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WO2009069410A1 - 車輌制御装置 - Google Patents

車輌制御装置 Download PDF

Info

Publication number
WO2009069410A1
WO2009069410A1 PCT/JP2008/069190 JP2008069190W WO2009069410A1 WO 2009069410 A1 WO2009069410 A1 WO 2009069410A1 JP 2008069190 W JP2008069190 W JP 2008069190W WO 2009069410 A1 WO2009069410 A1 WO 2009069410A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
control
command value
preceding vehicle
acceleration command
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2008/069190
Other languages
English (en)
French (fr)
Inventor
Takafumi Miyake
Koki Hayashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Equos Research Co Ltd
Original Assignee
Equos Research Co Ltd
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 Equos Research Co Ltd filed Critical Equos Research Co Ltd
Priority to US12/734,582 priority Critical patent/US8352147B2/en
Priority to JP2009543722A priority patent/JP5168518B2/ja
Priority to CN200880117316.1A priority patent/CN101868392B/zh
Publication of WO2009069410A1 publication Critical patent/WO2009069410A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • 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
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • B60W2030/041—Control of vehicle driving stability related to roll-over prevention about the pitch axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

倒立制御車輌における自動追従制御の精度を向上させる車輌制御装置を提供するために、本発明は、先行車輌に対して自動的に追従するように倒立制御車輌を自動追従走行制御する車輌制御装置であって、先行車輌から先行車輌の車輌速度とジョイスティック操作量に係る走行状況データを受信する通信部（８１）と、先行車輌との間の車間距離を計測する車間距離センサ（４２）と、先行車輌を追従するための加速度指令値を演算する主制御ＥＣＵ（２１）と、を有し、主制御ＥＣＵ（２１）は、通信部（８１）によって取得された先行車輌の車輌速度と車間距離センサ（４２）によって計測された車間距離とに基づいて演算される第１加速度指令値と、通信部（８１）によって取得されたジョイスティック操作量に基づいて演算される第２加速度指令値と、のいずれかを目標加速度指令値とすることを特徴とする。
PCT/JP2008/069190 2007-11-26 2008-10-23 車輌制御装置 Ceased WO2009069410A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/734,582 US8352147B2 (en) 2007-11-26 2008-10-23 Vehicle control device
JP2009543722A JP5168518B2 (ja) 2007-11-26 2008-10-23 車輌制御装置
CN200880117316.1A CN101868392B (zh) 2007-11-26 2008-10-23 车辆控制装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007303949 2007-11-26
JP2007-303949 2007-11-26

Publications (1)

Publication Number Publication Date
WO2009069410A1 true WO2009069410A1 (ja) 2009-06-04

Family

ID=40678312

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/069190 Ceased WO2009069410A1 (ja) 2007-11-26 2008-10-23 車輌制御装置

Country Status (4)

Country Link
US (1) US8352147B2 (ja)
JP (1) JP5168518B2 (ja)
CN (1) CN101868392B (ja)
WO (1) WO2009069410A1 (ja)

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WO2019003302A1 (ja) * 2017-06-27 2019-01-03 本田技研工業株式会社 車両制御装置

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CN102917935B (zh) * 2011-04-11 2016-01-06 丰田自动车株式会社 车辆控制装置以及车辆控制方法
US9145144B2 (en) * 2011-09-28 2015-09-29 Caterpillar Inc. Inclination detection systems and methods
JP6095436B2 (ja) 2013-03-27 2017-03-15 本田技研工業株式会社 倒立振子型車両
JP6062785B2 (ja) 2013-03-29 2017-01-18 本田技研工業株式会社 倒立振子型車両
JP6062784B2 (ja) 2013-03-29 2017-01-18 本田技研工業株式会社 倒立振子型車両
JP6081271B2 (ja) 2013-03-29 2017-02-15 本田技研工業株式会社 倒立振子型車両
JP6111119B2 (ja) 2013-03-29 2017-04-05 本田技研工業株式会社 倒立振子型車両
JP6081270B2 (ja) * 2013-03-29 2017-02-15 本田技研工業株式会社 倒立振子型車両
JP6099483B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
JP6099485B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
JP6099484B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
KR20150008253A (ko) * 2013-07-11 2015-01-22 현대자동차주식회사 차량의 발진 제어 장치 및 방법
JP2015051716A (ja) * 2013-09-06 2015-03-19 トヨタ自動車株式会社 車両走行制御装置
US9182764B1 (en) 2014-08-04 2015-11-10 Cummins, Inc. Apparatus and method for grouping vehicles for cooperative driving
JP6380309B2 (ja) * 2015-09-15 2018-08-29 トヨタ自動車株式会社 車両の制御装置
JP6265191B2 (ja) * 2015-09-15 2018-01-24 トヨタ自動車株式会社 車両の制御装置
WO2016084981A1 (ja) * 2015-11-30 2016-06-02 株式会社小松製作所 作業機械の制御システム、作業機械、作業機械の管理システム及び作業機械の制御方法
JP6544878B2 (ja) * 2016-05-16 2019-07-17 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
DE102016214855A1 (de) * 2016-08-10 2018-02-15 Audi Ag Verfahren zum Austausch von Informationen
CN108068938B (zh) * 2016-11-11 2020-01-03 广东高标电子科技有限公司 一种双轮车速度控制方法及系统
JP6832136B2 (ja) * 2016-11-28 2021-02-24 本田技研工業株式会社 倒立振子車両
JP6586685B2 (ja) * 2017-12-27 2019-10-09 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
US10825196B2 (en) * 2019-02-15 2020-11-03 Universal City Studios Llc Object orientation detection system
KR102751275B1 (ko) * 2019-06-07 2025-01-13 현대자동차주식회사 군집주행차량의 속도 제어 장치 및 그 방법
GB2598760B (en) * 2020-09-11 2024-04-10 Gabriel Birligea Danut A vehicle
CN113792059A (zh) * 2021-09-10 2021-12-14 中国第一汽车股份有限公司 一种场景库更新方法、装置、设备及存储介质
CN113791841B (zh) * 2021-09-10 2025-02-21 中国第一汽车股份有限公司 一种执行指令确定方法、装置、设备及存储介质

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JPH05170008A (ja) * 1991-12-18 1993-07-09 Toyota Motor Corp 車両用走行制御装置
JPH10105880A (ja) * 1996-09-30 1998-04-24 Hitachi Ltd 移動体制御システム
JP2000339600A (ja) * 1999-05-31 2000-12-08 Honda Motor Co Ltd 自動追従走行システム
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WO2006137545A1 (ja) * 2005-06-24 2006-12-28 Equos Research Co., Ltd. 車両

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JPH10105880A (ja) * 1996-09-30 1998-04-24 Hitachi Ltd 移動体制御システム
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WO2006137545A1 (ja) * 2005-06-24 2006-12-28 Equos Research Co., Ltd. 車両

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019003302A1 (ja) * 2017-06-27 2019-01-03 本田技研工業株式会社 車両制御装置
JPWO2019003302A1 (ja) * 2017-06-27 2019-11-21 本田技研工業株式会社 車両制御装置
US11148666B2 (en) 2017-06-27 2021-10-19 Honda Motor Co., Ltd. Vehicle control apparatus

Also Published As

Publication number Publication date
US20100299044A1 (en) 2010-11-25
US8352147B2 (en) 2013-01-08
JPWO2009069410A1 (ja) 2011-04-07
CN101868392A (zh) 2010-10-20
CN101868392B (zh) 2014-01-29
JP5168518B2 (ja) 2013-03-21

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