WO2022168415A1 - 車両の制御装置及び制御方法 - Google Patents
車両の制御装置及び制御方法 Download PDFInfo
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- WO2022168415A1 WO2022168415A1 PCT/JP2021/043968 JP2021043968W WO2022168415A1 WO 2022168415 A1 WO2022168415 A1 WO 2022168415A1 JP 2021043968 W JP2021043968 W JP 2021043968W WO 2022168415 A1 WO2022168415 A1 WO 2022168415A1
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- vehicle
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- 238000004891 communication Methods 0.000 claims abstract description 52
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Classifications
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- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
-
- 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
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0083—Setting, resetting, calibration
- B60W2050/0088—Adaptive recalibration
-
- 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
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/70—Indexing codes relating to the special location or mounting of sensors on the wheel or the tire
-
- 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
- B60W2520/28—Wheel 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
Definitions
- the present invention relates to a vehicle control device and control method.
- Patent Literature 1 discloses a device that detects a tire lateral force generated in a tire and controls the vehicle attitude using the tire lateral force.
- a control device is a vehicle control device, and includes a communication unit that receives first information from a sensor installed on a tire and receives second information from a sensor installed on a vehicle body; a control unit that estimates a wheel load from the first information, estimates a vehicle weight from the second information, and controls the vehicle based on one of the wheel load and the vehicle weight.
- a control method is a vehicle control method, comprising: receiving first information from a sensor installed on a tire; receiving second information from a sensor installed on a vehicle body; estimating a wheel weight from the first information; estimating a vehicle weight from the second information; controlling the vehicle based on one of the wheel weight and the vehicle weight; including.
- the present invention it is possible to provide a vehicle control device and control method that can improve the usefulness of technology for controlling a vehicle using information from sensors installed on tires.
- FIG. 1 is a schematic diagram schematically showing a vehicle control system according to an embodiment of the invention
- FIG. Fig. 2 is a schematic view schematically showing the vehicle shown in Fig. 1 from below
- 2 is a functional block diagram schematically showing the configuration of a first acquisition device shown in FIG. 1
- FIG. 4 is a flow chart showing the operation of the first acquisition device
- 2 is a functional block diagram schematically showing the configuration of a second acquisition device shown in FIG. 1
- FIG. 4 is a flow chart showing the operation of the second acquisition device
- 2 is a functional block diagram schematically showing the configuration of the control device shown in FIG. 1
- FIG. It is a flow chart which shows operation of a control device.
- FIG. 1 is a schematic diagram schematically showing a vehicle control system 1 according to one embodiment of the invention.
- the vehicle control system 1 includes a first acquisition device 2, a second acquisition device 3, and a control device 4.
- the vehicle control system 1 includes a first acquisition device 2, a second acquisition device 3, and a control device 4.
- FIG. 1 is a schematic diagram schematically showing a vehicle control system 1 according to one embodiment of the invention.
- the vehicle control system 1 includes a first acquisition device 2, a second acquisition device 3, and a control device 4.
- FIG. 1 is a schematic diagram schematically showing a vehicle control system 1 according to one embodiment of the invention.
- the vehicle control system 1 includes a first acquisition device 2, a second acquisition device 3, and a control device 4.
- FIG. 1 is a schematic diagram schematically showing a vehicle control system 1 according to one embodiment of the invention.
- the vehicle control system 1 includes a first acquisition device 2, a second acquisition device 3, and a control device 4.
- FIG. 1 is a schematic diagram schematically showing a vehicle control system
- the vehicle control system 1 is used to control the vehicle 5.
- the control of the vehicle 5 is control aimed at fully or partially automatically driving the vehicle 5 .
- the control of the vehicle 5 includes control for driving the vehicle 5, such as acceleration, deceleration, or steering of the vehicle 5, for example.
- control of the vehicle 5 may include control for assisting driving of the vehicle 5, such as control of headlights, fog lamps, turn signals, or wipers.
- the vehicle 5 is, for example, an automobile such as a passenger car, truck, bus, and two-wheeled vehicle. However, the vehicle 5 is not limited to an automobile, and may be any vehicle having tires 6 .
- the vehicle 5 has an arbitrary level of automated driving.
- the level of automation is, for example, one of level 1 to level 5 in the SAE (Society of Automotive Engineers) classification. However, the vehicle 5 may be entirely operable by the driver (equivalent to SAE level 0).
- FIG. 2 is a schematic view, schematically showing the vehicle 5 shown in FIG. 1 from below.
- front tires 6A and 6B are mounted on an axle 52A
- rear tires 6C and 6D are mounted on an axle 52B.
- the tires 6A to 6D are not particularly distinguished, they will simply be collectively referred to as tires 6.
- the axles 52A and 52B are not particularly distinguished, they are simply referred to as axles 52 collectively.
- the tire 6 is, for example, a pneumatic tire.
- the tire 6 is mounted on the rim 71 of the wheel 7 and filled with air to a specified internal pressure.
- the tire 6 is not limited to air, and may be filled with any fluid, including gas such as nitrogen, or liquid or gel-like substance, up to a specified internal pressure.
- the tire 6 also includes the rim 71 of the wheel 7 when the tire 6 is mounted on the rim 71 of the wheel 7 .
- the first acquiring device 2 acquires information about the tire 6.
- the first acquisition device 2 is installed on the tire 6 .
- the first acquisition device 2 is fixed to the inner peripheral surface of the tread portion 61 of the tire 6 so as to face the inner space of the tire 6 .
- the position where the first acquisition device 2 is installed is not limited to the inner peripheral surface of the tread portion 61 , and may be installed at any position where information on the tire 6 can be acquired.
- the first acquisition device 2 may be wholly or partially embedded in the rubber that makes up the tread portion 61 of the tire 6 .
- the first acquisition device 2 may be installed on the rim 71 of the wheel 7 on which the tire 6 is mounted.
- first acquisition device 2 is installed for each of the plurality of tires 6 of the vehicle 5 .
- first acquisition devices 2A, 2B, 2C and 2D are installed on tires 6A, 6B, 6C and 6D respectively.
- the first acquisition devices 2A to 2D are collectively referred to simply as the first acquisition device 2 unless otherwise distinguished.
- the second acquisition device 3 acquires information about the vehicle 5.
- the second acquisition device 3 is installed on the vehicle body 51 of the vehicle 5 .
- a body 51 of the vehicle 5 includes any part of the vehicle 5 other than the tires 6 and wheels 7 .
- the second acquisition device 3 is installed near the control device 4 of the vehicle 5 .
- the position where the second acquisition device 3 is installed is not limited to the vicinity of the control device 4 of the vehicle 5 , and may be installed at any position where information on the vehicle 5 can be acquired.
- the control device 4 controls the vehicle 5.
- the control device 4 is installed on a vehicle body 51 of the vehicle 5 .
- the control device 4 is, for example, an ECU (Electronic Control Unit) of the vehicle 5 .
- the control device 4 is not limited to the ECU, and may be any computer installed in the vehicle 5, such as a tire pressure monitoring system (TPMS).
- TPMS tire pressure monitoring system
- Control of the vehicle 5 by the control device 4 may be direct control of the vehicle 5 or indirect control of the vehicle 5 .
- the control device 4 may directly control the vehicle 5 by transmitting control signals to the accelerator, brake, steering, or the like of the vehicle 5 .
- the control device 4 is a TPMS
- the control device 4 indirectly controls the vehicle 5 by transmitting a control signal for controlling the accelerator, brake, steering, or the like of the vehicle 5 to the ECU or the like of the vehicle 5. may be controlled.
- the positions and numbers of the first acquisition device 2, the second acquisition device 3, the control device 4, the axles 52, the tires 6, and the wheels 7 in the vehicle 5 shown in FIGS. may be arbitrarily determined depending on the purpose of use.
- the first acquisition device 2 may be installed on all the tires 6 provided on the vehicle 5 or may be installed on some of the tires 6 .
- FIG. 3 is a functional block diagram schematically showing the configuration of the first acquisition device 2.
- the first acquisition device 2 includes an acquisition section 21 , a communication section 22 , a storage section 23 and a control section 24 .
- the acquisition unit 21, the communication unit 22, the storage unit 23, and the control unit 24 are connected by wire or wirelessly so as to be able to communicate with each other.
- the acquisition unit 21 includes one or more sensors. Thereby, the acquiring unit 21 acquires information about the tire 6 .
- a sensor included in the acquisition unit 21 is, for example, a strain sensor. In such a case, the obtaining unit 21 obtains the strain value of the tire 6 as information about the tire 6 .
- the sensor included in the acquisition unit 21 is not limited to the strain sensor, and may be any sensor such as an acceleration sensor, an angular velocity sensor, or a pressure sensor. In such a case, the acquiring unit 21 may acquire information such as the acceleration, angular velocity, frequency, or pressure of the tire 6 as information about the tire 6 in addition to/instead of the strain value of the tire 6 .
- the information about the tire 6 is also called "first information".
- the information about the tire 6 may be an instantaneous value, which is a physical quantity at a certain point in time, or may be a continuous value or a discrete value, which is a series of physical quantities for a certain period of time.
- the information about the tire 6 may be waveform information indicating time-series changes in physical quantities.
- the communication unit 22 includes one or more wireless communication modules.
- the wireless communication module is, for example, a communication module compatible with communication standards such as wireless LAN (local area network) or Bluetooth (registered trademark). This allows the first acquisition device 2 to wirelessly communicate with the control device 4 and the like via the communication unit 22 .
- the communication unit 22 is not limited to a wireless communication module, and may include a wired communication module such as a wired LAN communication module.
- the storage unit 23 is, for example, a semiconductor memory, a magnetic memory, an optical memory, or the like.
- the storage unit 23 may function, for example, as a main storage device, an auxiliary storage device, or a cache memory.
- the storage unit 23 stores arbitrary information used for the operation of the first acquisition device 2 .
- the storage unit 23 may store system programs, application programs, embedded software, or the like.
- the control unit 24 includes one or more processors.
- the processor may be, for example, a general-purpose processor such as a CPU (Central Processing Unit), or a dedicated processor specialized for specific processing.
- Control unit 24 is not limited to a processor, and may include one or more dedicated circuits.
- the dedicated circuit may be, for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).
- the control unit 24 controls components such as the acquisition unit 21, the communication unit 22, and the storage unit 23 in order to realize the functions of the first acquisition device 2 described above. Furthermore, as a function of the first acquisition device 2, the control unit 24 acquires the time when the process was performed, or implements a clocking function such as an RTC (real time clock) or a timer in order to perform the process at predetermined time intervals. I have.
- a clocking function such as an RTC (real time clock) or a timer in order to perform the process at predetermined time intervals. I have.
- FIG. 4 is a flow chart showing the operation of the first acquisition device 2. As shown in FIG. This operation corresponds to the control method of the first acquisition device 2 .
- the control unit 24 starts this process, for example, when the power of the first acquisition device 2 is turned on or when a control command for starting this process is received from the control device 4 .
- step S101 the control unit 24 acquires information (first information) about the tire 6.
- control unit 24 acquires the strain value of the tire 6 as information on the tire 6 by using the strain sensor included in the acquisition unit 21 .
- the control unit 24 may store the obtained strain value of the tire 6 and the acquisition time in the storage unit 23 as information about the tire 6 .
- step S102 the control unit 24 transmits the acquired information (first information) about the tire 6.
- control unit 24 controls the communication unit 22 to transmit the acquired information regarding the tire 6 .
- the control unit 24 may transmit a device ID (identifier) for uniquely identifying the first acquisition device 2 together with the information about the tire 6 .
- the control unit 24 transmits information about the tire 6 each time information about the tire 6 is acquired.
- the control unit 24 may collectively transmit the information regarding the plurality of tires 6 acquired during a predetermined period.
- step S103 the control unit 24 determines whether or not to continue this process.
- control unit 24 may determine to end this process (that is, not to continue this process) when receiving a control command to end this process from the control device 4 .
- control unit 24 repeats the process from step S101 at predetermined time intervals.
- control unit 24 determines not to continue this process (step S103-No) when the control unit 24 determines not to continue this process (step S103-No).
- FIG. 5 is a functional block diagram schematically showing the configuration of the second acquisition device 3.
- the second acquisition device 3 includes an acquisition section 31, a communication section 32, a storage section 33, and a control section .
- the acquisition unit 31, the communication unit 32, the storage unit 33, and the control unit 34 are connected by wire or wirelessly so as to be able to communicate with each other.
- the acquisition unit 31 includes one or more sensors. Thereby, the acquisition unit 31 acquires information about the vehicle 5 .
- a sensor included in the acquisition unit 31 is, for example, an acceleration sensor. In such a case, the acquiring unit 31 acquires the acceleration of the vehicle 5 as the information regarding the vehicle 5 .
- the sensor included in the acquisition unit 31 is not limited to the acceleration sensor, and may be any sensor such as an angular velocity sensor. In such a case, the acquisition unit 31 may acquire information such as the angular velocity at the position where the second acquisition device 3 is installed as information about the vehicle 5 in addition to/in place of the acceleration of the vehicle 5 .
- the information regarding the vehicle 5 is also called "second information".
- the information about the vehicle 5 may be an instantaneous value, which is a physical quantity at a certain point in time, or may be a continuous value or a discrete value, which is a series of physical quantities for a certain period of time.
- the information about the vehicle 5 may be waveform information indicating time-series changes in physical quantities.
- the communication unit 32 includes one or more wireless communication modules.
- the wireless communication module is, for example, a communication module compatible with communication standards such as wireless LAN or Bluetooth. This allows the second acquisition device 3 to wirelessly communicate with the control device 4 or the like via the communication unit 32 .
- the communication unit 32 is not limited to a wireless communication module, and may include a wired communication module such as a wired LAN communication module.
- the storage unit 33 is, for example, a semiconductor memory, a magnetic memory, an optical memory, or the like.
- the storage unit 33 may function, for example, as a main storage device, an auxiliary storage device, or a cache memory.
- the storage unit 33 stores arbitrary information used for the operation of the second acquisition device 3 .
- the storage unit 33 may store system programs, application programs, embedded software, or the like.
- the control unit 34 includes one or more processors.
- the processor may be, for example, a general-purpose processor such as a CPU, or a dedicated processor specialized for specific processing.
- Control unit 34 is not limited to a processor, and may include one or more dedicated circuits.
- a dedicated circuit may be, for example, an FPGA or an ASIC.
- the control unit 34 controls components such as the acquisition unit 31, the communication unit 32, and the storage unit 33 in order to realize the functions of the second acquisition device 3 described above. Furthermore, as a function of the second acquisition device 3, the control unit 34 has a clocking function such as an RTC or a timer in order to acquire the time when the process was performed or to perform the process at predetermined time intervals.
- a clocking function such as an RTC or a timer in order to acquire the time when the process was performed or to perform the process at predetermined time intervals.
- FIG. 6 is a flow chart showing the operation of the second acquisition device 3. As shown in FIG. This operation corresponds to the control method of the second acquisition device 3 .
- the control unit 34 starts this process, for example, when the power of the second acquisition device 3 is turned on, or when a control command for starting this process is received from the control device 4 .
- step S201 the control unit 34 acquires information (second information) about the vehicle 5.
- control unit 34 acquires acceleration of the vehicle 5 as information on the vehicle 5 using an acceleration sensor included in the acquisition unit 31 .
- the control unit 34 may store the acquired acceleration of the vehicle 5 and the acquired time in the storage unit 33 as information about the vehicle 5 .
- step S202 the control unit 34 transmits the acquired information (second information) about the vehicle 5.
- control unit 34 controls the communication unit 32 to transmit the acquired information about the vehicle 5 .
- the control unit 34 may transmit a device ID for uniquely identifying the second acquisition device 3 together with the information about the vehicle 5 .
- the control unit 34 transmits information about the vehicle 5 each time information about the vehicle 5 is acquired.
- the control unit 34 may collectively transmit information about a plurality of vehicles 5 acquired during a predetermined period.
- step S203 the control unit 34 determines whether or not to continue this process.
- control unit 34 may determine to end this process (that is, not to continue this process) when receiving a control command to end this process from the control device 4 .
- the control unit 34 repeats the process from step S201 at predetermined time intervals.
- the control unit 34 determines not to continue this process (step S203-No) when the control unit 34 determines not to continue this process (step S203-No).
- FIG. 7 is a functional block diagram schematically showing the configuration of the control device 4.
- the control device 4 includes a communication section 41 , a storage section 42 and a control section 43 .
- the communication unit 41, the storage unit 42, and the control unit 43 are connected by wire or wirelessly so as to be able to communicate with each other.
- the communication unit 41 includes one or more wireless communication modules.
- the wireless communication module is, for example, a communication module compatible with communication standards such as wireless LAN or Bluetooth. Thereby, the control device 4 can wirelessly communicate with the first acquisition device 2 and the second acquisition device 3 through the communication unit 41 .
- the communication unit 41 is not limited to a wireless communication module, and may include a wired communication module such as a wired LAN communication module.
- the storage unit 42 is, for example, a semiconductor memory, a magnetic memory, an optical memory, or the like.
- the storage unit 42 may function, for example, as a main storage device, an auxiliary storage device, or a cache memory.
- the storage unit 42 stores arbitrary information used for the operation of the control device 4 .
- the storage unit 42 may store system programs, application programs, embedded software, or the like.
- the control unit 43 includes one or more processors.
- the processor may be, for example, a general-purpose processor such as a CPU, or a dedicated processor specialized for specific processing.
- the control unit 43 is not limited to a processor, and may include one or more dedicated circuits.
- a dedicated circuit may be, for example, an FPGA or an ASIC.
- the control unit 43 controls components such as the communication unit 41 and the storage unit 42 in order to realize the functions of the control device 4 described above. Furthermore, as a function of the control device 4, the control unit 43 has a clocking function such as an RTC or a timer in order to obtain the time when the process was performed or to perform the process at predetermined time intervals.
- a clocking function such as an RTC or a timer in order to obtain the time when the process was performed or to perform the process at predetermined time intervals.
- FIG. 8 is a flow chart showing the operation of the control device 4. As shown in FIG. This operation corresponds to the control method of the control device 4 .
- control unit 43 performs a first estimation process of estimating the wheel load from the information (first information) on the tire 6.
- step S301 the control unit 43 receives information (first information) about the tire 6.
- control unit 43 receives information on the tires 6A to 6D from the first acquisition devices 2A to 2D via the communication unit 41, respectively.
- the control unit 43 stores in the storage unit 42 the strain values of the tires 6A to 6D and their acquisition times included in the information on the tires 6A to 6D.
- the control unit 43 may store the information regarding the tires 6A to 6D in the storage unit 42 as time-series data.
- step S302 the control unit 43 estimates the wheel load from the information (first information) on the tire 6.
- the wheel load of the tire 6 is the weight applied from the tire 6 to the road surface with which the tire 6 contacts. That is, the wheel load of the tire 6 is the weight supported by the tire 6 out of the total weight of the vehicle 5 .
- control unit 43 may store in the storage unit 42 in advance an estimation algorithm that inputs the strain value of the tire 6 included in the information about the tire 6 and outputs the wheel load of the tire 6 .
- the control unit 43 uses an estimation algorithm to estimate the wheel loads of the tires 6A to 6D from the strain values of the tires 6A to 6D.
- an estimation algorithm capable of estimating the wheel load of the tires 6 may be used according to the information about the tires 6 that is input. good. For example, if the information about the tire 6 includes the acceleration or frequency at the location where the first acquisition device 2 is installed, an estimation algorithm that estimates the wheel load of the tire 6 from the acceleration or frequency may be used.
- control unit 43 performs a second estimation process of estimating the vehicle weight from the information (second information) on the vehicle 5.
- step S303 the control unit 43 receives information (second information) about the vehicle 5.
- control unit 43 receives information about the vehicle 5 from the second acquisition device 3 via the communication unit 41 .
- the control unit 43 stores the acceleration of the vehicle 5 and its acquisition time included in the information about the vehicle 5 in the storage unit 42 .
- the control unit 43 may store information about the vehicle 5 in the storage unit 42 as time-series data.
- step S304 the control unit 43 estimates the vehicle weight from the information (second information) on the vehicle 5.
- the vehicle weight is the gross weight of the vehicle 5 .
- the total weight of the vehicle 5 includes the weight of the vehicle body 51 , the tires 6 , and the wheels 7 , as well as the weights of passengers and luggage mounted on the vehicle 5 .
- the control unit 43 estimates the vehicle weight from the information (second information) on the vehicle 5 using the vehicle model.
- the vehicle model is a physical model including functions, formulas, algorithms, etc. that represent the motion or state of the vehicle 5 .
- the vehicle model may be composed of the equation of motion, the equation of state, or the like of the vehicle 5 .
- the vehicle model may be configured by an observer model, statistical model, neural network, or the like.
- the control unit 43 may implement learning of the vehicle model. Specifically, the control unit 43 performs machine learning, deep learning, parameter identification, or the like based on time-series data such as information representing the motion or state of the vehicle 5 or control information of the vehicle 5. By doing so, parameters used in the vehicle model are set or tuned, and the vehicle model is constructed or updated.
- the vehicle model is, for example, an observer model.
- the vehicle model may be an observer model representing the relationship between the acceleration of the vehicle 5 and the output of the engine.
- the control unit 43 uses the vehicle model to estimate the vehicle weight of the vehicle 5 from the relationship between the acceleration of the vehicle 5 and the current output of the engine included in the information about the vehicle 5 .
- the vehicle model may be an observer model representing the relationship between the acceleration of the vehicle 5 and the degree of rotation of the steering shaft. In such a case, the control unit 43 uses the vehicle model to estimate the vehicle weight of the vehicle 5 from the relationship between the acceleration of the vehicle 5 and the current degree of rotation of the steering shaft included in the information about the vehicle 5 .
- the control unit 43 may use the wheel load estimated by the first estimation process for learning the vehicle model.
- the vehicle model is an observer model
- the vehicle weight calculated from the wheel load estimated by the first estimation process can be used as the initial value of the vehicle weight of the vehicle 5 estimated by the vehicle model. can.
- the convergence of the observer model can be hastened, and the time required from the start of learning of the vehicle model to the stabilization of the output of the vehicle model can be shortened.
- the information (second information) about the vehicle 5 includes information other than the acceleration, a vehicle model capable of estimating the weight of the vehicle 5 may be used according to the input information about the vehicle 5. .
- control unit 43 controls the vehicle 5 based on either the wheel weight or the vehicle weight.
- the control unit 43 selects a predetermined weight A calculated using the wheel load and a predetermined weight B calculated using the vehicle weight. is within a predetermined difference range.
- Predetermined weight A and predetermined weight B are, for example, the vehicle weight of vehicle 5 .
- the control unit 43 sets the predetermined weight A as the sum of the wheel loads of the tires 6A to 6D estimated by the first estimation process. Further, the control unit 43 sets the vehicle weight of the vehicle 5 estimated by the second estimation process as the predetermined weight B as it is.
- the control unit 43 determines whether or not the predetermined weight A and the predetermined weight B are within a predetermined difference range.
- Whether or not the predetermined weight A and the predetermined weight B are within the predetermined difference range can be determined, for example, by using one of the predetermined weight A and the predetermined weight B as a reference, and the other value being above or below it. It may be determined whether or not it is within the range of 10%. However, the method of determining whether or not the predetermined weight A and the predetermined weight B are within the predetermined difference range is not limited to this. Moreover, the predetermined weight A and the predetermined weight B are not limited to the vehicle weight, and may be any weight related to the vehicle 5, such as axle weight or wheel weight.
- the control unit 43 controls the vehicle 5 based on the wheel load estimated by the first estimation process. Specifically, the control unit 43 may automatically drive the vehicle 5 using the wheel loads of the tires 6A to 6D. When the predetermined weight A and the predetermined weight B are within a predetermined difference range, the control unit 43 can determine that the estimated wheel load and vehicle weight have approximately the same accuracy. In such a case, the controller 43 uses the wheel load, which is more detailed information, to control the vehicle 5 .
- the control unit 43 controls the vehicle 5 based on the vehicle weight estimated by the second estimation process. do. Specifically, the control unit 43 may automatically drive the vehicle 5 using the vehicle weight of the vehicle 5 . If the predetermined weight A and the predetermined weight B are not within the predetermined difference range, the control unit 43 can determine that the estimated wheel load and vehicle weight have different accuracies. In such a case, the controller 43 uses a more reliable vehicle weight for controlling the vehicle 5 . This is because the first acquisition device 2 installed on the tire 6 is easily affected by unevenness of the road surface, or the first acquisition device 2 is farther from the control device 4 than the second acquisition device 3 is.
- the control unit 43 can select a weight more suitable for controlling the vehicle 5 from the estimated wheel weight and vehicle weight, and use it for controlling the vehicle 5 .
- Vehicle control when the control unit 43 controls the vehicle 5 based on one of the wheel weight and the vehicle weight, if it is considered that the reliability of the control of the vehicle 5 is not sufficient, Vehicle control may be performed.
- Limited vehicle control is, for example, automatic driving with a speed limit. In such a case, the control unit 43 may accelerate, decelerate, or steer the vehicle 5 so as not to exceed a predetermined speed.
- restricted vehicle control may be automated driving with restrictions on lane changes, overtaking, and the like. Limited vehicle control may be to reduce the level of automated driving in the SEA described above.
- the control unit 43 may perform limited vehicle control for a predetermined period after starting learning of the vehicle model.
- the control unit 43 may learn the vehicle model at the timing when the parking brake is released, for example, so that the stopped vehicle 5 may start traveling again.
- it may take a predetermined period of time from when the learning of the vehicle model is started until the output of the vehicle model is stabilized. Therefore, the control unit 43 performs limited vehicle control for a predetermined period after the start of learning of the vehicle model. 5 control safety can be improved.
- the predetermined period may be a period of 1 minute or more and 5 minutes or less.
- All or part of the functions or processes described as the functions of the control device 4 in the above-described embodiment can be implemented by a program.
- the program can be recorded in a computer-readable non-transitory recording medium.
- a computer-readable non-transitory recording medium is, for example, a magnetic recording device, an optical disk, a magneto-optical recording medium, or a semiconductor memory.
- Program distribution is performed by, for example, selling, assigning, or lending a portable recording medium such as a DVD (digital versatile disc) or CD-ROM (compact disc read only memory) on which the program is recorded.
- the program can be distributed by storing the program in the storage of a predetermined server and transferring the program from the predetermined server to another computer.
- a program may be provided as a program product.
- the processor of the computer for example, once stores in memory the program recorded on the portable recording medium or the program transferred from the predetermined server.
- the processor then reads the program stored in the memory and executes processing according to the read program.
- the program includes information that is provided for processing by the processor and that conforms to the program. For example, data that is not a direct command to a processor but has the property of prescribing the processing of the processor corresponds to "corresponding to a program".
- the control device 4 is the control device 4 for the vehicle 5 and includes the communication section 41 and the control section 43 .
- the communication unit 41 receives first information (information about the tire 6 acquired by the first acquisition device 2) from the sensor installed on the tire 6, and receives second information from the sensor installed on the vehicle body 51 (information on the tire 6 acquired by the first acquisition device 2). 2 information about the vehicle 5 acquired by the acquisition device 3) is received.
- the control unit 43 estimates the wheel weight from the first information, estimates the vehicle weight from the second information, and controls the vehicle 5 based on either one of the wheel weight and the vehicle weight.
- the control device 4 can control the vehicle 5 based on the information from the sensors installed on the vehicle body 51 even when the vehicle 5 cannot be controlled based on the information from the sensors installed on the tires 6 . can be controlled. Thereby, the control device 4 can improve the usefulness of the technique of controlling the vehicle 5 using the information from the sensors installed on the tires 6 .
- the control unit 43 controls the predetermined difference range between the predetermined weight A calculated using the wheel load and the predetermined weight B calculated using the vehicle weight. If it is determined that it is within the predetermined difference range, the vehicle 5 is controlled based on the wheel load, and if it is determined that it is not within the predetermined difference range. preferably controls the vehicle 5 based on the vehicle weight. According to such a configuration, the control unit 43 uses the wheel load, which is more detailed information than the vehicle weight, to control the vehicle 5 when the estimated wheel load and vehicle weight have the same degree of accuracy. If it is determined that the estimated wheel and vehicle weights have different accuracies, the more reliable vehicle weight can be used to control the vehicle 5 . Thereby, the control device 4 can select a weight more suitable for controlling the vehicle 5 from the estimated wheel weight and vehicle weight, and use it for controlling the vehicle 5 .
- control unit 43 preferably estimates the vehicle weight from the second information using the vehicle model and learns the vehicle model. With such a configuration, the control device 4 can improve the accuracy of the vehicle weight estimated from the second information.
- the vehicle model is an observer model
- the control unit 43 preferably uses the wheel load for learning the vehicle model.
- the control device 4 can hasten the convergence of the observer model, and can shorten the time required from the start of learning of the vehicle model to the stabilization of the output of the vehicle model.
- control unit 43 preferably performs restricted vehicle control for a predetermined period after starting learning of the vehicle model. According to such a configuration, the control device 4 can improve the safety of the control of the vehicle 5 during a period when the accuracy of the vehicle weight estimated using the vehicle model is insufficient.
- the restricted vehicle control is preferably automatic driving with a speed limit.
- the control device 4 can improve the safety of automatic driving of the vehicle 5 .
- a control method is a control method for the vehicle 5 .
- the control method is to receive first information (information about the tire 6 acquired by the first acquisition device 2) from the sensor installed on the tire 6, and second information from the sensor installed on the vehicle body 51 (information about the vehicle 5 acquired by the second acquisition device 3); estimating the wheel load from the first information; estimating the vehicle weight from the second information; and controlling the vehicle 5 based on either one.
- first information information about the tire 6 acquired by the first acquisition device 2
- second information from the sensor installed on the vehicle body 51 information about the vehicle 5 acquired by the second acquisition device 3
- estimating the wheel load from the first information estimating the vehicle weight from the second information
- controlling the vehicle 5 based on either one.
- the control method can improve the usefulness of technology for controlling the vehicle 5 using information from the sensors installed on the tires 6 .
- all or part of the functions or processes described as the functions or processes of the control device 4 may be realized as the functions or processes of the first acquisition device 2 or the second acquisition device 3.
- a program describing the functions or processes of the control device 4 according to the embodiment is stored in a memory or the like included in the first acquisition device 2 or the second acquisition device 3, and the first acquisition device 2 or the second acquisition device 3
- the program may be read and executed by a processor or the like.
- all or part of the functions or processes described as the functions or processes of the control device 4 may be realized as the functions or processes of a server installed outside the vehicle 5.
- the server may provide all or part of the functions or processing of the control device 4 as a service such as SaaS (Software as a Service).
- SaaS Software as a Service
- a server installed outside the vehicle 5 performs all or part of the above-described processing as the control device 4, and transmits the processing result to the ECU of the vehicle 5, thereby indirectly controlling the vehicle 5. may be controlled.
- learning of the vehicle model for estimating the vehicle weight from the information (second information) on the vehicle 5 is performed.
- learning of an estimation algorithm for estimating the wheel load from the information (first information) on the tire 6 is not limited to the learning of the vehicle model.
- parameters used in the estimation algorithm are set or tuned by performing machine learning, deep learning, parameter identification, etc. based on time-series data such as information about the tire 6. may be used to build or update the estimation algorithm.
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Abstract
Description
を含む。
図1及び図2を参照して、本実施形態に係る車両制御システム1の概要について説明する。図1は、本発明の一実施形態に係る車両制御システム1を概略的に示す、概略図である。図1に示されるように、車両制御システム1には、第1取得装置2と、第2取得装置3と、制御装置4とが含まれる。
図3を参照して、本実施形態に係る第1取得装置2の構成を説明する。図3は、第1取得装置2の構成を概略的に示す、機能ブロック図である。図3に示されるように、第1取得装置2は、取得部21と、通信部22と、記憶部23と、制御部24と、を備える。取得部21、通信部22、記憶部23、及び制御部24は、有線又は無線により互いに通信可能に接続されている。
図5を参照して、本実施形態に係る第2取得装置3の構成を説明する。図5は、第2取得装置3の構成を概略的に示す、機能ブロック図である。図5に示されるように、第2取得装置3は、取得部31と、通信部32と、記憶部33と、制御部34と、を備える。取得部31、通信部32、記憶部33、及び制御部34は、有線又は無線により互いに通信可能に接続されている。
図7を参照して、本実施形態に係る制御装置4の構成を説明する。図7は、制御装置4の構成を概略的に示す、機能ブロック図である。図7に示されるように、制御装置4は、通信部41と、記憶部42と、制御部43と、を備える。通信部41、記憶部42、及び制御部43は、有線又は無線により互いに通信可能に接続されている。
Claims (7)
- 車両の制御装置であって、
タイヤに設置されたセンサからの第1情報を受信し、
車体に設置されたセンサからの第2情報を受信する、通信部と、
前記第1情報から輪重を推定し、
前記第2情報から車重を推定し、
前記輪重及び前記車重のいずれか一方に基づいて、前記車両を制御する、制御部と、
を備える、制御装置。 - 前記制御部は、
前記輪重を用いて算出された所定の重量と、前記車重を用いて算出された前記所定の重量とが所定の差異範囲内にあるか否かを判定し、
所定の差異範囲内にあると判定された場合には、前記輪重に基づいて、前記車両を制御し、
所定の差異範囲内にないと判定された場合には、前記車重に基づいて、前記車両を制御する、請求項1に記載の制御装置。 - 前記制御部は、
車両モデルを用いて前記第2情報から前記車重を推定し、
前記車両モデルの学習を実施する、請求項1又は2に記載の制御装置。 - 前記車両モデルは、オブザーバモデルであって、
前記制御部は、前記車両モデルの学習に前記輪重を用いる、請求項3に記載の制御装置。 - 前記制御部は、前記車両モデルの学習を開始してから所定の期間、制限付き車両制御を実施する、請求項3又は4に記載の制御装置。
- 前記制限付き車両制御は、速度制限を設けた自動運転である、請求項5に記載の制御装置。
- 車両の制御方法であって、
タイヤに設置されたセンサからの第1情報を受信することと、
車体に設置されたセンサからの第2情報を受信することと、
前記第1情報から輪重を推定することと、
前記第2情報から車重を推定することと、
前記輪重及び前記車重のいずれか一方に基づいて、前記車両を制御することと、
を含む、制御方法。
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CN202180092849.4A CN116829430A (zh) | 2021-02-03 | 2021-11-30 | 车辆的控制装置和控制方法 |
US18/262,886 US20240092372A1 (en) | 2021-02-03 | 2021-11-30 | Control device and control method for vehicle |
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Citations (6)
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---|---|---|---|---|
JP2004291768A (ja) * | 2003-03-26 | 2004-10-21 | Toyota Motor Corp | タイヤ状態量検出システム |
JP2005138683A (ja) * | 2003-11-05 | 2005-06-02 | Toyota Motor Corp | タイヤ状態判定装置 |
JP2010076739A (ja) | 2008-08-25 | 2010-04-08 | Yokohama National Univ | 自動車の車両姿勢制御装置及び制御方法 |
JP2019049488A (ja) * | 2017-09-11 | 2019-03-28 | 株式会社ブリヂストン | タイヤ荷重推定方法及びタイヤ荷重推定装置 |
JP2020125964A (ja) * | 2019-02-04 | 2020-08-20 | 株式会社ショーワ | 状態量推定装置、制御装置、および状態量推定方法 |
JP6803448B1 (ja) * | 2019-12-02 | 2020-12-23 | Toyo Tire株式会社 | 最大摩擦係数推定システムおよび最大摩擦係数推定方法 |
-
2021
- 2021-02-03 JP JP2021016128A patent/JP2022119119A/ja active Pending
- 2021-11-30 WO PCT/JP2021/043968 patent/WO2022168415A1/ja active Application Filing
- 2021-11-30 CN CN202180092849.4A patent/CN116829430A/zh active Pending
- 2021-11-30 EP EP21924800.2A patent/EP4289697A1/en active Pending
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Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004291768A (ja) * | 2003-03-26 | 2004-10-21 | Toyota Motor Corp | タイヤ状態量検出システム |
JP2005138683A (ja) * | 2003-11-05 | 2005-06-02 | Toyota Motor Corp | タイヤ状態判定装置 |
JP2010076739A (ja) | 2008-08-25 | 2010-04-08 | Yokohama National Univ | 自動車の車両姿勢制御装置及び制御方法 |
JP2019049488A (ja) * | 2017-09-11 | 2019-03-28 | 株式会社ブリヂストン | タイヤ荷重推定方法及びタイヤ荷重推定装置 |
JP2020125964A (ja) * | 2019-02-04 | 2020-08-20 | 株式会社ショーワ | 状態量推定装置、制御装置、および状態量推定方法 |
JP6803448B1 (ja) * | 2019-12-02 | 2020-12-23 | Toyo Tire株式会社 | 最大摩擦係数推定システムおよび最大摩擦係数推定方法 |
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JP2022119119A (ja) | 2022-08-16 |
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