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WO2009057701A1 - 車両制御装置及び車両制御方法 - Google Patents

車両制御装置及び車両制御方法 Download PDF

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Publication number
WO2009057701A1
WO2009057701A1 PCT/JP2008/069776 JP2008069776W WO2009057701A1 WO 2009057701 A1 WO2009057701 A1 WO 2009057701A1 JP 2008069776 W JP2008069776 W JP 2008069776W WO 2009057701 A1 WO2009057701 A1 WO 2009057701A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
travel
vehicle
vehicle control
preset value
Prior art date
Application number
PCT/JP2008/069776
Other languages
English (en)
French (fr)
Inventor
Koji Taguchi
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to EP20080844987 priority Critical patent/EP2216224B1/en
Priority to US12/740,436 priority patent/US8401732B2/en
Priority to CN200880113512.1A priority patent/CN101842278B/zh
Publication of WO2009057701A1 publication Critical patent/WO2009057701A1/ja

Links

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
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60W30/10—Path keeping
    • 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
    • B60W40/02—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 ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/006—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels using a measured or estimated road friction coefficient
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • 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
    • B60W2720/103—Speed profile

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

　本発明は、制御系の能力を発揮させつつ、適切な走行制御が行える車両制御装置及び車両制御方法を提供することを目的とする。本発明は、予め設定された走行目標に従い車両走行をフィードバック制御し、そのフィードバック制御において車両の走行軌跡が逸脱している場合、タイヤ摩擦円を超えている場合又は車両の加速度、ジャークが設定値を超えている場合には、制御偏差が設定値を超えているとして、走行目標を再生成する。これにより、制御偏差が設定値を超えるまで制御系の能力を十分に発揮して走行制御を行うことができ、制御偏差が設定値を超えた場合に走行目標を再生成して走行環境に応じた適切な走行制御が行える。
PCT/JP2008/069776 2007-11-02 2008-10-30 車両制御装置及び車両制御方法 WO2009057701A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP20080844987 EP2216224B1 (en) 2007-11-02 2008-10-30 Vehicle control device and vehicle control method
US12/740,436 US8401732B2 (en) 2007-11-02 2008-10-30 Vehicle control device and vehicle control method
CN200880113512.1A CN101842278B (zh) 2007-11-02 2008-10-30 车辆控制装置以及车辆控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007286471A JP4737179B2 (ja) 2007-11-02 2007-11-02 車両制御装置及び車両制御方法
JP2007-286471 2007-11-02

Publications (1)

Publication Number Publication Date
WO2009057701A1 true WO2009057701A1 (ja) 2009-05-07

Family

ID=40591085

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/069776 WO2009057701A1 (ja) 2007-11-02 2008-10-30 車両制御装置及び車両制御方法

Country Status (5)

Country Link
US (1) US8401732B2 (ja)
EP (1) EP2216224B1 (ja)
JP (1) JP4737179B2 (ja)
CN (1) CN101842278B (ja)
WO (1) WO2009057701A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102822031A (zh) * 2010-03-29 2012-12-12 丰田自动车株式会社 车辆控制装置
JPWO2016158197A1 (ja) * 2015-03-31 2017-10-26 日立オートモティブシステムズ株式会社 自動運転制御装置
CN108475583A (zh) * 2016-02-18 2018-08-31 积水化学工业株式会社 电组件及电组件的制造方法

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* Cited by examiner, † Cited by third party
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DE102010003213B4 (de) 2009-04-15 2022-06-02 Advics Co., Ltd. Bewegungssteuervorrichtung für ein Fahrzeug
JP5510227B2 (ja) * 2010-09-15 2014-06-04 トヨタ自動車株式会社 車両制御装置
JP5269024B2 (ja) * 2010-09-29 2013-08-21 株式会社日立製作所 路面状況推定装置および路面状況推定方法
CN102788704B (zh) * 2012-06-29 2015-08-05 北京理工大学 基于驾驶员模型的汽车操纵稳定性检测系统及检测方法
CN103777631B (zh) * 2013-12-16 2017-01-18 北京交控科技股份有限公司 一种自动驾驶的控制系统及方法
DE102014200687A1 (de) * 2014-01-16 2015-07-16 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs
CN104977933B (zh) * 2015-07-01 2017-11-14 吉林大学 一种自主驾驶车辆的区域型路径跟踪控制方法
JP6314939B2 (ja) * 2015-08-31 2018-04-25 マツダ株式会社 運転支援装置
CN105835820B (zh) * 2016-04-28 2018-04-13 姜锡华 车载传感器信息筛选方法及应用该方法的车辆避撞系统
CN105786001B (zh) * 2016-05-05 2018-07-27 重庆惟觉科技有限公司 一种小车的智能控制方法
CN109791735B (zh) * 2016-09-27 2021-10-26 本田技研工业株式会社 车辆控制装置
JP6579119B2 (ja) * 2017-01-24 2019-09-25 トヨタ自動車株式会社 車両制御装置
US10620634B2 (en) * 2017-08-23 2020-04-14 Uatc, Llc Vehicle interface for autonomous vehicle
CN113492863B (zh) * 2020-03-18 2023-03-10 北京车和家信息技术有限公司 自动驾驶的控制方法及装置

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JPH07237557A (ja) * 1994-03-02 1995-09-12 Honda Motor Co Ltd 前後輪操舵車両の制御装置
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JPH0624349A (ja) * 1992-07-06 1994-02-01 Nissan Motor Co Ltd 四輪操舵とトラクションとの総合制御装置
JPH07237557A (ja) * 1994-03-02 1995-09-12 Honda Motor Co Ltd 前後輪操舵車両の制御装置
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102822031A (zh) * 2010-03-29 2012-12-12 丰田自动车株式会社 车辆控制装置
JPWO2016158197A1 (ja) * 2015-03-31 2017-10-26 日立オートモティブシステムズ株式会社 自動運転制御装置
US10518783B2 (en) 2015-03-31 2019-12-31 Hitachi Automotive Systems, Ltd. Automatic driving control device
CN108475583A (zh) * 2016-02-18 2018-08-31 积水化学工业株式会社 电组件及电组件的制造方法

Also Published As

Publication number Publication date
US20100241303A1 (en) 2010-09-23
CN101842278A (zh) 2010-09-22
JP4737179B2 (ja) 2011-07-27
EP2216224A1 (en) 2010-08-11
US8401732B2 (en) 2013-03-19
EP2216224B1 (en) 2015-04-22
JP2009113558A (ja) 2009-05-28
CN101842278B (zh) 2016-05-04
EP2216224A4 (en) 2010-11-10

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