WO2019008647A1 - 運転支援車両の目標車速生成方法及び目標車速生成装置 - Google Patents
運転支援車両の目標車速生成方法及び目標車速生成装置 Download PDFInfo
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- WO2019008647A1 WO2019008647A1 PCT/JP2017/024399 JP2017024399W WO2019008647A1 WO 2019008647 A1 WO2019008647 A1 WO 2019008647A1 JP 2017024399 W JP2017024399 W JP 2017024399W WO 2019008647 A1 WO2019008647 A1 WO 2019008647A1
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- 230000001133 acceleration Effects 0.000 claims abstract description 118
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Definitions
- the present disclosure relates to a target vehicle speed generation method and a target vehicle speed generation device for a driving assistance vehicle that generates a target vehicle speed based on a plurality of vehicle speed command values.
- a driving assistance control apparatus for a vehicle which calculates a speed which is a braking distance within a forward recognizable distance as a limited vehicle speed and limits and sets a target vehicle speed so as to be at least a limited vehicle speed (for example, patent document 1).
- the target vehicle speed is set by selecting the lower one of the target vehicle speed based on the vehicle speed limit and the inter-vehicle distance set by the driver. For this reason, even if it is known that the vehicle decelerates earlier, if the vehicle speed on the acceleration side is set as the target vehicle speed from the current vehicle speed, unnecessary acceleration occurs, and jerks (acceleration Change) is a problem.
- the present disclosure has been made in view of the above problems, and aims to reduce jerk when transitioning from acceleration to deceleration, in addition to suppressing unnecessary acceleration when traveling with driving assistance.
- the present disclosure is a method of generating a target vehicle speed of a driving support vehicle that generates a target vehicle speed when the vehicle travels / stops based on a plurality of vehicle speed command values. For each vehicle speed command value of the plurality of vehicle speed command values, a pre-read vehicle speed command value after a predetermined time has elapsed from the current time is calculated. The minimum value is selected as the target vehicle speed among the plurality of pre-read vehicle speed command values calculated.
- FIG. 1 is an entire system diagram showing an automatic driving control system to which a target vehicle speed generation method and a target vehicle speed generation device according to a first embodiment are applied. It is a block diagram which shows the 1st vehicle speed command generation part (ACC) of the target vehicle speed production
- FIG. 1 is an entire system diagram showing an automatic driving control system to which a target vehicle speed generation method and a target vehicle speed generation device according to a first embodiment are applied. It is a block diagram which shows the 1st vehicle speed command generation part (ACC) of the target vehicle speed production
- FIG. 7 is a block diagram showing a target vehicle speed generation method and a third vehicle speed command generation unit (limit vehicle speed) of the target vehicle speed generation device according to the first embodiment. It is a block diagram which shows the target vehicle speed production
- FIG. 2 is a block diagram showing a detailed configuration of a target vehicle speed generation method and a prefetch vehicle speed command calculation unit of a target vehicle speed generation device according to the first embodiment.
- 5 is a flowchart showing a flow of target vehicle speed generation processing executed by the automatic driving control unit of the first embodiment.
- the distance from the vehicle to the stopped vehicle and the target vehicle speed in the decelerating stop scene stopping at the position immediately before the stopped vehicle from traveling at a lower vehicle speed than the limited vehicle speed when the stopped vehicle exists ahead It is a target vehicle speed characteristic view showing relation characteristics. It is a time chart which shows the characteristic of the target vehicle speed in the decelerating turning scene where the preceding vehicle is accelerating in the first embodiment but there is a corner to be decelerated first.
- the target vehicle speed generation method and the target vehicle speed generation apparatus according to the first embodiment are applied to an automatically driven vehicle (an example of a driving support vehicle) whose steering / driving / braking is automatically controlled by the selection of the automatic driving mode.
- an automatically driven vehicle an example of a driving support vehicle
- the configuration of the first embodiment will be described by being divided into “overall system configuration”, “detailed configuration of vehicle speed command generation unit”, and “detailed configuration of pre-read vehicle speed command calculation unit”.
- FIG. 1 is an overall system diagram showing an automatic driving control system to which a target vehicle speed generation method and a target vehicle speed generation device according to a first embodiment are applied. Hereinafter, the entire system configuration will be described based on FIG.
- the automatic driving control system includes a sensor 1, an automatic driving control unit 2, and an actuator 3.
- the automatic driving control unit 2 is a computer that includes an arithmetic processing unit such as a CPU and executes arithmetic processing.
- the sensor 1 has a front recognition camera 11, a rider / radar 12 (LIDAR ⁇ RADAR), a wheel speed sensor 13, a yaw rate sensor 14, a map 15, and a GPS 16.
- the front recognition camera 11 is, for example, an on-vehicle imaging device including an imaging device such as a CCD, and may be an infrared camera or a stereo camera.
- the front recognition camera 11 is installed at a predetermined position of the vehicle and captures an object around the vehicle.
- the surroundings of the host vehicle include not only the front of the host vehicle but also the rear, the left side, and the right side.
- the objects include two-dimensional signs such as stop lines marked on the road surface.
- Objects include three-dimensional objects.
- Objects include stationary objects such as labels.
- the objects include moving objects such as pedestrians and leading vehicles.
- Objects include road structures such as guardrails, medians, curbs and the like.
- the rider / radar 12 is a distance measuring sensor, and may use a method known at the time of application, such as a laser radar, a millimeter wave radar, an ultrasonic radar, a laser range finder, and the like.
- the lidar / radar 12 has an object detection device, and in the object detection device, the presence / absence of the object, the position of the object, the distance to the object based on the output signal from the lidar / radar 12 and the received signal.
- the rider is a distance measuring sensor that emits light
- the radar is a distance measuring sensor that emits radio waves.
- the wheel speed sensor 13 is provided on each of the four wheels and detects the wheel speed of each wheel. Then, the wheel speed average value of the left and right driven wheels is used as the vehicle speed detection value at the present time.
- the yaw rate sensor 14 is an attitude sensor that detects a yaw rate of the vehicle (rotational angular velocity about a vertical axis passing through the center of gravity of the vehicle).
- a yaw rate of the vehicle rotational angular velocity about a vertical axis passing through the center of gravity of the vehicle.
- the gyro sensor which can detect the pitch angle of a vehicle, a yaw angle, and a roll angle is included.
- the map 15 is a so-called electronic map, and is information in which latitude and longitude are associated with map information.
- the map 15 has road information associated with each point, and the road information is defined by nodes and links connecting the nodes.
- the road information includes information specifying the road by the position / area of the road, the road type for each road, the road width for each road, and the shape information of the road.
- the road information associates and stores information on the position of the intersection, the approach direction of the intersection, the type of the intersection, and other intersections for each identification information of each road link.
- the road information includes road type, road width, road shape, whether to go straight, whether to proceed ahead, whether to overtake (possibility of entering an adjacent lane), speed limit, etc. for each identification information of each road link. Corresponds and stores information on roads in
- the GPS 16 (abbreviation of "Global Positioning System”) detects the traveling position (latitude / longitude) of the own vehicle while traveling.
- the automatic driving control unit 2 includes a vehicle speed command generation unit 21, a look-ahead vehicle speed command calculation unit 22, a minimum vehicle speed command arbitration unit 23, a vehicle speed servo control unit 24, a travel locus calculation unit 25 of the vehicle, and a steering angle servo. And a control unit 26.
- the vehicle speed command generation unit 21 generates a first vehicle speed command generation unit (ACC) 211, a second vehicle speed command generation unit (stop line) 212, a third vehicle speed command generation unit (limit vehicle speed) 213, and a fourth vehicle speed command generation. Section (corner deceleration) 214. Then, each of the plurality of vehicle speed command generation units 211, 212, 213, and 214 generates a vehicle speed command value and a target acceleration.
- ACC vehicle speed command generation unit
- stop line stop line
- limit vehicle speed limit vehicle speed
- Section (corner deceleration) 214 each of the plurality of vehicle speed command generation units 211, 212, 213, and 214 generates a vehicle speed command value and a target acceleration.
- the look ahead vehicle speed command calculation unit 22 includes a first look ahead vehicle speed command calculation unit (ACC) 221, a second look ahead vehicle speed command calculation unit (stop line) 222, a third look ahead vehicle speed command calculation unit (limit speed) 223, and And 4 pre-read vehicle speed command calculation unit (corner deceleration) 224. Then, with respect to each of the vehicle speed command values generated by the plurality of vehicle speed command generation units 211, 212, 213, and 214, a pre-read vehicle speed command value after a predetermined time has elapsed from the current time is calculated.
- the minimum vehicle speed command mediation unit 23 selects the minimum value as the target vehicle speed among the plurality of prefetch vehicle speed command values calculated by the prefetch vehicle speed command calculation units 221, 222, 223, and 224. In addition to selecting the target vehicle speed having the minimum value, the minimum vehicle speed command mediation unit 23 simultaneously selects the acceleration / deceleration limitation amount according to the type of the selected target vehicle speed.
- the vehicle speed servo control unit 24 receives the target vehicle speed from the minimum vehicle speed command mediation unit 23 and the current vehicle speed, calculates the control command value by the vehicle speed servo control, and sends the calculation result to the drive control actuator 31 or the braking control actuator 32. Output.
- a calculation method of the control command value by the vehicle speed servo control for example, F / F control according to the value and change rate of the target vehicle speed, and F / B control according to the difference between the target vehicle speed and the current vehicle speed Perform F / F + F / B control. At this time, the deviation from the target value due to the road gradient or the like is also considered.
- the traveling locus calculation unit 25 of the own vehicle calculates the traveling locus of the own vehicle on the road on which the own vehicle is scheduled to travel.
- the traveling locus calculation unit 211a of the own vehicle included in the first vehicle speed command generation unit (ACC) 211 is used.
- the steering angle servo control unit 26 receives the traveling locus information of the own vehicle from the traveling locus calculation unit 25 of the own vehicle, and determines, for example, a target yaw rate so that the own vehicle follows the traveling locus. Then, the steering angle control value is calculated so that the actual yaw rate matches the target yaw rate, and the calculation result is output to the steering angle control actuator 33.
- the actuator 3 has a drive control actuator 31, a braking control actuator 32, and a steering angle control actuator 33.
- the drive control actuator 31 is an engine drive actuator in the case of an engine car, an engine drive actuator and a motor drive actuator in the case of a hybrid car, and a motor drive actuator in the case of an electric car.
- the brake control actuator 32 is an electric brake booster, a hydraulic booster, or the like.
- the steering angle control actuator 33 is a steering angle control motor provided in the steering system.
- the first vehicle speed command generation unit (ACC) 211 includes a travel locus calculation unit 211 a of the host vehicle, an inter-vehicle distance / relative vehicle speed acquisition unit 211 b, and a vehicle speed command calculation unit 211 c.
- the travel locus calculation unit 211a of the own vehicle uses the own vehicle trajectory prediction sensor as the yaw rate sensor 14 and the wheel speed sensor 13, and calculates the travel trajectory of the own vehicle.
- the inter-vehicle distance / relative vehicle speed acquisition unit 211b sets the preceding vehicle detection sensor as the front recognition camera 11 and / or the rider / radar 12, and acquires an inter-vehicle distance / relative vehicle speed to the preceding vehicle.
- the vehicle speed command calculation unit 211c calculates a vehicle speed command value (ACC) and a target acceleration necessary for the host vehicle to follow the preceding vehicle according to the acquired inter-vehicle distance / relative vehicle speed and the current vehicle speed information.
- the vehicle speed command calculation unit 211c creates a vehicle speed profile of a target vehicle speed by constant speed or acceleration / deceleration according to the presence or absence of a preceding vehicle. Then, a vehicle speed command value (target vehicle speed) is determined according to the separated position from the current position in the created vehicle speed profile. At this time, the acceleration or deceleration necessary to set the target vehicle speed at the predetermined separated position from the current vehicle speed is set as the target acceleration.
- ACC abbreviation of" Adaptive Cruise Control
- ACC controls the inter-vehicle distance to maintain the inter-vehicle distance according to the vehicle speed with the vehicle speed set by the driver as the upper limit when detecting a preceding vehicle.
- the vehicle travels at a constant speed set by the driver.
- the own vehicle also stops following the preceding vehicle.
- the second vehicle speed command generation unit (stop line) 212 includes a stop line relative distance acquisition unit 212 a and a vehicle speed command calculation unit 212 b.
- the stop line relative distance acquisition unit 212a obtains (GPS 16 + map 15) and / or the forward recognition camera 11 to acquire the distance between the vehicle and the stop line.
- the vehicle speed command calculation unit 212b calculates a vehicle speed command value (stop line) and a target acceleration necessary for decelerating and stopping the acquired stop line relative distance.
- the vehicle speed command calculation unit 212b represents a change in the target vehicle speed when decelerating at a constant deceleration ⁇ based on the deceleration start vehicle speed vo and the distance dtrgt to the vehicle and the stop line.
- a vehicle speed command value target vehicle speed
- a constant deceleration ⁇ is set as the target acceleration.
- the third vehicle speed command generation unit (speed limit) 213 includes a speed limit acquisition unit 213a and a vehicle speed command calculation unit 213b.
- the speed limit acquisition unit 213a sets the speed limit acquisition sensor as (GPS 16 + map 15) and / or the forward recognition camera 11, and acquires speed limit information of the road.
- the vehicle speed command calculation unit 213b calculates a vehicle speed command value (limited vehicle speed) and a target acceleration required to follow the acquired limited vehicle speed.
- the vehicle speed command calculation unit 213b creates a vehicle speed profile of a target vehicle speed that makes the vehicle speed of the host vehicle equal to or less than the limited vehicle speed according to the acquired limited vehicle speed. Then, a vehicle speed command value (target vehicle speed) is determined according to the separated position from the current position in the created vehicle speed profile. At this time, the deceleration necessary for obtaining the target vehicle speed at the predetermined separated position from the current vehicle speed is set as the target acceleration.
- the fourth vehicle speed command generation unit (corner deceleration) 214 has a road curvature information acquisition unit 214a and a vehicle speed command calculation unit 214b, as shown in FIG.
- the road curvature information acquisition unit 214a sets the curvature acquisition sensor as (GPS 16 + map 15) and / or the forward recognition camera 11, and acquires the curvature of the travel route.
- the vehicle speed command calculation unit 214b calculates a vehicle speed command value (corner deceleration) not exceeding the limit lateral acceleration set in advance according to the acquired road curvature information and a target acceleration.
- a vehicle speed profile of a target vehicle speed leaving a corner is created in accordance with the acquired curvature of the travel route. Then, a vehicle speed command value (target vehicle speed) is determined according to the separated position from the current position in the created vehicle speed profile. At this time, the deceleration necessary for obtaining the target vehicle speed at the predetermined separated position from the current vehicle speed is set as the target acceleration.
- ACC first look-ahead vehicle speed command calculation unit
- stop line second look-ahead vehicle speed command calculation unit
- limit speed third look-ahead vehicle speed command calculation unit
- fourth look-ahead vehicle speed command calculation unit corner deceleration
- Each of the units 224 has a basic configuration shown in FIG.
- each of the previously read vehicle speed command calculation units 221 includes a previously read vehicle speed command calculation unit 22a, a necessary acceleration calculation unit 22b, a vehicle speed command calculation unit 22c, and a vehicle speed limiter unit 22d. And acceleration suppression unit 22e.
- the pre-read vehicle speed command calculation unit 22a inputs the current vehicle speed command value ("old vehicle speed command” in Fig. 7) from the vehicle speed command generation unit 211 (212, 213, 214), the target acceleration, and the pre-reading time. Then, based on the current vehicle speed command value and the target acceleration, a prefetch vehicle speed command value after the prefetch time has elapsed is calculated. That is, in the vehicle speed profiles generated by the vehicle speed command generation units 211, 212, 213, and 214, the vehicle speed command value (target vehicle speed) after a predetermined prefetch time has elapsed from the current time is calculated as the prefetch vehicle speed command value.
- the setting of the “pre-reading time” is set by a variable time (for example, about 2 sec to 5 sec) in accordance with the following conditions (a) to (d).
- a) When changing according to the target acceleration / deceleration behavior, if you want slow control, set a longer time than if you want quick control.
- the vehicle speed command value is the vehicle speed command value for the limited vehicle speed (third prefetch vehicle speed command calculation unit 223), the prefetch time is set longer than the other vehicle speed command values.
- the prefetch time is set shorter than other vehicle speed command values.
- the necessary acceleration calculation unit 22 b inputs the previously read vehicle speed command value from the previously read vehicle speed command calculation unit 22 a and the previous vehicle speed command value. Then, the acceleration required from the previous vehicle speed command value to the current prefetch vehicle speed command value is calculated.
- the vehicle speed command calculation unit 22c inputs the required acceleration calculated by the required acceleration calculation unit 22b and the calculation cycle (sample time). Then, the vehicle speed command value at the present time is calculated from the required acceleration, the calculation cycle and the previous vehicle speed command value.
- the vehicle speed limiter unit 22d receives the vehicle speed command value at the current time calculated by the vehicle speed command calculation unit 22c and the current vehicle speed. Then, when the vehicle speed command value at the current time exceeds the vehicle speed range that can be taken by the target vehicle speed determined based on the current vehicle speed, the vehicle speed command value at the current time is limited by the vehicle speed range that can be taken by the target vehicle speed.
- a vehicle speed region that the target vehicle speed can take means a target vehicle speed region where a change in vehicle speed from the current vehicle speed is allowed.
- a vehicle speed range from the current vehicle speed to the upper limit vehicle speed obtained by adding the allowable vehicle speed deviation range on the acceleration side from the lower limit vehicle speed obtained by subtracting the allowable vehicle speed deviation range on the deceleration side from the current vehicle speed.
- the acceleration suppression preventing unit 22e receives the old vehicle speed command from the vehicle speed command generation unit 211 (212, 213, 214), the upper limit acceleration, the necessary acceleration from the necessary acceleration calculation unit 22b, and the new vehicle speed command from the vehicle speed limiter unit 22d. And enter. Then, when the required acceleration exceeds the upper limit acceleration set in advance, the old vehicle speed command (previous vehicle speed command value) is selected without selecting a new vehicle speed command (currently pre-read vehicle speed command value).
- the vehicle speed command value selected by the acceleration suppression preventing unit 22e is set as the final vehicle speed command value (target vehicle speed) to be output to the minimum vehicle speed command value mediation unit 23.
- target vehicle speed generation operation in comparative example “target vehicle speed generation processing operation”, “target vehicle speed generation operation in a deceleration stop scene with a stop line”, “deceleration stop scene with a stop vehicle”
- target vehicle speed generation operation of “the target vehicle speed generation operation in the decelerating turning scene” will be separately described.
- FIG. 9 shows the characteristics of the target vehicle speed (minimum value) in the traveling scene in which the preceding vehicle has disappeared immediately after the deceleration to the speed limit is started due to the occurrence of fog in the comparative example.
- the target vehicle speed generation operation of the comparative example will be described based on FIG.
- the comparative example includes, as a vehicle speed command generation unit, a vehicle speed command generation unit (ACC) and a vehicle speed command generation unit (limit vehicle speed), and the smallest of the vehicle speed command values generated by the two vehicle speed command generation units Let the value be the target vehicle speed.
- a vehicle speed command generation unit ACC
- a vehicle speed command generation unit limit vehicle speed
- the driver set vehicle speed is subtracted in addition to the vehicle speed command value characteristic.
- the target vehicle speed characteristic up to time t1 corresponds to the preceding vehicle following target vehicle speed especially. Become. Then, at time t1, the target vehicle speed characteristic rises rapidly from the host vehicle speed when the preceding vehicle disappears to the driver set vehicle speed. And the target vehicle speed characteristic from time t1 to time t2 becomes a fixed vehicle speed by the driver set vehicle speed characteristic, and becomes from the time t2 along the speed limit characteristic.
- the target vehicle speed characteristic is set from the own vehicle speed when the preceding vehicle disappears at time t1.
- the sudden increase to the vehicle speed causes unnecessary acceleration.
- the actual vehicle speed of the vehicle changes from acceleration to deceleration immediately after time t2 because there is a response delay with respect to the target vehicle speed.
- FIG. 8 shows a flow of target vehicle speed generation processing executed by the automatic driving control unit 2 of the first embodiment. Hereinafter, each step of FIG. 8 will be described.
- step S1 when generation of the target vehicle speed is started, target vehicle speed and acceleration information is acquired, and the process proceeds to step S2.
- acquisition of target vehicle speed / acceleration information means that the vehicle speed command calculation unit 221 to 224 obtains the vehicle speed command value (target vehicle speed) and target acceleration generated by each of the vehicle speed command generation units 211 to 214. Say what to do.
- step S2 following the acquisition of the target vehicle speed and acceleration information in step S1, the pre-reading time is set, and the process proceeds to step S3.
- “setting the pre-reading time” means setting the pre-reading time as the variable time according to the conditions (a) to (d) in the pre-reading vehicle speed command calculation unit 22a as described above.
- step S3 following the setting of the pre-reading time in step S2, a target vehicle speed after the pre-reading time is calculated, and the process proceeds to step S4.
- “calculation of the target vehicle speed after the pre-reading time” refers to the pre-reading vehicle speed command value (the target vehicle speed) after the pre-reading time has elapsed in the pre-reading vehicle speed command calculation unit 22a based on the current vehicle speed command value and the target acceleration. To calculate.
- step S4 following calculation of the target vehicle speed after the pre-reading time in step S3, an acceleration for reaching the target vehicle speed ahead of the pre-reading time is calculated, and the process proceeds to step S5.
- “calculation of acceleration for reaching the target vehicle speed ahead of the pre-reading time” refers to the current vehicle speed command value (for pre-reading time ahead) from the previous vehicle speed command value (previous target vehicle speed) in the required acceleration calculation unit 22b. To calculate the acceleration necessary to reach the target vehicle speed).
- step S5 following calculation of the acceleration for reaching the target vehicle speed ahead of the pre-reading time in step S4, a calculation cycle is acquired, and the process proceeds to step S5.
- acquisition of calculation cycle means that the vehicle speed command calculation unit 22c acquires a calculation cycle (sample time).
- step S6 following the acquisition of the calculation cycle in step S5, the target vehicle speed at the current time is calculated, and the process proceeds to step S7.
- “calculation of the target vehicle speed at the current time” means that the vehicle speed command calculation unit 22c calculates the vehicle speed command value (target vehicle speed) at the current time from the required acceleration, the calculation cycle (sample time) and the previous vehicle speed command value. Say what to do.
- step S7 following calculation of the target vehicle speed at the current time in step S6, the target vehicle speed is selected (minimum value) by mediation with another vehicle speed command value, and the process proceeds to the end of generation of the target vehicle speed.
- selection of target vehicle speed by mediation with another vehicle speed command value refers to a plurality of prefetch vehicle speed commands calculated by the prefetch vehicle speed command calculation units 221, 222, 223, and 224 in the minimum vehicle speed command arbitration unit 23. Among the values, it refers to selecting the minimum value as the target vehicle speed.
- step S1 when generation of the target vehicle speed is started, the process proceeds from step S1 ⁇ step S2 ⁇ step S3 ⁇ step S4 ⁇ step S5 ⁇ step S6 ⁇ step S7, and generation of the target vehicle speed is ended. That is, for the vehicle speed command values generated by the plurality of vehicle speed command generation units 211 to 214, the prefetch vehicle speed command calculation unit 22 calculates the prefetch vehicle speed command values after a predetermined time has elapsed from the current time. . Then, in the minimum vehicle speed command mediation unit 23, the minimum value is selected as the target vehicle speed among the plurality of prefetch vehicle speed command values calculated by the prefetch vehicle speed command calculation units 221 to 224.
- the target vehicle speed by the stop line is selected, the distance to the stop line is longer than the distance reached by the vehicle due to the pre-reading time, and the vehicle speed after the pre-reading time is higher than the current vehicle speed. Vehicle acceleration will be acceptable. Therefore, it is possible to prevent the traffic flow from being disturbed by performing the select low of the pre-read vehicle speed command value instead of the technique of simply prohibiting the acceleration.
- FIG. 10 shows the characteristics of the target vehicle speed (minimum value of the vehicle speed for pre-reading) in the decelerating stop scene in which the preceding vehicle has disappeared after the deceleration is started toward the previous stop line in the first embodiment.
- target vehicle speed generation operation in the deceleration and stop scene where there is a stop line will be described.
- the vehicle speed command value generated by the first vehicle speed command generation unit (ACC) 211 is the driver set vehicle speed until time t1 when no preceding vehicle exists, and it is preceding from time t1 when time the preceding vehicle exists to time t2 It is a vehicle speed command value by inter-vehicle control following a car. At time t2, the vehicle speed command value characteristic is rapidly raised to return to the driver set vehicle speed.
- the vehicle speed command value generated by the second vehicle speed command generation unit (stop line) 212 is a high vehicle speed command value until time t0, and decreases with a constant deceleration from time t0 to time t6, and from time t6 It becomes the vehicle speed command value characteristic along the stop line characteristic of the deceleration which stops smoothly until time t7.
- the vehicle speed command value generated by the third vehicle speed command generation unit (speed limit vehicle) 213 has a vehicle speed command value characteristic that is drawn at a constant speed limit regardless of the time.
- the target vehicle speed characteristic thin solid line characteristic
- the target vehicle speed from time t1 to time t2 The characteristics are in line with the preceding vehicle tracking target vehicle speed characteristics. Then, at time t2, the target vehicle speed characteristic rises rapidly from the host vehicle speed when the preceding vehicle disappears to the speed limit. And the target vehicle speed characteristic from time t2 to time t3 becomes a fixed vehicle speed by the limited vehicle speed characteristic, and becomes from the time t3 along the stop line characteristic.
- the minimum value among the prefetched vehicle speed command values for which the prefetch time (time t2 to time t4 in FIG. 10) has passed Select and draw the target vehicle speed characteristics (thick dotted line characteristics).
- the target vehicle speed is determined based on the minimum value of the pre-read vehicle speed command value at the time t4, which is substantially the same as the actual vehicle speed of the vehicle at the time t2.
- the target vehicle speed is determined based on the minimum value of the pre-read vehicle speed command value in the pre-reading time for each sample time ⁇ t. Therefore, the characteristic obtained by connecting the target vehicle speed determined for each sample time ⁇ t is It becomes a characteristic which decelerates smoothly from time t2 to time t5. Then, from the time t5, it becomes along the stop line characteristic.
- the target vehicle speed characteristic (thick dotted line characteristic) in the first embodiment is a target in the comparative example. It becomes the characteristic which pushed down the vehicle speed characteristic (thick solid line characteristic) to the deceleration side. For this reason, when it is known that the vehicle is decelerated first, the generation of the target vehicle speed based on the pre-read vehicle speed command value suppresses the occurrence of unnecessary acceleration as in the comparative example. Furthermore, since the target vehicle speed characteristic of the first embodiment smoothly decelerates from time t2 to time t5, jerk when switching from acceleration to deceleration is almost eliminated or jerk is reduced.
- the suppression function of the vehicle behavior required in the case of a driving assistance vehicle such as an autonomous driving vehicle is exhibited, and the driver and the passenger do not feel discomfort.
- the minimum value of the plurality of pre-read vehicle speed command values as the target vehicle speed, it becomes a vehicle speed plan in which the traveling safety is secured among the plurality of pre-read vehicle speed command values.
- the same target vehicle speed generation as when starting the deceleration toward the previous stop line Show the action.
- FIG. 11 shows the distance from the vehicle to the stopped vehicle in a decelerating stopped scene stopping at a position immediately before the stopped vehicle from traveling at a lower vehicle speed than the limited vehicle speed when there is a stopped vehicle ahead in Example 1. And the relationship characteristic of the target vehicle speed.
- the target vehicle speed generation operation in the decelerating and stopping scene where there is a stopping vehicle will be described.
- the rear wheel position of the own vehicle when recognizing the stopping vehicle is xo
- the rear wheel position of the own vehicle when decelerating and stopping is x1
- dmin be the distance.
- the vehicle speed of the host vehicle is the vehicle speed vo at position xo It needs to be zero (stopped).
- the vehicle speed command value generated by the first vehicle speed command generation unit (ACC) 211 is that the own vehicle traveling at a lower vehicle speed than the limited vehicle speed recognizes the stopped vehicle as the leading vehicle at the position xo. Increase immediately by inter-vehicle control to follow the preceding vehicle. After the position xo, the vehicle speed command value characteristic gradually decelerates toward the position x1 by the inter-vehicle control.
- the vehicle speed command value generated by the second vehicle speed command generation unit (stop line) 212 has a vehicle speed command value characteristic that is drawn at a constant stop line vehicle speed regardless of time because there is no recognition of the stop line.
- the vehicle speed command value generated by the third vehicle speed command generation unit (speed limit vehicle) 213 has a vehicle speed command value characteristic that is drawn at a constant speed limit ( ⁇ stop line vehicle speed) regardless of time.
- the target vehicle speed characteristic thin solid line characteristic
- the preceding vehicle tracking target vehicle speed characteristic at position xo Along the road from the vehicle speed to the speed limit.
- the target vehicle speed characteristic from the position xo to the position xo1 becomes a constant vehicle speed due to the limited vehicle speed characteristic, and becomes from the position xo1 along the preceding vehicle following target vehicle speed characteristic.
- target vehicle speed characteristics are selected by selecting the minimum value among the previously read vehicle speed command values for which the read ahead time has elapsed for each of the vehicle speed command values generated by the three vehicle speed command generation units 211, 212 and 213. Draw).
- the target vehicle speed is determined on the basis of the minimum value of the pre-read vehicle speed command value at the pre-read time for each sample time ⁇ t. Therefore, the characteristic obtained by connecting the target vehicle speed determined for each sample time ⁇ t is a smooth characteristic in which transition from gentle acceleration to gentle deceleration is made from the position xo to the position xo2. Then, from the position xo2, it follows the preceding vehicle tracking target vehicle speed characteristic which is the deceleration characteristic.
- the target vehicle speed characteristic (thick dotted line characteristic) in the first embodiment is the target in the comparative example as is clear from the comparison of the target vehicle speed characteristic (thick solid line characteristic, thick dotted line characteristic) surrounded by arrow C in FIG. It becomes the characteristic which pushed down the vehicle speed characteristic (thick solid line characteristic) to the deceleration side. For this reason, when it is known that the vehicle is decelerated first, the generation of the target vehicle speed based on the pre-read vehicle speed command value suppresses the occurrence of unnecessary acceleration as in the comparative example.
- the target vehicle speed characteristic of the first embodiment is a smooth characteristic in which the transition from gentle acceleration to gentle deceleration from position xo to position xo 2 is made, so jerk at the transition from acceleration to deceleration is reduced small. .
- FIG. 12 shows the characteristics of the target vehicle speed in the deceleration turning scene in which the preceding vehicle is accelerating but there is a corner to be decelerated in the first embodiment.
- the target vehicle speed generation operation in the decelerating turning scene will be described based on FIG.
- the vehicle speed command value generated by the first vehicle speed command generation unit (ACC) 211 gradually increases the vehicle speed by inter-vehicle control that follows the preceding vehicle before time t0 It becomes the vehicle speed command value characteristic by the preceding vehicle following target vehicle speed characteristic.
- the vehicle speed command value generated by the fourth vehicle speed command generation unit (corner deceleration) 214 is a high vehicle speed command value until time t0 when traveling straight ahead. Then, the vehicle speed gradually decreases due to deceleration from time t0 to time t4, and the vehicle speed command value characteristic follows the corner target vehicle speed characteristic in which the vehicle speed increases due to acceleration from time t4 to time t6 .
- the target vehicle speed characteristic thin solid line characteristic
- the target vehicle speed characteristic up to time t2 It follows the following target vehicle speed characteristic.
- the target vehicle speed characteristic from time t2 to time t5 is in line with the corner target vehicle speed characteristic. Then, from the time t5, it is in line with the preceding vehicle tracking target vehicle speed characteristic again.
- the minimum value is selected from the prefetched vehicle speed command values for which the prefetch time (time t1 to time t3 in FIG. 12) has passed.
- Target vehicle speed characteristics (thick dotted line characteristics).
- the target vehicle speed is determined based on the minimum value of the pre-read vehicle speed command value, which is substantially the same as the actual vehicle speed of the vehicle at time t0. Then, after time t0, the target vehicle speed is determined based on the minimum value of the pre-read vehicle speed command value in the pre-reading time for each sample time ⁇ t.
- the characteristic obtained by connecting the target vehicle speed determined for each sample time ⁇ t is After gradually accelerating from t0 to time t3, the characteristics are gradually decelerated. And from time t3 to time t5, it becomes along the corner target vehicle speed characteristic, and from time t5, it becomes along the preceding vehicle tracking target vehicle speed characteristic.
- the target vehicle speed characteristic (thick dotted line characteristic) in the first embodiment is a target in the comparative example. It becomes the characteristic which pushed down the vehicle speed characteristic (thick solid line characteristic) to the deceleration side. For this reason, when it is known that the vehicle is decelerated first, the generation of the target vehicle speed based on the pre-read vehicle speed command value suppresses the occurrence of unnecessary acceleration as in the comparative example. Furthermore, since the target vehicle speed characteristic of the first embodiment gradually accelerates from time t0 to time t3 and then decelerates gradually, jerk when switching from acceleration to deceleration is reduced.
- the present invention is also applicable to the case where there is a tight corner to be decelerated ahead.
- a target vehicle speed generation method for a driving support vehicle that generates a target vehicle speed when the vehicle travels / stops based on a plurality of vehicle speed command values. For each vehicle speed command value of the plurality of vehicle speed command values, a previously read vehicle speed command value after a predetermined time has elapsed from the current time is calculated (prefetch vehicle speed command calculation unit 22). The minimum value is selected as the target vehicle speed among the plurality of pre-read vehicle speed command values calculated (minimum vehicle speed command mediation unit 23: FIG. 1).
- a target vehicle speed generation method for an autonomous driving vehicle which reduces jerk when transitioning from acceleration to deceleration. be able to. That is, control can be performed in anticipation of the future value of the target vehicle speed, and unnecessary acceleration can be suppressed. It is possible to reduce jerk when switching from acceleration to deceleration. Further, by taking the minimum value, it is possible to make a vehicle speed plan on the safe side among a plurality of vehicle speed command values.
- pre-read vehicle speed command calculation unit 22 When calculating the pre-read vehicle speed command value (pre-read vehicle speed command calculation unit 22), calculate the pre-read vehicle speed command value after the pre-read time has elapsed based on the current vehicle speed command value, target acceleration and pre-read time ( Pre-reading vehicle speed command calculation unit 22a).
- the necessary acceleration necessary for the current vehicle speed command value to the current vehicle speed command value from the previous vehicle speed command value is calculated (necessary acceleration calculation unit 22b).
- the previously read vehicle speed command value at the present time is calculated from the required acceleration, the calculation cycle and the previous vehicle speed command value (vehicle speed command calculation unit 22c: FIG. 7). Therefore, in addition to the effect of (1), it is possible to calculate the pre-read vehicle speed command value in real time. Then, since the pre-read vehicle speed command value is calculated for each calculation cycle (sample time), it can be applied even when the future target vehicle speed is not known.
- pre-read vehicle speed command calculation unit 22a When calculating the pre-read vehicle speed command value (pre-read vehicle speed command calculation unit 22a), if the pre-read vehicle speed command value is the vehicle speed command value for the limited vehicle speed, set the pre-read time longer than other vehicle speed command values ( Figure 7). For this reason, in addition to the effect of (2) or (3), the vehicle speed of the host vehicle can smoothly follow the speed limit.
- pre-reading vehicle speed command calculation unit 22a When calculating the pre-reading vehicle speed command value (pre-reading vehicle speed command calculation unit 22a), when changing the pre-reading time according to the target acceleration / deceleration behavior, if you want to control quickly, you need shorter time than you want to control slowly Set ( Figure 7). For this reason, in addition to the effects of (2) to (4), when it is desired to control swiftly, the acceleration / deceleration behavior can be made more agile, and the time from acceleration to decel can do.
- pre-read vehicle speed command calculation unit 22 When calculating the pre-read vehicle speed command value (pre-read vehicle speed command calculation unit 22), if the required acceleration exceeds the preset upper limit acceleration, the previous read vehicle speed command value is not selected.
- the pre-read vehicle speed command value is selected (acceleration suppression unit 22c: FIG. 7). For this reason, in addition to the effects (2) to (6), it is possible to prevent the acceleration from being suppressed in a scene that is originally intended to be accelerated.
- pre-read vehicle speed command calculation unit 22 When calculating the pre-read vehicle speed command value (pre-read vehicle speed command calculation unit 22), when the pre-read vehicle speed command value at the current time exceeds the vehicle speed area that the target vehicle speed can take, the pre-read vehicle speed command value at the current time The vehicle speed is limited according to the possible vehicle speed range (vehicle speed limiter unit 22d: FIG. 7). Therefore, in addition to the effects of (2) to (7), it is possible to prevent the target vehicle speed from being negative and to be decelerated more than necessary.
- Target vehicle speed generation of a driving support vehicle equipped with a controller (automatic driving control unit 2) having a plurality of vehicle speed command generation units 21 and generating a target vehicle speed when the vehicle travels / stops
- the controller includes the pre-read vehicle speed command calculating unit 22 and the minimum vehicle speed command mediation unit 23.
- the prefetch vehicle speed command calculation unit 22 calculates a prefetch vehicle speed command value after a predetermined time has elapsed from the current time.
- the minimum vehicle speed command mediation unit 23 selects the minimum value as the target vehicle speed among the plurality of prefetch vehicle speed command values calculated by the prefetch vehicle speed command calculation unit (FIG. 1). For this reason, when traveling by driving assistance (automatic driving), in addition to being able to suppress unnecessary acceleration, a target vehicle speed generation device for an autonomous driving vehicle is provided that reduces jerk when transitioning from acceleration to deceleration. be able to.
- the target vehicle speed generation device of the driving assistance vehicle of the present disclosure has been described based on the first embodiment.
- the specific configuration is not limited to the first embodiment, and changes and additions in design are permitted without departing from the scope of the invention according to each claim in the claims.
- the vehicle speed command generation unit and the look-ahead vehicle speed command calculation unit may be an example provided with at least two or more types of vehicle speed command generation units and a look-ahead vehicle speed command calculation unit, and two types, three types, five types or more
- An example including a vehicle speed command generation unit and a prefetch vehicle speed command calculation unit is also included.
- Example 1 the example which applied the target vehicle speed production
- the target vehicle speed generation method and the target vehicle speed generation device according to the present disclosure use the target vehicle speed as in a driving support vehicle that performs driving assistance of the driver by displaying the target vehicle speed or a driving support vehicle equipped with only ACC.
- the present invention can be applied to any vehicle that provides driving assistance to the driver.
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Abstract
Description
複数の車速指令値の各々の車速指令値に対して、現時刻から所定時間を経過した後の先読み車速指令値を算出する。
算出された複数の先読み車速指令値のうち、最小値を目標車速として選択する。
実施例1における目標車速生成方法及び目標車速生成装置は、自動運転モードの選択により操舵/駆動/制動が自動制御される自動運転車両(運転支援車両の一例)に適用したものである。以下、実施例1の構成を、「全体システム構成」、「車速指令生成部の詳細構成」、「先読み車速指令算出部の詳細構成」に分けて説明する。
図1は、実施例1の目標車速生成方法及び目標車速生成装置が適用された自動運転制御システムを示す全体システム図である。以下、図1に基づいて全体システム構成を説明する。
ここで、車速サーボ制御により制御指令値の演算手法としては、例えば、目標車速の値や変化率に応じたF/F制御と、目標車速と現在車速の差に応じたF/B制御と、を併せたF/F+F/B制御を行う。このとき、道路勾配等による目標値との乖離も考慮する。
以下、図2~図6に基づいて車速指令生成部21の詳細構成について説明する。
停止線相対距離取得部212aは、(GPS16+地図15)及び/又は前方認識カメラ11とし、自車と停止線までの距離を取得する。車速指令算出部212bは、取得された停止線相対距離に対して減速・停止するために必要な車速指令値(停止線)及び目標加速度を算出する。
車速プロファイルvtrgt(x)は、
vtrgt(x)=vo-√2αx
の式によりあらわされる。そして、作成された車速プロファイルvtrgt(x)において、減速開始位置xoからの離間位置xに応じて車速指令値(目標車速)が求まる。このとき、一定の減速度αが目標加速度とされる。
制限車速取得部213aは、制限車速取得センサを、(GPS16+地図15)及び/又は前方認識カメラ11とし、道路の制限車速情報を取得する。車速指令算出部213bは、取得された制限車速に追従するために必要な車速指令値(制限車速)及び目標加速度を算出する。
道路曲率情報取得部214aは、曲率取得センサを、(GPS16+地図15)及び/又は前方認識カメラ11とし、走行経路の曲率を取得する。車速指令算出部214bは、取得した道路曲率情報に従って予め設定する限界横加速度を超えない車速指令値(コーナー減速)及び目標加速度を算出する。
以下、図7に基づいて先読み車速指令算出部22の詳細構成を説明する。
なお、第1先読み車速指令算出部(ACC)221、第2先読み車速指令算出部(停止線)222、第3先読み車速指令算出部(制限車速)223、第4先読み車速指令算出部(コーナー減速)224は、何れも基本構成を図7に示す構成としている。
(a)目標とする加減速挙動によって変化させるとき、緩慢に制御したい場合は機敏に制御したい場合より長い時間に設定する。
(b)車速指令値が、制限車速に対する車速指令値である場合(第3先読み車速指令算出部223)、他の車速指令値に比べ先読み時間を長く設定する。
(c)目標とする加減速挙動によって変化させるとき、機敏に制御したい場合は緩慢に制御したい場合より短い時間に設定する。
(d)車速指令値が、先行車追従に対する車速指令値である場合(第1先読み車速指令算出部221)、他の車速指令値に比べ先読み時間を短く設定する。
ここで、「目標車速が取り得る車速領域」とは、現在車速からの車速変化が許容される目標車速領域をいう。例えば、現在車速から減速側の許容車速乖離幅を差し引いた下限車速から、現在車速から加速側の許容車速乖離幅を加えた上限車速までの車速領域により決められる。
この加速抑制防止部22eにより選択された車速指令値が、最小車速指令値調停部23へ出力される最終の車速指令値(目標車速)とされる。
実施例1の作用を、「比較例の目標車速生成作用」、「目標車速生成処理作用」、「停止線がある減速停車シーンでの目標車速生成作用」、「停車車両がある減速停車シーンでの目標車速生成作用」、「減速旋回シーンでの目標車速生成作用」に分けて説明する。
図9は、比較例において霧の発生により制限速度までの減速を開始した直後に先行車が消失した走行シーンでの目標車速(最小値)の特性を示す。以下、図9に基づいて比較例の目標車速生成作用を説明する。
図8は、実施例1の自動運転コントロールユニット2にて実行される目標車速生成処理の流れを示す。以下、図8の各ステップについて説明する。
ここで、「目標車速・加速度情報の取得」とは、車速指令生成部211~214の各々において生成される車速指令値(目標車速)と目標加速度を、先読み車速指令算出部221~224において取得することをいう。
ここで、「先読み時間の設定」とは、先読み車速指令計算部22aにおいて、上記のように条件(a)~(d)にしたがって先読み時間を可変時間により設定することをいう。
ここで、「先読み時間後の目標車速の計算」とは、先読み車速指令計算部22aにおいて、現時点の車速指令値と目標加速度に基づき、先読み時間が経過した後の先読み車速指令値(目標車速)を計算することをいう。
ここで、「先読み時間先の目標車速に達するための加速度計算」とは、必要加速度計算部22bにおいて、前回の車速指令値(前回の目標車速)から今回の先読み車速指令値(先読み時間先の目標車速)に至るまでに必要な加速度を計算することをいう。
ここで、「計算周期の取得」とは、車速指令計算部22cにおいて、計算周期(サンプル時間)を取得することをいう。
ここで、「現在時刻における目標車速の計算」とは、車速指令計算部22cにおいて、必要加速度と計算周期(サンプル時間)と前回の車速指令値から現在時刻の車速指令値(目標車速)を計算することをいう。
ここで、「他の車速指令値との調停による目標車速の選択」とは、最小車速指令調停部23において、先読み車速指令算出部221,222,223,224によって算出された複数の先読み車速指令値のうち、最小値を目標車速として選択することをいう。
図10は、実施例1において先の停止線に向かって減速を開始した後に先行車が消失した減速停車シーンでの目標車速(先読み車速の最小値)の特性を示す。以下、図10に基づいて停止線がある減速停車シーンでの目標車速生成作用を説明する。
図11は、実施例1において前方に停車車両が存在しているときに制限車速よりも低い車速での走行から停車車両の直前位置で停車する減速停車シーンでの自車から停車車両までの距離と目標車速の関係特性を示す。以下、図11に基づいて停車車両がある減速停車シーンでの目標車速生成作用を説明する。
図12は、実施例1において先行車は加速しているが先に減速すべきコーナーがある減速旋回シーンでの目標車速の特性を示す。以下、図12に基づいて減速旋回シーンでの目標車速生成作用を示す。
実施例1における自動運転車両の目標車速生成方法及び目標車速生成装置にあっては、下記に列挙する効果が得られる。
複数の車速指令値の各々の車速指令値に対して、現時刻から所定時間を経過した後の先読み車速指令値を算出する(先読み車速指令算出部22)。
算出された複数の先読み車速指令値のうち、最小値を目標車速として選択する(最小車速指令調停部23:図1)。
このため、運転支援(自動運転)により走行する際、不要な加速を抑制することができるのに加え、加速から減速に遷移するときのジャークを低減する自動運転車両の目標車速生成方法を提供することができる。即ち、目標車速の将来値を見越した制御ができ、不要な加速を抑制できる。加速から減速に転じる際の、ジャークを低減できる。又、最小値をとることで、複数の車速指令値のうち安全サイドの車速計画を立案できる。
前回の車速指令値から今回の先読み車速指令値に至るまでに必要な必要加速度を計算する(必要加速度計算部22b)。
必要加速度と計算周期と前回の車速指令値から現在時刻の先読み車速指令値を計算する(車速指令計算部22c:図7)。
このため、(1)の効果に加え、リアルタイムに先読み車速指令値を計算することができる。そして、計算周期(サンプル時間)毎に、先読み車速指令値を計算するため、将来の目標車速が分かっていない場合でも、適用することができる。
このため、(2)の効果に加え、緩慢に制御したい場合、加減速挙動をより滑らかにすることができると共に、加速から減速に転じるまでに要する時間を早めることができる。
このため、(2)又は(3)の効果に加え、制限車速に対して、自車の車速を滑らかに追従させることができる。
このため、(2)~(4)の効果に加え、機敏に制御したい場合、加減速挙動をより機敏にすることができると共に、加速から減速に転じるまでの時間が遅くなり、加速区間を多くすることができる。
このため、(2)~(5)の効果に加え、先行車に対して、自車を機敏に追従させることができる。
このため、(2)~(6)の効果に加え、本来加速したいシーンで加速が抑制されてしまうことを防ぐことができる。
このため、(2)~(7)の効果に加え、目標車速がマイナスとなり、必要以上に減速されることを防止することができる。
このため、(1)~(8)の効果に加え、選ばれた目標車速の種類に応じて加減速制限量を適用することで、種類の対応する個別の加減速挙動にすることができる。例えば、制限車速による目標車速が選択されるときは、加減速度を小さくすることで、滑らかに追従できる。又、ACCによる目標車速が選択されるときは、加減速度を大きくすることで、先行車の位置変化に対して、応答性よく追従することができる。
このため、(1)~(9)の効果に加え、前方に車両が停まっている場合や前方に低速の車両が存在している場合、その手前で発生する不要な加速(例えば、制限車速に追従するための加速など)を抑制することができる。
このため、(1)~(10)の効果に加え、自車の前方で制限車速が下がることが分かっている場合、その手前で発生する不要な加速を抑制することができる。
このため、(1)~(11)の効果に加え、減速・停止することがわかっている場合(例えば、前方に停止線がある、前方の信号が赤信号である、など)、その手前で発生する不要な加速を抑制することができる。
このため、(1)~(12)の効果に加え、前方にタイトなコーナーがあり、予め減速することが分かっている場合、その手前で発生する不要な加速を抑制することができる。
先読み車速指令算出部22は、複数の車速指令生成部21により生成された各々の車速指令値に対して、現時刻から所定時間を経過した後の先読み車速指令値を算出する。
最小車速指令調停部23は、先読み車速指令算出部によって算出された複数の先読み車速指令値のうち、最小値を目標車速として選択する(図1)。
このため、運転支援(自動運転)により走行する際、不要な加速を抑制することができるのに加え、加速から減速に遷移するときのジャークを低減する自動運転車両の目標車速生成装置を提供することができる。
Claims (14)
- 複数の車速指令値に基づいて車両が走行/停止するときの目標車速を生成する運転支援車両の目標車速生成方法であって、
前記複数の車速指令値の各々の車速指令値に対して、現時刻から所定時間を経過した後の先読み車速指令値を算出し、
前記算出された複数の先読み車速指令値のうち、最小値を前記目標車速として選択する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項1に記載された運転支援車両の目標車速生成方法において、
前記先読み車速指令値を算出する際、現時点の車速指令値と目標加速度と先読み時間とに基づき、前記先読み時間が経過した後の先読み車速指令値を計算し、
前回の車速指令値から今回の先読み車速指令値に至るまでに必要な必要加速度を計算し、
前記必要加速度と計算周期と前回の車速指令値から現在時刻の先読み車速指令値を計算する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項2に記載された運転支援車両の目標車速生成方法において、
前記先読み車速指令値を計算する際、前記先読み時間を、目標とする加減速挙動によって変化させるとき、緩慢に制御したい場合は機敏に制御したい場合より長い時間に設定する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項2又は3に記載された運転支援車両の目標車速生成方法において、
前記先読み車速指令値を計算する際前記先読み車速指令値が、制限車速に対する車速指令値である場合、他の車速指令値に比べ前記先読み時間を長く設定する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項2から4までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記先読み車速指令値を計算する際、前記先読み時間を、目標とする加減速挙動によって変化させるとき、機敏に制御したい場合は緩慢に制御したい場合より短い時間に設定する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項2から5までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記先読み車速指令値を計算する際、前記先読み車速指令値が、先行車追従に対する車速指令値である場合、他の車速指令値に比べ前記先読み時間を短く設定する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項2から6までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記先読み車速指令値を算出する際、前記必要加速度が、事前に設定された上限加速度を超えた場合、今回の先読み車速指令値を選択することなく、前回の先読み車速指令値を選択する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項2から7までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記先読み車速指令値を算出する際、前記現在時刻の先読み車速指令値が、前記目標車速が取り得る車速領域を超えるとき、前記現在時刻の先読み車速指令値を、前記目標車速が取り得る車速領域により制限する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項1から8までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記複数の先読み車速指令値のうち最小値を選択して前記目標車速を生成する際、選択された先読み車速指令値の種類に応じた加減速度制限量を同時に選択する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項1から9までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記車速指令値を生成する際、先行車との車間距離・相対車速を取得し、、取得した車間距離・相対車速に応じて自車が先行車に追従するために必要な車速指令値を算出する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項1から10までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記車速指令値を生成する際、道路の制限車速情報を取得し、取得された制限車速に追従するために必要な車速指令値を算出する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項1から11までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記車速指令値を生成する際、自車と停止線までの距離を取得し、取得された停止線相対距離に対して減速・停止するために必要な車速指令値を算出する
ことを特徴とする運転支援車両の目標車速生成方法。 - 請求項1から12までの何れか一項に記載された運転支援車両の目標車速生成方法において、
前記車速指令値を生成する際、走行経路の曲率を取得し、取得した道路曲率情報に従って予め設定する限界横加速度を超えない車速指令値を算出する
ことを特徴とする運転支援車両の目標車速生成方法。 - 複数の車速指令生成部を有し、車両が走行/停止するときの目標車速を生成するコントローラを搭載した運転支援車両の目標車速生成装置であって、
前記コントローラは、
前記複数の車速指令生成部により生成された各々の車速指令値に対して、現時刻から所定時間を経過した後の先読み車速指令値を算出する先読み車速指令算出部と、
前記先読み車速指令算出部によって算出された複数の先読み車速指令値のうち、最小値を前記目標車速として選択する最小車速指令調停部と、
を備えることを特徴とする運転支援車両の目標車速生成装置。
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- 2017-07-03 JP JP2019528214A patent/JP6680403B2/ja active Active
- 2017-07-03 KR KR1020207001450A patent/KR20200010577A/ko not_active Application Discontinuation
- 2017-07-03 RU RU2020104284A patent/RU2723010C1/ru active
- 2017-07-03 EP EP17917209.3A patent/EP3650258B1/en active Active
- 2017-07-03 WO PCT/JP2017/024399 patent/WO2019008647A1/ja unknown
- 2017-07-03 CN CN201780092107.5A patent/CN110770064B/zh active Active
- 2017-07-03 BR BR112020000080-9A patent/BR112020000080B1/pt active IP Right Grant
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JP2020192942A (ja) * | 2019-05-30 | 2020-12-03 | 日産自動車株式会社 | 走行支援方法および走行支援装置 |
JP7208106B2 (ja) | 2019-05-30 | 2023-01-18 | 日産自動車株式会社 | 走行支援方法および走行支援装置 |
WO2021093341A1 (zh) * | 2019-11-14 | 2021-05-20 | 东风商用车有限公司 | 一种自适应巡航系统的速度跟随控制方法及系统 |
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WO2022153590A1 (ja) * | 2021-01-18 | 2022-07-21 | 日立Astemo株式会社 | 車両制御装置 |
Also Published As
Publication number | Publication date |
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EP3650258A1 (en) | 2020-05-13 |
CA3068898A1 (en) | 2019-01-10 |
CN110770064A (zh) | 2020-02-07 |
JPWO2019008647A1 (ja) | 2020-01-23 |
BR112020000080B1 (pt) | 2023-10-17 |
US11052925B2 (en) | 2021-07-06 |
EP3650258B1 (en) | 2023-03-15 |
CN110770064B (zh) | 2021-08-10 |
BR112020000080A2 (pt) | 2020-07-07 |
US20200391764A1 (en) | 2020-12-17 |
EP3650258A4 (en) | 2020-08-19 |
RU2723010C1 (ru) | 2020-06-08 |
KR20200010577A (ko) | 2020-01-30 |
MX2019015633A (es) | 2020-02-20 |
JP6680403B2 (ja) | 2020-04-15 |
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