WO2020065729A1 - 車両制御方法及び車両制御装置 - Google Patents
車両制御方法及び車両制御装置 Download PDFInfo
- Publication number
- WO2020065729A1 WO2020065729A1 PCT/JP2018/035476 JP2018035476W WO2020065729A1 WO 2020065729 A1 WO2020065729 A1 WO 2020065729A1 JP 2018035476 W JP2018035476 W JP 2018035476W WO 2020065729 A1 WO2020065729 A1 WO 2020065729A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- acceleration
- vehicle
- driving force
- target
- preceding vehicle
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims abstract description 240
- 230000007423 decrease Effects 0.000 claims description 6
- 230000000994 depressogenic effect Effects 0.000 claims description 6
- 230000004048 modification Effects 0.000 description 69
- 238000012986 modification Methods 0.000 description 69
- 230000008859 change Effects 0.000 description 38
- 238000010586 diagram Methods 0.000 description 24
- 230000008569 process Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 238000000418 atomic force spectrum Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
Definitions
- the present invention relates to vehicle control for automatically controlling at least acceleration and deceleration of a vehicle without depending on a driver's operation.
- a vehicle control that automatically controls at least acceleration and deceleration of a vehicle without depending on a driver's operation.
- conventional vehicle control when a preceding vehicle is detected by the camera, the vehicle is driven while maintaining a predetermined inter-vehicle distance from the preceding vehicle, and when the preceding vehicle stops, the own vehicle is stopped, and the preceding vehicle restarts. Then, the vehicle is restarted, so-called following travel is performed.
- a camera has a performance limit. For example, there is a case where a preceding vehicle cannot be recognized in a backlight state. For this reason, in the conventional vehicle control, it may be determined that the host vehicle may be accelerated despite the presence of a preceding vehicle.
- an object of the present invention is to provide a vehicle control for automatically controlling the acceleration and deceleration of a vehicle, which avoids a collision with a preceding vehicle or an obstacle when acceleration is started, and improves the acceleration.
- a target acceleration is set based on a distance from a preceding vehicle or an obstacle, and the host vehicle is accelerated based on the target acceleration without operating by a driver. Then, at an acceleration at which the relative distance to the preceding vehicle or obstacle at the time when a preset acceleration limit time has elapsed from the start of acceleration is equal to or greater than the reference relative distance, and the relative vehicle speed to the preceding vehicle or obstacle is equal to or less than the reference relative vehicle speed.
- a certain limit acceleration is calculated, and when the target acceleration exceeds the limit acceleration, the own vehicle is accelerated by the limit acceleration.
- FIG. 1 is a configuration diagram of a vehicle control system.
- FIG. 2 is a timing chart in the case where the vehicle running following does not recognize the preceding vehicle and starts accelerating.
- FIG. 3 is a timing chart in the case where the vehicle running following does not recognize an obstacle and starts accelerating.
- FIG. 4 is a diagram showing a control routine executed by the traveling control controller according to the present embodiment.
- FIG. 5 is a flowchart showing the contents of the change rate limiting routine.
- FIG. 6 is a diagram showing the contents of the control routine of the first modification.
- FIG. 7 is a diagram showing the contents of the control routine of the second modification.
- FIG. 8 is a diagram showing the contents of the control routine of the third modification.
- FIG. 9 is a diagram showing the contents of the control routine of the fourth modification.
- FIG. 10 is a diagram showing the contents of the control routine of the fifth modification.
- FIG. 11 is a diagram showing the contents of the control routine of the sixth modification.
- FIG. 12 is a diagram showing the contents of the control routine of the seventh modification.
- FIG. 13 is a diagram showing the contents of the control routine of the eighth modification.
- FIG. 14 is a diagram showing the contents of the control routine of the ninth modification.
- FIG. 15 is a diagram showing the contents of the control routine of the tenth modification.
- FIG. 16 is a diagram showing the contents of the control routine of the eleventh modification.
- FIG. 1 is a configuration diagram of a vehicle control system according to the present embodiment.
- the vehicle according to the present embodiment includes an internal combustion engine (hereinafter, referred to as an engine) as a drive source, and transmits a driving force generated by the engine to a transmission via a torque converter.
- an engine an internal combustion engine
- the automatic operation switch 1 is a switch for instructing start and end of an automatic operation mode in which acceleration / deceleration control is automatically performed without operation of a driver, and for instructing a change of a vehicle speed or an acceleration during execution of the automatic operation mode. It is.
- the state of the automatic operation switch 1 is output to a traveling controller 5 described later.
- the vehicle speed sensor 2 is a sensor that detects the vehicle speed of the own vehicle, and is configured by a pulse generator such as a rotary encoder that measures the wheel speed.
- the wheel speed information detected by the vehicle speed sensor 2 is output to a traveling control controller 5 described later.
- the external world recognition device 3 recognizes a preceding vehicle, a traffic signal, or the like existing in front of the own vehicle, and detects a state of the recognized preceding vehicle or the traffic signal. Information on the detected preceding vehicle or traffic signal is output to a travel control controller 5 described later.
- the external world recognition device 3 includes, for example, a radar and a camera.
- the accelerator pedal sensor 4A detects an operation amount of an accelerator pedal, which is an operation command for acceleration instruction operated by the driver.
- the detected accelerator pedal operation amount is output to a traveling controller 5 described later.
- the brake pedal sensor 4B detects the operation amount of a brake pedal, which is an operator for deceleration instruction operated by the driver.
- the detected brake pedal operation amount is output to the traveling controller 5 described later.
- the accelerator pedal and the brake pedal constitute a driving operator operated by the driver.
- the accelerator pedal sensor 4A and the brake pedal sensor 4B may be referred to as driving operator operating state detecting means 4.
- the traveling control controller 5 as a traveling control unit includes a state of the automatic driving switch 1, a vehicle speed of the own vehicle based on a signal from the vehicle speed sensor 2, information on the outside world acquired by the outside world recognition device 3, and a driving operator operation state.
- the traveling control is performed based on the state of the detection means 4. That is, the traveling controller 5 performs the automatic operation when the automatic operation switch 1 is ON.
- the travel control controller 5 sets a target vehicle speed for following the vehicle while maintaining an inter-vehicle distance with the preceding vehicle at a predetermined distance, and a target vehicle speed. Set the target acceleration / deceleration based on.
- the travel controller 5 calculates a target driving force or a target braking force (hereinafter, collectively referred to as a target acceleration / deceleration control amount) for achieving the target acceleration / deceleration, and calculates the calculated target acceleration / deceleration control amount. Is output to the acceleration / deceleration control device 6.
- the traveling control controller 5 sets, for example, a legal speed as a target vehicle speed, and sets a target acceleration according to the target vehicle speed.
- the travel control controller 5 calculates a target acceleration / deceleration control amount for realizing the target acceleration / deceleration, and outputs the target acceleration / deceleration control amount to an acceleration / deceleration control device 6 described later.
- the acceleration control during the following running in the present embodiment will be described later.
- the traveling control controller 5 sets a shift command value based on the above information, and outputs the shift command value to the transmission controller 7.
- the travel controller 5 is configured by a microcomputer including a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and an input / output interface (I / O interface).
- the travel control controller 5 can be composed of a plurality of microcomputers.
- the acceleration / deceleration control device 6 includes an engine controller 6A as a driving force control unit and a brake controller 6B.
- the engine controller 6A controls the throttle valve opening of the engine, which is the driving source, based on the acceleration / deceleration control amount input from the traveling control controller 5.
- the brake controller 6B controls a braking force based on the acceleration / deceleration control amount input from the traveling control controller 5.
- the braking force is controlled by controlling the hydraulic pressure of the hydraulic brake and the amount of regenerative electric power generated by the regenerative brake.
- the traveling control controller 5 stops the own vehicle at a predetermined inter-vehicle distance for stopping when the preceding vehicle stops during the following traveling by the automatic driving, and starts the own vehicle when the preceding vehicle starts. When the distance between the host vehicle and the preceding vehicle increases, the host vehicle is accelerated. In the following description, starting and acceleration are collectively referred to as acceleration unless it is particularly necessary to distinguish them.
- the camera as the external recognition device 3 determines whether there is a preceding vehicle and whether the preceding vehicle has started. However, when the performance limit is exceeded due to bad weather or when there is backlight, the camera may not be able to recognize the preceding vehicle. If the camera cannot recognize the preceding vehicle, there is a risk of starting acceleration in a situation where it should not be accelerated. Even when the acceleration is started in this way, if the driver recognizes the preceding vehicle and depresses the brake pedal, the following running is released, and the vehicle decelerates.
- This situation can occur even when there is no preceding vehicle. For example, there is a case where the vehicle accelerates without being able to recognize an obstacle such as a person in front while performing automatic driving for automatically traveling to a target point, cruise control for traveling while maintaining the target vehicle speed, or the like.
- the traveling control controller 5 performs the control described below so that the driver can perform a brake operation to avoid collision with the preceding vehicle. Execute.
- FIG. 2 is a timing chart in the case where the vehicle is traveling at a constant speed while maintaining the inter-vehicle distance to the preceding vehicle at L1 due to the following traveling, and it becomes impossible to recognize the preceding vehicle and acceleration is started.
- the solid line in the figure indicates a case where collision with the preceding vehicle can be avoided, and the broken line indicates a case where collision with the preceding vehicle cannot be avoided.
- the driving force is the torque of the engine.
- the driving force P1 is a driving force when the vehicle is traveling at a constant vehicle speed.
- the traveling control controller 5 determines that acceleration is possible, and the driving force for acceleration is determined. Increase. As the vehicle accelerates, the relative vehicle speed with respect to the preceding vehicle starts to increase, and accordingly, the inter-vehicle distance with the preceding vehicle starts to decrease.
- the driver recognizes that the own vehicle has started accelerating despite the presence of the preceding vehicle, the driver performs the brake operation, and when the braking is started along with this, the following running is released.
- the actual braking force is generated by the time between when the driver recognizes the necessity of the brake operation and depresses the brake pedal, and the delay time from when the brake pedal is depressed until the braking force is generated. Is a timing (timing T1 in the figure) at which time has elapsed. After the timing T1, the following running is released and the accelerator pedal is not depressed, so that the driving force gradually decreases. Then, a braking force is generated.
- the magnitude of the braking force and the inter-vehicle distance during follow-up running are values used for evaluation of, for example, ASIL (Automotive Safety Integrity Level), which is a safety standard defined by the ISO 26262 functional safety standard. The same applies to the time required from the start of acceleration to the time when the driver recognizes the need for braking and depresses the brake pedal, and the delay time from when the brake pedal is depressed until the braking force is generated.
- ASIL Automotive Safety Integrity Level
- the inter-vehicle distance is greater than zero at the timing T2 when the relative vehicle speed becomes zero. That is, collision with the preceding vehicle can be avoided.
- the relative vehicle speed at the timing T1 is V3 higher than V2 and the inter-vehicle distance is L3 shorter than L2, the inter-vehicle distance becomes zero before the relative vehicle speed becomes zero. That is, collision with the preceding vehicle cannot be avoided.
- the inter-vehicle distance (relative distance) and the relative vehicle speed at timing T1 are suppressed to a size that can avoid a collision.
- the inter-vehicle distance (relative distance) with the preceding vehicle at the timing T1 becomes equal to or longer than the reference relative distance and the relative vehicle speed with the preceding vehicle becomes equal to or lower than the reference relative vehicle speed. It is necessary to set the acceleration of the own vehicle. Here, even if the reference relative distance decreases, a collision with the preceding vehicle can be avoided by reducing the reference relative vehicle speed.
- the setting of the acceleration can be rephrased as the setting of the driving force.
- FIG. 3 is a timing chart in the case of starting acceleration without being able to recognize an obstacle ahead in a camera during automatic driving. It is basically the same as FIG. 2 except that the relative vehicle speed at the start of acceleration (timing zero) becomes V1. This is because the obstacle is not moving.
- the relative distance to the obstacle at the timing T1 is specifically determined so that the distance to the obstacle at the timing T1 (relative distance) and the relative vehicle speed to the obstacle are suppressed to a size capable of avoiding a collision. It is necessary to set the acceleration of the own vehicle from the start of acceleration to the timing T1 so that the distance becomes longer than the relative distance and the relative vehicle speed with respect to the obstacle becomes lower than the reference relative vehicle speed.
- the period from the start of acceleration to the timing T1 is also referred to as an acceleration limit time.
- FIG. 4 is a diagram showing the contents of a control routine programmed in the traveling controller 5.
- a control routine programmed in the traveling controller 5.
- the travel controller 5 reads the target driving force and the vehicle speed of the host vehicle at the start of acceleration.
- the target driving force is a driving force set for accelerating to the target vehicle speed when the vehicle is accelerated irrespective of the driver's operation as in the following running.
- the traveling controller 5 calculates the driving force at the start of acceleration (hereinafter, also referred to as R / L traveling resistance driving force) based on the read vehicle speed of the vehicle (B10).
- the R / L running resistance driving force is a driving force required for running at a constant vehicle speed, and is calculated by a known method based on the vehicle weight of the own vehicle, the running resistance, and the like.
- the traveling control controller 5 compares the target driving force with the R / L traveling resistance driving force (B11), and determines that the vehicle has started acceleration when the target driving force exceeds the R / L traveling resistance driving force.
- the limited driving force (B12) in which the amount of change in the driving force is limited is set as the final target driving force. Otherwise, the target driving force is set as the final target driving force as it is (B13).
- FIG. 5 is a diagram showing the contents of the routine for calculating the limited driving force. This routine is also programmed in the travel controller 5.
- the traveling control controller 5 reads the target driving force, the vehicle speed of the own vehicle at the start of acceleration, the target driving force and the R / L traveling resistance driving force calculated in the previous routine.
- the traveling control controller 5 compares the target driving force calculated in the previous routine with the R / L traveling resistance driving force (B121).
- the traveling control controller 5 sets the final target driving force in the previous routine as the reference target driving force when the target driving force in the previous routine exceeds the R / L traveling resistance driving force in the previous routine, and otherwise,
- the R / L running resistance driving force in the previous routine is set as the reference target driving force (B122).
- the target driving force did not exceed the R / L running resistance driving force in the previous routine, but if the target driving force exceeds the R / L running resistance driving force in the current routine, the R / L running This is for calculating the limited driving force based on the resistance driving force.
- the travel control controller 5 calculates the driving force restriction amount based on the read vehicle speed of the own vehicle (B123).
- the driving force limit amount is a distance between the preceding vehicle and the preceding vehicle at the time when the acceleration limit time elapses from the start of acceleration during the following running while maintaining a predetermined inter-vehicle distance. If this occurs, the driving force is such that the relative vehicle speed with respect to the preceding vehicle becomes zero before the distance to the preceding vehicle becomes zero.
- the driving force is such that the inter-vehicle distance (relative distance) to the preceding vehicle at the time when the acceleration limit time has elapsed from the start of acceleration is equal to or greater than the reference relative distance, and the relative vehicle speed to the preceding vehicle is equal to or less than the reference relative vehicle speed.
- the following distance, the acceleration limit time, and the magnitude of the braking force during the following running are values used for evaluation of ASIL (Automotive Safety Integrity Level), which is a safety standard defined by the functional safety standard ISO 26262, for example.
- ASIL Automotive Safety Integrity Level
- the magnitude of the inter-vehicle distance during the following traveling is set based on the vehicle speed, and is set to be larger as the vehicle speed is higher.
- the traveling controller 5 calculates the post-restriction target driving force by adding the driving force restriction amount to the reference target driving force (B124).
- the traveling controller 5 compares the difference (B125) between the target driving force and the reference target driving force with the driving force restriction amount (B126).
- the traveling control controller 5 sets the post-restricted target driving force to the limited driving force in order to avoid a collision with the preceding vehicle, and otherwise does not. In this case, the collision with the preceding vehicle can be avoided without limiting the driving force, so the target driving force is set as the limited driving force (B127).
- the target driving force is set so that the inter-vehicle distance at the timing T1 becomes a distance at which the relative acceleration with the preceding vehicle becomes zero before the distance to the preceding vehicle becomes zero if the braking force is generated from the timing T1. Is limited.
- the traveling controller 5 transmits the final target driving force to the engine controller 6A, and the engine controller 6A controls the driving force based on this.
- the vehicle can avoid collision with the preceding vehicle.
- the vehicle control according to the present invention can be applied not only to the following running at a constant speed but also to the following running at a constant acceleration. In this case, if the target driving force is larger than the driving force required for constant acceleration traveling, the driving force change amount is limited.
- the limited driving force is set as the final target driving force.
- the driving force may be used.
- the driver does not perform the brake operation.
- the acceleration increases as shown by the alternate long and short dash line in FIGS.
- FIG. 6 is a diagram showing the contents of the control routine of the first modification.
- the travel control controller 5 reads the target acceleration.
- the target acceleration is set in advance as the acceleration at the time of following travel or automatic driving.
- the travel control controller 5 stores an acceleration as a threshold value used for determining whether or not the own vehicle has started acceleration (B20).
- the threshold value here is, for example, zero G when the vehicle is following the vehicle at a constant vehicle speed, and the constant acceleration (for example, 0.1 G) when the vehicle is following the vehicle at a constant acceleration.
- the travel control controller 5 compares the target acceleration with a threshold value of the acceleration (B21). If the target acceleration is equal to or greater than the threshold value, the limited acceleration (B22) in which the amount of change in acceleration is limited is set as the final target acceleration. Sets the target acceleration as the final target acceleration (B23). If the target acceleration is equal to or greater than the threshold, it can be determined that the vehicle has started accelerating.
- the reason why the amount of change in the target acceleration is limited is to realize the acceleration for avoiding the collision described above.
- the driving force is limited in order to control the acceleration of the vehicle, but in the control routine of FIG. 6, the acceleration is directly limited. That is, the content of the process of limiting the amount of change is obtained by replacing the driving force in FIG. 4 with the acceleration, and is substantially the same process. In order to achieve the post-restriction target acceleration, the driving force is controlled.
- the final target acceleration is calculated, and the acceleration of the own vehicle is controlled based on the calculated target acceleration.
- FIG. 7 is a diagram showing the contents of a control routine for calculating the final target driving force according to the present modified example. This routine is programmed in the travel controller 5.
- the driving control controller 5 reads the target driving force and the vehicle speed, calculates the R / L driving resistance driving force based on the vehicle speed, and compares the target driving force with the R / L driving resistance driving force in FIG. This is the same as the control routine (B30, B31).
- the process (B33) for limiting the amount of change in the target driving force is the same as the control routine in FIG.
- the traveling control controller 5 determines that the vehicle has started accelerating, and starts counting by the timer (B32). That is, the timer starts counting when acceleration starts. The timer counts from the start of acceleration to timing T1. The travel control controller 5 starts limiting the amount of change in the target driving force to the above-described driving force limit amount (B33) at the same time as the timer starts counting, and continues this limit at least until the acceleration limit time elapses.
- the reason why the change amount of the target driving force is limited is to realize the acceleration for avoiding the collision described above. If the target driving force does not exceed the R / L running resistance driving force, the target driving force is used as it is as the limited target driving force (B33).
- FIG. 8 is a diagram showing the contents of the control routine of the third modification. This routine is programmed in the travel controller 5.
- the driving force is limited in the second modification shown in FIG. 7, but the acceleration is directly limited.
- the travel controller 5 reads the target acceleration, and stores the acceleration as a threshold used for determining whether or not the own vehicle has started acceleration (B40). When the target acceleration is equal to or greater than the threshold, the travel control controller 5 activates a timer (B42). If the target acceleration is equal to or greater than the threshold, it can be determined that the vehicle has started accelerating. That is, the timer starts counting when acceleration starts. The timer counts from the start of acceleration to timing T1. The travel control controller 5 starts limiting the amount of change in the target acceleration up to the acceleration limit amount (the above-described driving force limit amount is replaced with acceleration) at the same time that the timer starts counting. It continues until it passes (B23).
- the acceleration limit amount the above-described driving force limit amount is replaced with acceleration
- FIG. 9 is a diagram showing the contents of a control routine for calculating the post-restriction target driving force according to this modification. This routine is programmed in the travel controller 5.
- the traveling controller 5 reads the target driving force and the vehicle speed, calculates the R / L traveling resistance driving force based on the vehicle speed (B50), and compares the target driving force with the R / L traveling resistance driving force (B51). Up to this point, it is the same as the control routine of FIG.
- the safety change amount and the change amount A of the driving force are calculated (B52, B53).
- the safety change amount is a change amount that can avoid a collision with the preceding vehicle when there is a preceding vehicle, and for example, depresses a brake pedal after recognizing the braking force and the necessity of braking specified in the functional safety standard ISO26262. , The delay time from when the brake pedal is depressed until the braking force is generated, and the relative distance / relative vehicle speed during the following running.
- the change amount A is a change amount that is arbitrarily set to a change amount larger than the safety change amount, and is, for example, a change amount of the target driving force used when there is no preceding vehicle.
- the travel controller 5 selects the safety change amount when the target driving force is equal to or greater than the R / L running resistance driving force, and otherwise selects the change amount A (B54). Then, the traveling control controller 5 limits the change amount of the target driving force with the selected change amount as an upper limit, and sets the change amount as the final target driving force (B55).
- FIG. 10 is a diagram showing the contents of the control routine of the fifth modification. This routine is programmed in the travel controller 5.
- the driving force is limited in the fourth modified example shown in FIG. 9, but the acceleration is directly limited.
- the traveling control controller 5 reads the target acceleration and stores the acceleration as a threshold used for determining whether or not the own vehicle has started acceleration (B60). Then, the travel controller 5 compares the target acceleration with the threshold (B61). The traveling control controller 5 calculates the safety change amount and the change amount A of the acceleration (B62, B63). The travel control controller 5 selects the safety change amount when the target acceleration is equal to or greater than the threshold, and otherwise selects the change amount A (B64). Then, the travel control controller 5 limits the change amount of the target acceleration with the selected change amount as an upper limit, and sets the change amount as a final target acceleration (B65).
- FIG. 11 is a diagram showing the contents of a control routine for calculating the post-restriction target driving force according to this modification. This routine is programmed in the travel controller 5.
- the traveling controller 5 reads the target driving force and the gradient of the road surface during traveling.
- the road gradient is calculated based on, for example, a detection value of an acceleration sensor (not shown).
- the traveling control controller 5 estimates a driving force (hereinafter, also referred to as a constant traveling driving force) required to travel on a road surface of the gradient at a constant vehicle speed. (B70)
- the constant traveling driving force is subtracted from the target driving force (B71). Note that the vehicle weight of the own vehicle is obtained by adding a detection value of a weight sensor provided on a seat or the like to a previously stored empty weight.
- the traveling control controller 5 restricts the driving force of the magnitude obtained by subtracting the constant traveling driving force from the target driving force to the above-described driving force limit amount (B72), and adds the constant traveling driving force to the restricted driving force. Is the final target driving force (B73).
- the above-described driving force limitation is to set the upper limit of the driving force by a function using the time t as a parameter, and to limit the target driving force so as not to exceed the upper limit.
- FIG. 12 is a diagram showing the contents of the control routine of the seventh modification. This routine is programmed in the travel controller 5.
- the driving force is limited in the sixth modification shown in FIG. 11, but the acceleration is directly limited.
- the traveling control controller 5 estimates acceleration (gradient resistance equivalent acceleration) caused by the gradient based on the read gradient and the vehicle weight of the vehicle stored in advance (B80), and calculates the gradient resistance from the target acceleration.
- the equivalent acceleration is subtracted (B81).
- the travel control controller 5 limits the acceleration of the magnitude obtained by subtracting the gradient resistance equivalent acceleration from the target acceleration to the above-described acceleration limit (B82), and adds the acceleration after the limitation and the gradient resistance equivalent acceleration to the final target acceleration. (B83).
- FIG. 13 is a diagram showing the contents of a control routine for calculating the post-restriction target driving force according to this modification. This routine is programmed in the travel controller 5.
- the present modified example is different from the above-described modified examples in the method of determining whether or not the own vehicle has started acceleration.
- the process (B91) of operating the timer after determining that the acceleration has started is the same as the control routine shown in FIG.
- the process (B92) of limiting the target driving force is the same as the control routine shown in FIG.
- the differences will be mainly described.
- the travel control controller 5 makes an acceleration start determination based on the target driving force and information on whether or not the vehicle accelerates (B90).
- Information on whether or not the vehicle accelerates is information on the result of the overtaking determination, information on whether the vehicle will pass through a tollgate, and whether it will join.
- the overtaking determination for example, while driving at the target vehicle speed by automatic driving, the radar as the external world recognition device 3 detects the vehicle as it runs ahead, and the inter-vehicle distance to the vehicle continues to be reduced even if the vehicle speed of the own vehicle is reduced In this case, the traveling control controller 5 determines that the vehicle will pass. After passing through a tollgate or at a junction at a highway junction or the like, the traveling control controller 5 accelerates the own vehicle. Therefore, when the travel control controller 5 recognizes that the vehicle has passed the tollgate or that the vehicle will merge, based on the map information and the position information from the navigation system (not shown), it activates the timer (B91).
- the acceleration start determination based on the target driving force is, for example, a determination that acceleration is started when the target driving force increases, or when the rate of change when the target driving force increases exceeds a preset threshold. is there.
- the traveling control controller 5 determines that the acceleration has been started by any of the determination methods described above, the traveling control controller 5 activates the timer (B91).
- FIG. 14 shows the contents of the control routine of the ninth modification. This routine is programmed in the travel controller 5.
- the driving force is restricted in the eighth modification shown in FIG. 13, but the acceleration is directly restricted.
- the traveling control controller 5 makes an acceleration start determination based on the target acceleration and information on whether or not the own vehicle is accelerated (B100), and activates a timer when it is determined that the acceleration has been started. (B101), the target acceleration is limited (B102). As a result, a collision with the preceding vehicle can be avoided and the acceleration performance can be improved as in the above-described embodiment and each of the modifications.
- FIG. 15 shows the contents of the control routine of the tenth modification.
- This routine is programmed in the travel controller 5.
- This modification is the same as the eighth modification in that the timer (B111) is activated when it is determined that the acceleration has been started by the acceleration start determination (B110), and the target driving force is limited (B113).
- the method of limiting the target driving force is different from the eighth modification.
- the allowable acceleration profile is calculated based on the relative vehicle speed and the relative distance from the preceding vehicle detected by the radar (B112), and the upper limit of the target driving force is limited based on the allowable acceleration profile (B113).
- the allowable acceleration profile is basically a driving force profile for realizing a collision avoidable acceleration profile, similarly to the safety change amount described in the fourth modification.
- the relative vehicle speed and relative distance from the preceding vehicle at the start of acceleration used for calculating the amount of change in safety are, for example, values determined by the functional safety standard ISO26262, whereas the calculation of the allowable acceleration profile is detected by the radar.
- the actual relative vehicle speed and relative distance obtained are used. Therefore, according to the present modification, the driving force can be more accurately limited.
- FIG. 16 shows the contents of the control routine of the eleventh modification. This routine is programmed in the travel controller 5.
- the driving force is restricted in the eighth modification shown in FIG. 13, but the acceleration is directly restricted.
- the traveling control controller 5 makes an acceleration start determination based on the target acceleration and information on whether or not the vehicle is accelerating (B130), and activates the timer when it is determined that the acceleration has started (B131). .
- the traveling control controller 5 generates an allowable acceleration profile based on the actual relative vehicle speed and the relative distance (B132).
- the allowable acceleration profile in the present modification is a characteristic of a time change of the acceleration that can avoid a collision.
- the traveling control controller 5 limits the target acceleration based on the allowable acceleration profile (B133). According to the present modification, the driving force can be more accurately limited.
- the present invention can also be applied to a system having a function in which the traveling control controller 5 performs a brake operation when a preceding vehicle or an obstacle is detected by the radar after the acceleration starts. .
- a vehicle control method in which a target acceleration is set based on a distance from a preceding vehicle or an obstacle, and the host vehicle is accelerated based on the target acceleration without operating the driver. Is done.
- the vehicle is accelerated at a limited acceleration in which the target acceleration is suppressed until at least a preset acceleration limited time has elapsed from the start of acceleration.
- the magnitude of the acceleration can be suppressed to such a level that a collision with the preceding vehicle can be avoided if the driver performs a brake operation after the start of acceleration.
- the suppression of the target acceleration can be released after the acceleration limit time has elapsed. Therefore, it is possible to ensure both safety and acceleration performance.
- the acceleration limit time is the sum of the time required to determine to apply the braking and the time required from when the braking operation is started to when the braking force is actually generated. It is inevitable that it takes time from the decision to apply braking to the generation of braking force, but by setting the acceleration limit time as described above, it is possible to avoid collision with the preceding vehicle .
- the limited acceleration is a distance from the preceding vehicle or obstacle at the time when the acceleration limit time has elapsed from the start of acceleration, and the braking force is generated from the time when the acceleration limit time has elapsed until the preceding vehicle or the obstacle. Is the distance at which the relative acceleration with the preceding vehicle or obstacle becomes zero before the distance becomes zero. As a result, a collision with a preceding vehicle can be avoided without suppressing the target acceleration more than necessary.
- the target acceleration may be suppressed by calculating the target driving force for realizing the target acceleration and suppressing the target driving force. Since the driving force is controlled to suppress the acceleration, the calculation load can be reduced by directly controlling the driving force.
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
Description
図6は第1変形例の制御ルーチンの内容を示す図である。本変形例では、走行制御コントローラ5は目標加速度を読み込む。目標加速度は、追従走行や自動運転の際の加速度として予め設定されたものである。また、走行制御コントローラ5は、自車が加速を開始したか否かの判定に用いる閾値としての加速度を記憶している(B20)。ここでの閾値は、例えば、一定車速で追従走行している場合はゼロG、一定加速度で追従走行している場合は当該一定加速度(例えば0.1G)とする。
本変形例は、最終目標駆動力を算出するための制御ルーチンが上記実施形態との相違点である。以下、相違点を中心に説明する。
図8は第3変形例の制御ルーチンの内容を示す図である。本ルーチンは走行制御コントローラ5にプログラムされている。本変形例は、図4の制御ルーチンに対する第1変形例と同様に、図7に示す第2変形例では駆動力を制限していたのに対し、加速度を直接的に制限するものである。
本変形例は、制限後目標駆動力を算出するための制御ルーチンが上記実施形態との相違点である。以下、相違点を中心に説明する。
図10は第5変形例の制御ルーチンの内容を示す図である。本ルーチンは走行制御コントローラ5にプログラムされている。本変形例は、図4の制御ルーチンに対する第1変形例と同様に、図9に示す第4変形例では駆動力を制限していたのに対し、加速度を直接的に制限するものである。
本変形例は、制限後目標駆動力を算出するための制御ルーチンが上記実施形態との相違点である。以下、相違点を中心に説明する。
図12は第7変形例の制御ルーチンの内容を示す図である。本ルーチンは走行制御コントローラ5にプログラムされている。本変形例は、図4の制御ルーチンに対する第1変形例と同様に、図11に示す第6変形例では駆動力を制限していたのに対し、加速度を直接的に制限するものである。
図13は、本変形例に係る制限後目標駆動力を算出するための制御ルーチンの内容を示す図である。本ルーチンは走行制御コントローラ5にプログラムされている。
図14は第9変形例の制御ルーチンの内容を示す図である。本ルーチンは走行制御コントローラ5にプログラムされている。本変形例は、図4の制御ルーチンに対する第1変形例と同様に、図13に示す第8変形例では駆動力を制限していたのに対し、加速度を直接的に制限するものである。
図15は第10変形例の制御ルーチンの内容を示す図である。本ルーチンは走行制御コントローラ5にプログラムされている。本変形例は、加速開始判定(B110)により加速を開始したと判定された場合にタイマ(B111)を作動させ、かつ目標駆動力を制限する点(B113)は第8変形例と同様であるが、目標駆動力の制限方法が第8変形例との相違点である。
図16は第11変形例の制御ルーチンの内容を示す図である。本ルーチンは走行制御コントローラ5にプログラムされている。本変形例は、図4の制御ルーチンに対する第1変形例と同様に、図13に示す第8変形例では駆動力を制限していたのに対し、加速度を直接的に制限するものである。
Claims (7)
- 先行車または障害物との距離に基づいて目標加速度を設定し、
運転者の操作によらずに前記目標加速度に基づいて自車を加速させる車両制御方法において、
加速開始から予め設定した加速制限時間が経過した時点における前記先行車または前記障害物との相対距離が基準相対距離以上となり、前記先行車または前記障害物との相対車速が基準相対車速以下となる加速度である制限加速度を算出し、前記目標加速度が前記制限加速度を超える場合には前記制限加速度で自車を加速させる、車両制御方法。 - 請求項1に記載の車両制御方法において、
前記基準相対距離が小さいほど前記基準相対車速が小さくなる、車両制御方法。 - 請求項1または2に記載の車両制御方法において、
前記加速制限時間は、加速開始後に運転者がブレーキペダルを踏み込むまでに要する時間と、ブレーキペダルが踏み込まれてから制動力が発生するまでの遅れ時間と、の和である車両制御方法。 - 請求項1から3のいずれかに記載の車両制御方法において、
前記制限加速度は、加速開始から前記加速制限時間が経過した時点における前記先行車または前記障害物との相対距離が、前記加速制限時間が経過した時点から制動力が発生すれば前記先行車または前記障害物までの相対距離がゼロになる前に前記先行車または前記障害物との相対車速がゼロになる相対距離となる加速度である、車両制御方法。 - 請求項1から4のいずれかに記載の車両制御方法において、
前記制限加速度は、加速開始から前記加速制限時間が経過した時点における前記先行車または前記障害物との相対車速が、前記加速制限時間が経過した時点から制動力が発生すれば前記先行車または前記障害物までの相対距離がゼロになる前に前記先行車または前記障害物との相対車速がゼロになる相対車速となる加速度である、車両制御方法。 - 請求項1から5のいずれかに記載の車両制御方法において、
前記目標加速度及び前記制限加速度を実現するための目標駆動力を算出する、車両制御方法。 - 先行車または障害物との距離に基づいて目標加速度を設定して運転者の操作によらずに前記目標加速度に基づいて自車を加速させる走行制御部を備える車両制御装置において、
前記走行制御部は、
加速開始から予め設定した加速制限時間が経過した時点における前記先行車または前記障害物との相対距離が基準相対距離以上となり、前記先行車または前記障害物との相対車速が基準相対車速以下となる加速度である制限加速度を算出し、前記目標加速度が前記制限加速度を超える場合には前記制限加速度で自車を加速させるようプログラムされた、車両制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201880097973.8A CN112752690A (zh) | 2018-09-25 | 2018-09-25 | 车辆控制方法以及车辆控制装置 |
PCT/JP2018/035476 WO2020065729A1 (ja) | 2018-09-25 | 2018-09-25 | 車両制御方法及び車両制御装置 |
US17/278,775 US20220041162A1 (en) | 2018-09-25 | 2018-09-25 | Vehicle control method and vehicle control device |
JP2020547639A JP7103422B2 (ja) | 2018-09-25 | 2018-09-25 | 車両制御方法及び車両制御装置 |
EP18935229.7A EP3858694A4 (en) | 2018-09-25 | 2018-09-25 | VEHICLE CONTROL METHOD AND VEHICLE CONTROL DEVICE |
RU2021107911A RU2767214C1 (ru) | 2018-09-25 | 2018-09-25 | Способ управления транспортным средством и устройство управления транспортным средством |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2018/035476 WO2020065729A1 (ja) | 2018-09-25 | 2018-09-25 | 車両制御方法及び車両制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020065729A1 true WO2020065729A1 (ja) | 2020-04-02 |
Family
ID=69952966
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2018/035476 WO2020065729A1 (ja) | 2018-09-25 | 2018-09-25 | 車両制御方法及び車両制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220041162A1 (ja) |
EP (1) | EP3858694A4 (ja) |
JP (1) | JP7103422B2 (ja) |
CN (1) | CN112752690A (ja) |
RU (1) | RU2767214C1 (ja) |
WO (1) | WO2020065729A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112498353A (zh) * | 2020-11-30 | 2021-03-16 | 浙江吉利控股集团有限公司 | 一种用于防止电池包异常移动的方法、装置、车辆及介质 |
CN113071486A (zh) * | 2021-02-24 | 2021-07-06 | 中移智行网络科技有限公司 | 一种车辆控制方法、装置及汽车 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11433915B2 (en) * | 2020-08-28 | 2022-09-06 | Toyota Research Institute, Inc. | Determining an action to be performed by a vehicle in response to conflicting input signals |
JP7472830B2 (ja) * | 2021-03-15 | 2024-04-23 | トヨタ自動車株式会社 | 運転支援装置 |
EP4180293A1 (en) * | 2021-11-11 | 2023-05-17 | Volvo Car Corporation | Method and control system for limiting a driver acceleration request |
CN114475626B (zh) * | 2022-03-25 | 2024-05-24 | 东风汽车有限公司东风日产乘用车公司 | 轻微碰撞的识别方法、装置、设备及存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002029283A (ja) * | 2000-07-14 | 2002-01-29 | Nissan Motor Co Ltd | 車両用追従走行制御装置 |
JP2015093645A (ja) | 2013-11-14 | 2015-05-18 | 株式会社デンソー | 車両走行制御装置及びプログラム |
JP2018039435A (ja) * | 2016-09-09 | 2018-03-15 | 日産自動車株式会社 | 車間距離制御方法と車間距離制御装置 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19936586B4 (de) * | 1998-08-04 | 2015-04-09 | Denso Corporation | Vorrichtung und Verfahren zum Steuern eines Soll-Abstands und eines Warnabstands zwischen zwei sich bewegenden Fahrzeugen und Datenträger zum Speichern des Steuerverfahrens |
DE19958150A1 (de) * | 1999-12-03 | 2001-06-07 | Volkswagen Ag | Verfahren und Vorrichtung zum Verhindern eines Auffahrunfalles zwischen einem Fahrzeug und einem vorausfahrenden Fahrzeug |
JP3873858B2 (ja) * | 2002-09-27 | 2007-01-31 | 日産自動車株式会社 | 追従走行制御装置 |
DE102004047177A1 (de) * | 2004-09-29 | 2006-04-13 | Robert Bosch Gmbh | Anfahrassistent für Kraftfahrzeuge |
JP2007255382A (ja) * | 2006-03-24 | 2007-10-04 | Toyota Motor Corp | 車両走行制御装置および車両走行制御方法 |
DE102012002695A1 (de) * | 2012-02-14 | 2013-08-14 | Wabco Gmbh | Verfahren zur Ermittlung einer Notbremssituation eines Fahrzeuges |
JP5842740B2 (ja) * | 2012-06-13 | 2016-01-13 | 株式会社アドヴィックス | 車両の走行支援装置 |
KR101619599B1 (ko) * | 2014-08-08 | 2016-05-10 | 현대자동차주식회사 | 융합 레이더 센서 기반 저전력 차량 충돌 방지 방법 및 장치 |
JP6086107B2 (ja) * | 2014-10-17 | 2017-03-01 | トヨタ自動車株式会社 | 車両用制駆動力制御装置 |
JP2016215745A (ja) * | 2015-05-18 | 2016-12-22 | トヨタ自動車株式会社 | 車両の制御装置 |
CN108136935B (zh) * | 2015-10-26 | 2021-06-25 | 三菱电机株式会社 | 车速控制装置 |
DE102015122050A1 (de) * | 2015-12-17 | 2017-06-22 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zur Beschleunigung eines Kraftfahrzeugs |
JP6455456B2 (ja) * | 2016-02-16 | 2019-01-23 | トヨタ自動車株式会社 | 車両制御装置 |
US20170267234A1 (en) * | 2016-03-18 | 2017-09-21 | Soterea, Inc. | Systems and methods for providing collision avoidance or mitigation |
JP6550663B2 (ja) * | 2016-11-04 | 2019-07-31 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
JP6706196B2 (ja) * | 2016-12-26 | 2020-06-03 | 株式会社デンソー | 走行制御装置 |
JP6834853B2 (ja) * | 2017-08-31 | 2021-02-24 | トヨタ自動車株式会社 | 車両制御装置 |
-
2018
- 2018-09-25 JP JP2020547639A patent/JP7103422B2/ja active Active
- 2018-09-25 CN CN201880097973.8A patent/CN112752690A/zh active Pending
- 2018-09-25 WO PCT/JP2018/035476 patent/WO2020065729A1/ja active Application Filing
- 2018-09-25 EP EP18935229.7A patent/EP3858694A4/en active Pending
- 2018-09-25 RU RU2021107911A patent/RU2767214C1/ru active
- 2018-09-25 US US17/278,775 patent/US20220041162A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002029283A (ja) * | 2000-07-14 | 2002-01-29 | Nissan Motor Co Ltd | 車両用追従走行制御装置 |
JP2015093645A (ja) | 2013-11-14 | 2015-05-18 | 株式会社デンソー | 車両走行制御装置及びプログラム |
JP2018039435A (ja) * | 2016-09-09 | 2018-03-15 | 日産自動車株式会社 | 車間距離制御方法と車間距離制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP3858694A4 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112498353A (zh) * | 2020-11-30 | 2021-03-16 | 浙江吉利控股集团有限公司 | 一种用于防止电池包异常移动的方法、装置、车辆及介质 |
CN112498353B (zh) * | 2020-11-30 | 2022-05-10 | 浙江吉利控股集团有限公司 | 一种用于防止电池包异常移动的方法、装置、车辆及介质 |
CN113071486A (zh) * | 2021-02-24 | 2021-07-06 | 中移智行网络科技有限公司 | 一种车辆控制方法、装置及汽车 |
CN113071486B (zh) * | 2021-02-24 | 2022-04-26 | 中移智行网络科技有限公司 | 一种车辆控制方法、装置及汽车 |
Also Published As
Publication number | Publication date |
---|---|
EP3858694A4 (en) | 2021-10-06 |
RU2767214C1 (ru) | 2022-03-16 |
EP3858694A1 (en) | 2021-08-04 |
US20220041162A1 (en) | 2022-02-10 |
JPWO2020065729A1 (ja) | 2021-09-16 |
JP7103422B2 (ja) | 2022-07-20 |
CN112752690A (zh) | 2021-05-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7103422B2 (ja) | 車両制御方法及び車両制御装置 | |
JP4880011B2 (ja) | 車両用追従走行制御装置 | |
US6769504B2 (en) | Adaptive cruise control system for vehicle | |
KR101939441B1 (ko) | 차량의 브레이크 제어 장치 | |
CN111565991B (zh) | 车辆控制方法及车辆控制系统 | |
KR102401518B1 (ko) | 충돌 회피 지원 장치 | |
JP2012121534A (ja) | 車両の自動制動装置 | |
JP7180077B2 (ja) | 車両の制御装置 | |
JP4885368B2 (ja) | 車両の適応的な距離制御及び/又は走行速度制御方法及びその装置 | |
US11479248B2 (en) | Vehicle control apparatus | |
US8954250B2 (en) | Vehicular control apparatus and vehicular control method | |
CN111542464B (zh) | 车辆控制方法及车辆控制装置 | |
US20230141328A1 (en) | Driving support device for vehicle, driving support method for vehicle, and a non-transitory computer-readable storage medium storing a program for causing a computer | |
JP3375270B2 (ja) | 車間距離制御装置 | |
CN114368384A (zh) | 驾驶辅助装置 | |
WO2022196205A1 (ja) | 車両制御装置および車両制御方法 | |
US20230145836A1 (en) | Vehicle driving assist apparatus, vehicle driving assist method, vehicle driving assist program, and vehicle comprising vehicle driving assist apparatus | |
US20230311874A1 (en) | Deceleration support device | |
JP7494830B2 (ja) | 車両運転支援装置、車両運転支援方法、車両運転支援プログラム及び車両運転支援装置を備えた車両 | |
US20230234567A1 (en) | Deceleration support device, deceleration support method, deceleration support program, and vehicle | |
US20240067079A1 (en) | Vehicle including electric motor and method of controlling brake lamp for the same | |
JP2015110931A (ja) | エンジン制御装置 | |
JP2018188042A (ja) | 車両の制御装置 | |
KR20060014185A (ko) | 차량의 커브길 주행속도 제어방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18935229 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2020547639 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2021107911 Country of ref document: RU |
|
ENP | Entry into the national phase |
Ref document number: 2018935229 Country of ref document: EP Effective date: 20210426 |