To provide a braking method for an autonomous driving vehicle that is accurately stopped in a predetermined stop position without being associated with braking vibrations and a braking shock.SOLUTION: A vehicle speed is adjusted by making deceleration control by a brake or acceleration control by an accelerator act on "a component of downward slope force of gravitational acceleration" or "a component of reactive upward slope force of gravitational acceleration", generated depending on the gravitational acceleration on the basis of a road gradient, and "travel resistance" that is the sum of vehicle rolling resistance and air resistance. The adjusted vehicle speed is adjusted to the slowest speed by the brake and the accelerator. Subsequently, a vehicle position keeping brake corresponding to the road gradient acts to prevent the generation of braking vibrations and a braking shock in a stopped condition.SELECTED DRAWING: Figure 5
【課題】制動振動及び制動ショックを伴わずに、定められた停止位置に、精度良く停止する自動運転車両の制動方法を提供する。【解決手段】道路の勾配に応じて重力加速度に応じて生じる“重力加速度の降坂分力”或いは“重力加速度の反登坂分力”と、車両のころがり抵抗と空気抵抗の和である“走行抵抗”に、ブレーキによる減速制御或いはアクセル加速制御が作用して、車速調整される。その調整車速を最徐行速度にブレーキ乃至アクセルで調整して後に、道路勾配に応じた車両位置保持ブレーキを作用させることにより停止時の制動振動及び制動ショックの発生を無くする。【選択図】図5
BRAKING METHOD FOR AUTONOMOUS DRIVING VEHICLE
自動運転車両の制動方法
2021-05-06
Patent
Electronic Resource
Japanese
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 |
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