JP7006707B2 - 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
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- JP7006707B2 JP7006707B2 JP2019565683A JP2019565683A JP7006707B2 JP 7006707 B2 JP7006707 B2 JP 7006707B2 JP 2019565683 A JP2019565683 A JP 2019565683A JP 2019565683 A JP2019565683 A JP 2019565683A JP 7006707 B2 JP7006707 B2 JP 7006707B2
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- 238000000034 method Methods 0.000 title claims description 26
- 230000001133 acceleration Effects 0.000 claims description 30
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- 230000008569 process Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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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
- 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
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
-
- 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
- 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
- B60W30/18063—Creeping
-
- 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
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- 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 Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
第1実施形態について、図1~図4を参照して説明する。図1は、第1実施形態に係る車両の制御システムの構成図である。
第2実施形態について、図5及び図6を参照して説明する。
図7は、第2実施形態の変形例に係る発進制御の制御ルーチンを示すフローチャートである。この変形例も本発明の範囲内である。図6のフローチャートとの相違点を中心に説明する。
Claims (7)
- 発進及び停止を含む車両の加減速制御を自動で制御する車両制御方法において、
発進時には、発進時に車両に作用する抵抗力である発進時抵抗力を超える第1駆動力で発進し、
発進後に前記第1駆動力より大きく、先行車がある場合は前記先行車との車間距離を予め設定した車間距離にするために必要な駆動力であり、前記先行車がない場合は予め設定した車速まで加速するために必要な駆動力である第2駆動力に切り替える車両制御方法。 - 請求項1に記載の車両制御方法において、
前記第1駆動力から前記第2駆動力への切り替えは、自車の車速が予め設定した切り替え車速に到達したタイミングで行なう、車両制御方法。 - 請求項2に記載の車両制御方法において、
車両がトルクコンバータを備える場合には、前記トルクコンバータの速度比が前記トルクコンバータの容量係数が最大となるときの速度比以上になる車速を前記切り替え車速とする、車両制御方法。 - 請求項2または3に記載の車両制御方法において、
発進後に所定時間が経過したら、前記切り替え車速に到達していなくても前記第2駆動力に切り替える、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、
前記第1駆動力は、クリープトルクであり、かつ平坦路における前記発進時抵抗力より大きい車両制御方法。 - 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、
停車している路面の勾配を取得し、
前記勾配に基づいて前記第1駆動力を設定する、車両制御方法。 - 発進及び停止を含む車両の加減速制御を自動で制御する車両制御装置において、
駆動源の目標駆動力を設定する走行制御部と、
前記目標駆動力となるように前記駆動源を制御する駆動力制御部と、を備え、
前記走行制御部は、
発進時に車両に作用する抵抗力である発進時抵抗力を超える第1駆動力を発進時の前記目標駆動力として設定し、
先行車がある場合は前記先行車との車間距離を予め設定した車間距離にするために必要な駆動力であり、前記先行車がない場合は予め設定した車速まで加速するために必要な駆動力であって、前記第1駆動力より大きい第2駆動力を設定し、
発進後に、前記目標駆動力を前記第2駆動力に切り替える車両制御装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2018/001763 WO2019142357A1 (ja) | 2018-01-22 | 2018-01-22 | 車両制御方法及び車両制御装置 |
Publications (2)
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JPWO2019142357A1 JPWO2019142357A1 (ja) | 2020-10-22 |
JP7006707B2 true JP7006707B2 (ja) | 2022-01-24 |
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JP2019565683A Active JP7006707B2 (ja) | 2018-01-22 | 2018-01-22 | 車両制御方法及び車両制御装置 |
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Country | Link |
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US (1) | US11046311B2 (ja) |
EP (1) | EP3744596B1 (ja) |
JP (1) | JP7006707B2 (ja) |
CN (1) | CN111542464B (ja) |
WO (1) | WO2019142357A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6871900B2 (ja) * | 2018-12-26 | 2021-05-19 | 本田技研工業株式会社 | 車両制御装置 |
JP7151566B2 (ja) | 2019-03-14 | 2022-10-12 | トヨタ自動車株式会社 | 車両走行制御装置 |
CN114670864B (zh) * | 2021-06-23 | 2024-09-20 | 北京新能源汽车股份有限公司 | 一种自动驾驶车速控制方法和装置 |
Citations (7)
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JP2000043618A (ja) | 1998-07-28 | 2000-02-15 | Aisin Seiki Co Ltd | 走行制御装置 |
JP2001039181A (ja) | 1999-07-30 | 2001-02-13 | Nissan Motor Co Ltd | 車両用追従制御装置 |
JP2002234358A (ja) | 2001-02-07 | 2002-08-20 | Honda Motor Co Ltd | 車両用追従走行制御装置 |
JP2008514937A (ja) | 2004-09-29 | 2008-05-08 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 車両用始動支援システム |
JP2010269671A (ja) | 2009-05-20 | 2010-12-02 | Honda Motor Co Ltd | 車両の走行制御装置 |
JP2014066354A (ja) | 2012-09-25 | 2014-04-17 | Hyundai Motor Company Co Ltd | 車両のクラッチ制御方法 |
JP2017222317A (ja) | 2016-06-17 | 2017-12-21 | 株式会社Subaru | 車両の走行制御装置 |
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JP3552479B2 (ja) | 1997-08-21 | 2004-08-11 | 日産自動車株式会社 | 車両用追従走行制御装置 |
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JP4244804B2 (ja) | 2003-12-25 | 2009-03-25 | トヨタ自動車株式会社 | 車両の統合制御システム |
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JP2011025720A (ja) * | 2009-07-21 | 2011-02-10 | Denso Corp | 加速度制御装置 |
DE102010040789A1 (de) * | 2010-09-15 | 2012-03-15 | Bayerische Motoren Werke Aktiengesellschaft | Geschwindigkeitsregelsystem mit Abstandssensorik für ein Kraftfahrzeug |
JP5796498B2 (ja) * | 2012-01-05 | 2015-10-21 | トヨタ自動車株式会社 | 車両の制御装置 |
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CN104192146B (zh) * | 2014-09-12 | 2017-03-01 | 辽宁工业大学 | 基于模糊控制的汽车智能巡航辅助驾驶系统控制方法 |
US9308914B1 (en) * | 2015-01-23 | 2016-04-12 | Denso International America, Inc. | Advanced driver assistance system for vehicle |
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JP6988381B2 (ja) * | 2017-11-06 | 2022-01-05 | トヨタ自動車株式会社 | 車両制御装置 |
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2018
- 2018-01-22 CN CN201880084935.9A patent/CN111542464B/zh active Active
- 2018-01-22 WO PCT/JP2018/001763 patent/WO2019142357A1/ja unknown
- 2018-01-22 JP JP2019565683A patent/JP7006707B2/ja active Active
- 2018-01-22 EP EP18901614.0A patent/EP3744596B1/en active Active
- 2018-01-22 US US16/958,164 patent/US11046311B2/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2000043618A (ja) | 1998-07-28 | 2000-02-15 | Aisin Seiki Co Ltd | 走行制御装置 |
JP2001039181A (ja) | 1999-07-30 | 2001-02-13 | Nissan Motor Co Ltd | 車両用追従制御装置 |
JP2002234358A (ja) | 2001-02-07 | 2002-08-20 | Honda Motor Co Ltd | 車両用追従走行制御装置 |
JP2008514937A (ja) | 2004-09-29 | 2008-05-08 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 車両用始動支援システム |
JP2010269671A (ja) | 2009-05-20 | 2010-12-02 | Honda Motor Co Ltd | 車両の走行制御装置 |
JP2014066354A (ja) | 2012-09-25 | 2014-04-17 | Hyundai Motor Company Co Ltd | 車両のクラッチ制御方法 |
JP2017222317A (ja) | 2016-06-17 | 2017-12-21 | 株式会社Subaru | 車両の走行制御装置 |
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Publication number | Publication date |
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EP3744596B1 (en) | 2023-03-22 |
EP3744596A4 (en) | 2021-03-24 |
US11046311B2 (en) | 2021-06-29 |
WO2019142357A1 (ja) | 2019-07-25 |
JPWO2019142357A1 (ja) | 2020-10-22 |
US20200361463A1 (en) | 2020-11-19 |
CN111542464B (zh) | 2021-09-07 |
CN111542464A (zh) | 2020-08-14 |
EP3744596A1 (en) | 2020-12-02 |
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