To set a target vehicle speed profile that prevents exceeding of the friction limit of a wheel due to yaw moment acting on the own vehicle when the own vehicle is made to travel on a target travel track.SOLUTION: A vehicular speed control method includes: setting a target travel track for an own vehicle (S1); setting, on the basis of a friction limits of a front wheel and a rear wheel of the own vehicle, a first constraint condition and a second constraint condition, which are constraint conditions of front and rear forces of the front wheel and the rear wheel, the restraint conditions being limited on the basis of lateral force and yaw moment acting on the own vehicle (S3, S4); setting, as a third constraint condition, one of the first constraint condition and the second constraint condition that limits a magnitude of the front and rear force to a smaller value (S5, S6); generating a target speed profile so as to travel on a target travel track in accordance with the third constraint condition on the basis of a curvature profile of the target travel track (S7); and controlling a speed of the own vehicle on the basis of the target speed profile (S8).SELECTED DRAWING: Figure 6

    【課題】自車両を目標走行軌道で走行させる際に、自車両に働くヨーモーメントによって車輪の摩擦限界を超えるのを抑制する目標車速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)、自車両に働く横力とヨーモーメントとに応じて制限される、自車両の前輪及び後輪の前後力の制約条件である第1制約条件と第2制約条件とを、前輪及び後輪の摩擦限界に基づいて設定し(S3、S4)、第1制約条件と第2制約条件のうち前後力の大きさをより小さい値に制限する方を、第3制約条件として設定し(S5、S6)、目標走行軌道の曲率プロファイルに基づいて、第3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(S7)、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(S8)。【選択図】図6


    Access

    Download


    Export, share and cite



    Title :

    VEHICLE SPEED CONTROL METHOD AND TRAVEL CONTROL APPARATUS


    Additional title:

    車速制御方法及び走行制御装置


    Contributors:

    Publication date :

    2022-09-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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






    Vehicle constant speed travel control method and vehicle constant speed travel control device

    ROSSI SERGIO / KITTA SHUHEI / GUNJI MICHIHARU | European Patent Office | 2025

    Free access

    VEHICLE CONSTANT SPEED TRAVEL CONTROL METHOD AND VEHICLE CONSTANT SPEED TRAVEL CONTROL DEVICE

    ROSSI SERGIO / KITTA SHUHEI / GUNJI MICHIHARU | European Patent Office | 2022

    Free access