To provide a braking control method and a braking control device which can control deceleration of an own vehicle in accordance with a moving direction of a moving object detected at a downstream side of a stop scheduled position.SOLUTION: A braking control device 100 controls a braking actuator 101 of an own vehicle 1 by a vehicle speed profile based on a vehicle speed Vc of the own vehicle 1, a position Pv of the own vehicle and a stop scheduled position Ps, using a processor 10. The processor 10 determines whether a detection device 102 of the own vehicle 1 has detected a moving object M in a predetermined area Xp at a downstream side of the stop scheduled position Ps; when determining that the detection device 102 has detected the moving object M, calculates an angle in the moving direction formed by a frontal direction Hv of the own vehicle 1 and a moving direction Hm of the moving object M, in the stop scheduled position Ps; and when the angle in the moving direction is equal to a first angle, generates the vehicle speed profile so that a deceleration relaxing position Pd becomes closer to an upstream side than when the angle in the moving direction is a second angle smaller than the first angle.SELECTED DRAWING: Figure 1

    【課題】停止予定位置の下流側に検出された移動物の移動方向に応じて自車両の減速度を制御できる制動制御方法及び制動制御装置を提供する。【解決手段】制動制御装置100は、プロセッサ10を用いて、自車両1の車速Vc、自車両位置Pv及び停止予定位置Psに基づく車速プロファイルにより自車両1の制動アクチュエータ101を制御し、プロセッサ10は、自車両1の検出装置102が停止予定位置Psの下流側の所定領域Xpにおいて移動物Mを検出したか否かを判定し、検出装置102が移動物Mを検出したと判定した場合は、停止予定位置Psにおける自車両1の正面方向Hvと移動物Mの移動方向Hmとがなす移動方向角度を算出し、減速度緩和位置Pdを、移動方向角度が第1の角度であるときには、移動方向角度が第1の角度よりも小さい第2の角度であるときよりも上流側になるように、車速プロファイルを生成する。【選択図】 図1


    Access

    Download


    Export, share and cite



    Title :

    BRAKING CONTROL METHOD AND BRAKING CONTROL DEVICE


    Additional title:

    制動制御方法及び制動制御装置


    Contributors:

    Publication date :

    2023-07-31


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    BRAKING CONTROL DEVICE AND BRAKING CONTROL METHOD

    TAKAE YASUHIKO / SUGANO TAKESHI | European Patent Office | 2018

    Free access

    Braking control device and braking control method

    TAKAE YASUHIKO / SUGANO TAKESHI | European Patent Office | 2020

    Free access

    BRAKING CONTROL METHOD AND BRAKING CONTROL DEVICE

    GOTO AKINOBU / SHIOZAWA YUKI / USUI NAOTAKA | European Patent Office | 2024

    Free access

    BRAKING CONTROL DEVICE AND BRAKING CONTROL METHOD

    TAKAE YASUHIKO / SUGANO TAKESHI | European Patent Office | 2017

    Free access

    BRAKING CONTROL METHOD AND BRAKING CONTROL DEVICE

    GOTO AKINOBU / SHIOZAWA YUKI / USUI NAOTAKA | European Patent Office | 2022

    Free access