To set a target speed profile for suppressing an excess of a wheel over a friction limit caused by loads of fore-and-aft wheels of a vehicle when making an own vehicle travel on a target traveling trajectory.SOLUTION: A vehicle speed control method sets a target traveling trajectory of an own vehicle (S1), and sets a first constriction condition being a constriction condition of the own vehicle according to loads of fore-and-aft wheels of the own vehicle and a lateral force of the own vehicle on the basis of a friction limit of wheels (S3, S4), creates a target speed profile for traveling on the target traveling trajectory following the first constriction condition on the basis of a curvature radius profile of the target traveling trajectory (S5), and controls a vehicle speed of the own vehicle on the basis of the target speed profile (S6).SELECTED DRAWING: Figure 4

    【課題】自車両を目標走行軌道で走行させる際に、車両の前後輪の荷重によって車輪の摩擦限界を超えるのを抑制する目標速度プロファイルを設定する。【解決手段】車速制御方法は、自車両の目標走行軌道を設定し(S1)、自車両の前後輪の荷重と自車両の横力とに応じて自車両の前後力を制限する、前後力の制約条件である第1制約条件を、車輪の摩擦限界に基づいて設定し(S3、S4)、目標走行軌道の曲率プロファイルに基づいて、第1制約条件に従って目標走行軌道を走行する目標速度プロファイルを生成し(S5)、目標速度プロファイルに基づいて自車両の車速を制御する(S6)。【選択図】図4


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    Titel :

    VEHICLE SPEED CONTROL METHOD AND TRAVELING CONTROL DEVICE


    Weitere Titelangaben:

    車速制御方法及び走行制御装置


    Beteiligte:
    SHIMAKAGE MASAYASU (Autor:in) / ODA TAKASHI (Autor:in) / MIYASHITA NAOKI (Autor:in) / NIWA YUYA (Autor:in)

    Erscheinungsdatum :

    2022-10-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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