to change at a specific point / section during the schedule operation. For items not set in the schedule data, values defined in “schedule interlocking parameter initial value” on the right side of the engine control parameter in FIG. 3 are applied. The schedule interlock parameter cannot be changed during scheduled operation.
  • the display units of the setting devices 111 and 121 display the screen for performing various operations for setting, changing, and confirming various parameters, so that each operation is performed smoothly.
  • stop control is performed with the set desired brake operation amount.
  • the vehicle can be decelerated at a desired target vehicle speed during AQR.
  • this smooth operation functions, otherwise it operates as “0” (operation at the reference vehicle speed).
  • predetermined time corresponds to a time when the smooth operation function can be started, and the time when the function is executed in advance, It is determined by the time obtained by adding the moving average time.
  • this smooth operation function is effective only during AVR. According to the control based on this parameter, the accelerator or brake is quickly or slowly operated at a desired smooth operation level.
  • Vehicle speed command advance time It is a parameter for pre-reading the vehicle speed command and accelerating the accelerator operation, and by setting it to an appropriate value, the overshoot at the time of shifting from acceleration to a constant speed can be reduced. However, if the value is excessively large, the accelerator may be stepped on to compensate for the accelerator operation that was reduced earlier.
  • the time step continues after a predetermined time, and it operates as “0” in other cases (the accelerator is not advanced by prefetching).
  • the setting of parameter (4) is valid only during AVR.
  • Correction coefficient for AVR integration time constant This is a coefficient for correcting the integration time constant of the PI controller in vehicle speed control.
  • the P gain (proportional gain) and integral time constant of the PI controller are automatically calculated from [Accelerator response time [s]], vehicle weight, and driving force characteristics.
  • the response waveform can be adjusted by this parameter. Yes.
  • This parameter (5) is specified as a percentage and is valid only during AVR.
  • Threshold value of EG cooling water temperature for warm judgment [° C] It is a parameter that defines the boundary temperature between the cold region and the warm region of the cooling water temperature of the EG (engine), and serves as a reference value for performing the accelerator operation according to the cooling water temperature. Above the temperature set by this parameter, the engine is warm and the warm control is performed.
  • FIG. 8 shows an example of a block diagram of a control unit that is provided in the control devices 113 and 123 and obtains the accelerator operation amount in accordance with the detected engine coolant temperature.
  • PVR gain coefficient of AVR-FB during cold This parameter sets the feedback (FB) gain for vehicle speed control below the temperature set in “(7)”. For example, FIG. As in K, the warm time is set at a ratio of “1”.
  • a PI controller is used for feedback of vehicle speed control, and P gain and integral time constant are automatically calculated from [Accelerator response time [s]], vehicle weight, and driving force characteristics. Is the warm one and different from the cold one. Therefore, the coefficient K may be set by this parameter (10) so as to match the characteristics during cold, for example, the characteristics of the P gain coefficient setting unit 202 in FIG.
  • This parameter (10) is valid only when the AVR is below the temperature (T1) set by the parameter (7).
  • Accelerator response time This parameter sets the responsiveness of the feedback control portion of the vehicle speed tracking control by the accelerator in terms of time. For example, as shown in the vehicle speed characteristic diagram of FIG. Time.
  • AC ⁇ BR switching vehicle speed deviation This parameter calculates a threshold value for switching from the accelerator to the brake when performing vehicle speed tracking control so that the vehicle travels within a range deviated from the reference mode of the driving pattern by a predetermined speed for a predetermined time. It is one of the parameters, and an allowable vehicle speed deviation for switching from the accelerator to the brake is set as an AC ⁇ BR switching vehicle speed deviation.
  • This parameter calculates the threshold value for switching from the accelerator to the brake when the vehicle speed tracking control is performed so that the vehicle travels within a range deviated by a predetermined speed and a predetermined time from the reference mode of the driving pattern. This is one of the parameters, and an allowable time deviation for switching from the accelerator to the brake is set as an AC ⁇ BR switching time deviation.
  • the allowable width (value) of the upper limit / lower limit allowable line of JC08 mode is defined by an allowable vehicle speed deviation specified by ⁇ 2.0 km / h and an allowable time deviation specified by ⁇ 1.0 seconds. The value changes in accordance with the inclination due to acceleration and deceleration.
  • the allowable vehicle speed deviation is set as the AC ⁇ BR switching vehicle speed deviation (parameter (3)) in FIG.
  • the AC-to-BR switching time deviation (parameter (4)) in FIG. 10 is set, and the threshold value for switching from the accelerator to the brake (the switching point from the accelerator to the brake) is obtained from the set value and the inclination of the driving target vehicle speed. , Configured to run control.
  • FIG. 10 shows how the switching point from the accelerator to the brake is obtained, and the driving target vehicle speed (reference mode) in the figure is smoother on the broken line part (the part where the vehicle speed changes to a broken line) with respect to the reference vehicle speed.
  • a reference input to a vehicle speed controller that has been processed such as raising the driving pattern, and the reference vehicle speed itself may be used.
  • a point at an arbitrary time on the driving target vehicle speed is set as a reference point A for switching determination
  • AC ⁇ BR switching time deviation ⁇ t ⁇ 1 is set in the time axis direction from the determination reference point A
  • AC ⁇ BR switching vehicle speed deviation ⁇ v ⁇ 1 is set.
  • the set AC ⁇ BR switching vehicle speed deviation ⁇ v ⁇ 1 and the calculated vehicle speed deviation ⁇ vt ⁇ 1 are added together to obtain a vehicle speed deviation (length of AE) for switching from the accelerator to the brake.
  • ⁇ Point E becomes the switching judgment point from accelerator to brake at a certain time. Then, by connecting (connecting) the switching determination points E calculated at each time, a switching line (one-dot chain line) from the accelerator to the brake is obtained.
  • BR ⁇ AC switching vehicle speed deviation This parameter calculates the threshold value for switching from the brake to the accelerator when the vehicle speed tracking control is performed so that the vehicle travels within a range deviated by a predetermined speed and a predetermined time from the reference mode of the driving pattern. It is one of the parameters, and an allowable vehicle speed deviation for switching from the brake to the accelerator is set as a BR ⁇ AC switching vehicle speed deviation.
  • BR ⁇ AC switching time deviation This parameter calculates the threshold value for switching from the brake to the accelerator when the vehicle speed tracking control is performed so that the vehicle travels within a range deviated from the reference mode of the driving pattern by a predetermined speed for a predetermined time. This is one of the parameters, and the allowable time deviation for switching from the brake to the accelerator is set as BR ⁇ AC switching time deviation.
  • the allowable vehicle speed deviation is set as BR ⁇ AC switching vehicle speed deviation (parameter (6)) in FIG. 11, and the allowable time deviation is set.
  • the BR ⁇ AC switching time deviation (parameter (7)) in FIG. 11 is set, and a threshold (switching point from the brake to the accelerator) for switching from the brake to the accelerator is obtained from the set value and the inclination of the driving target vehicle speed. , Configured to run control.
  • the vehicle speed at the determination reference point A is approximately differentiated by a difference method or the like to calculate the inclination of the reference mode, and the inclination is multiplied by the set BR ⁇ AC switching time deviation ⁇ t ⁇ 2 to obtain the vehicle speed deviation ⁇ vt ⁇ 2 . calculate.
  • the set BR ⁇ AC switching vehicle speed deviation ⁇ v ⁇ 2 and the calculated vehicle speed deviation ⁇ vt ⁇ 2 are added together to obtain a vehicle speed deviation (length of AE) for switching from the brake to the accelerator.
  • ⁇ Point E is the switching judgment point from brake to accelerator at a certain time. Then, the switching determination point E calculated at each time is connected (connected) to form a switching line from the brake to the accelerator (a chain line).
  • the schedule interlocking parameters (6) and (7) it is possible to realize traveling that faithfully follows the reference mode of the driving pattern. Further, particularly in a mode including sudden acceleration / deceleration, the switching from the brake to the accelerator can be reduced (the switching frequency can be reduced) by appropriately setting this value.
  • This parameter corresponds to the changeover waiting time from the brake to the accelerator. “0” is set when vehicle speed tracking is required, and an appropriate value is set when switching time is assumed like human operation. This parameter setting is valid only during AVR.
  • This parameter is an accelerator control that controls the accelerator by both the feedforward control system based on the driving target vehicle speed and the feedback control system based on the deviation of the detected vehicle speed and the driving target vehicle speed.
  • This is a feedback control operation delay time for delaying the operation of the feedback control system when shifting to, and only the designated (set) time feedforward control system is operated.
  • control devices 113 and 123 of the present embodiment are configured with a control block that delays the feedback control system as shown in FIG. 12, for example.
  • reference numeral 301 denotes an accelerator AVRFF controller that performs feedforward control on the driving target vehicle speed
  • 302 denotes an accelerator AVRFB controller that performs feedback control so that vehicle speed detection becomes a driving target.
  • the accelerator is controlled by the accelerator amount obtained by adding the outputs of the accelerator AVRFF controller 301 and the accelerator AVRFB controller 302 by the adder 305.
  • the accelerator work when the accelerator work moves excessively when starting or when switching from the brake to the accelerator, the accelerator work can be performed by appropriately performing this setting. Can be suppressed.
  • Accelerator return enhancement coefficient This is a parameter for actively returning the accelerator when “vehicle speed detection> vehicle speed command” is satisfied during AVR by the accelerator.
  • the effect can be expected for an AT (CVT) vehicle in which the vehicle speed is not decreased much as the accelerator is returned.
  • This parameter is a coefficient for the quadratic term of the quadratic function multiplied by the P term of the feedback control.
  • the vehicle speed deviation (vehicle speed detection-vehicle speed command) x, the accelerator return enhancement coefficient a, and y a ⁇ x 2
  • the relationship of the coefficient y with respect to the P gain in the feedback control defined by +1 (x ⁇ 0) is as shown in FIG. 13, for example.
  • FIG. 13 shows the characteristic of the coefficient y when the accelerator return strengthening coefficient a is 0.1.
  • the AC lead time during deceleration ⁇ acceleration is the time that goes back from the time when the vehicle is fully decelerated, that is, the time when the reference vehicle speed becomes the minimum value.
  • the schedule interlocking parameters (11) and (12) function after a time-only step continues for a predetermined time, and otherwise operate as “0” ( AC lead time, no AC opening).
  • the CVT shift-up is detected from the vehicle speed and the engine speed, and the accelerator is stepped on (added) on the condition that the shift-up is detected.
  • the difference between the vehicle speed detection and the reference vehicle speed (determining the time to start increasing the accelerator pedal) is (13) the vehicle speed deviation at the time of reacceleration.
  • step 1 there is a period in which the engine is gradually stepped over so as not to kick down (accelerator addition amount is gradually increased), and (15) AC addition change rate during re-acceleration in that period is the accelerator change per second Set by quantity.
  • Vehicle speed deviation This parameter sets a vehicle speed command for raising the vehicle speed relative to the reference vehicle speed, and is used to follow the vehicle speed command when it cannot catch up with the vehicle pattern at a specific step in the driving pattern.
  • This schedule interlocking parameter (16) functions after a time-only step continues for a predetermined time as in the case of the basic parameter (3), and operates as “0” in other cases. This parameter is valid only during AVR.
  • Acceleration correction amount This parameter sets the acceleration amount to be raised with respect to the accelerator operation amount calculated by the vehicle speed controller, and when the vehicle pattern cannot catch up with the driving pattern at a specific step, Used to follow. This parameter is valid only during AVR.
  • Accelerator fully closed This parameter forcibly turns off the accelerator in the section specified by the operation pattern, and is valid only during AVR.
  • control parameters other than the engine control parameters will be described.
  • a shift timing setting screen as shown in FIG. 16 is displayed on the display unit, and settings relating to shift and clutch timing in the MT vehicle are performed.
  • the definitions of the shift confirmation times t1 to t5 are as follows.
  • Vehicle speed shift table Used when shifting automatically according to the vehicle speed.
  • Five types of vehicle speed patterns (T1 to T5) can be set. The unit is fixed to [km / h]. In the scheduler, the shift position designation is set to any one of “T1” to “T5”.
  • a clutch function screen as shown in FIGS. 18 and 19 is displayed on the display unit, and the stroke and time relating to the clutch operation of the MT vehicle are set. 18 and 19 are displayed side by side on the same screen of the display unit.
  • T1 Set the operation time [s] from 0 to 100 [%] stroke.
  • T2 Set the operation time [s] from 100% to meet point (P1).
  • T3 Set the time [s] for determining the tilt rate at which the pedal operates between the half clutches.
  • P1-P2 Set the stroke amount [%] within the half clutch range.
  • T1 Set the operation time [s] from 0 to 100 [%] stroke.
  • T2 Set the operation time from 100 [%] to the meet point (P1) during shifting, and the operation time [s] from 100 [%] to 0 [%] during N return.
  • T3 Set the time [s] between half clutches. Increasing the value increases the half-clutch time and reduces the shock during half-clutch during shifting.
  • P1-P2 Set the stroke amount [%] within the half clutch range.
  • Starter ON time Set the time for which the starter is ON.
  • Engine start determination rotational speed Sets the rotation speed for determining engine start.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
PCT/JP2016/082535 2016-01-28 2016-11-02 車両の自動運転システムおよび自動運転方法 WO2017130507A1 (ja)

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KR1020187023542A KR101987244B1 (ko) 2016-01-28 2016-11-02 차량 자동 운전 시스템 및 자동 운전 방법
CN201680080291.7A CN108603807B (zh) 2016-01-28 2016-11-02 车辆的自动驾驶系统以及自动驾驶方法

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JP2016014234A JP6075479B1 (ja) 2016-01-28 2016-01-28 車両の自動運転システムおよび自動運転方法

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Cited By (3)

* Cited by examiner, † Cited by third party
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WO2020111192A1 (ja) * 2018-11-28 2020-06-04 株式会社堀場製作所 車両試験システム及び車両試験方法
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