BE1029667B1 - Methoden, systemen, opslagmedia en apparatuur voor het analyseren van de band-wegfrictieschatting van trajectkandidaten op plannerniveau voor een veiliger trajectkeuze in geautomatiseerde voertuigen - Google Patents

Methoden, systemen, opslagmedia en apparatuur voor het analyseren van de band-wegfrictieschatting van trajectkandidaten op plannerniveau voor een veiliger trajectkeuze in geautomatiseerde voertuigen

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Publication number
BE1029667B1
BE1029667B1 BE20215937A BE202105937A BE1029667B1 BE 1029667 B1 BE1029667 B1 BE 1029667B1 BE 20215937 A BE20215937 A BE 20215937A BE 202105937 A BE202105937 A BE 202105937A BE 1029667 B1 BE1029667 B1 BE 1029667B1
Authority
BE
Belgium
Prior art keywords
candidates
trajectory
planner
systems
analyzing
Prior art date
Application number
BE20215937A
Other languages
English (en)
Inventor
Victor Vaquero
Danilo Romano
Torres Mario Henrique Cruz
Original Assignee
Ivex
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 Ivex filed Critical Ivex
Priority to BE20215937A priority Critical patent/BE1029667B1/nl
Priority to EP22830432.5A priority patent/EP4440899A1/en
Priority to PCT/EP2022/084286 priority patent/WO2023099765A1/en
Application granted granted Critical
Publication of BE1029667B1 publication Critical patent/BE1029667B1/nl

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Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • 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
    • 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
    • B60W30/045—Improving turning performance
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

De methodes, de systemen, de opslagmedia en de apparaten voor het analyseren van de band-weg wrijving schatting van trajectkandidaten op plannerniveau voor veiligere trajectkeus in geautomatiseerde voertuigen (AV) worden onthuld. Sommige belichamingen kunnen omvatten: het verstrekken van de trajectkandidaten van een elektronische besturingseenheid van een geautomatiseerd voertuig; het bepalen door de elektronische besturingseenheid van de band-wegwrijvingscoëfficiënt, de maximale berijdbare snelheid en de maximale kromming van de trajectkandidaten van het AV; het bepalen door de elektronische controle-eenheid van de veiligheidsprojectie met betrekking tot het sliprisico van de trajectkandidaten van de AV, waarbij de veiligheidsprojectie met betrekking tot het sliprisico een functie is van de band-wegwrijvingscoëfficiënt, de maximale rijsnelheid en de maximale kromming van de trajectkandidaten van de AV; het kiezen door de elektronische controle-eenheid van het trajectkandidaat van het traject met een verbeterde veiligheidsprojectie met betrekking tot het sliprisico.
BE20215937A 2021-12-02 2021-12-02 Methoden, systemen, opslagmedia en apparatuur voor het analyseren van de band-wegfrictieschatting van trajectkandidaten op plannerniveau voor een veiliger trajectkeuze in geautomatiseerde voertuigen BE1029667B1 (nl)

Priority Applications (3)

Application Number Priority Date Filing Date Title
BE20215937A BE1029667B1 (nl) 2021-12-02 2021-12-02 Methoden, systemen, opslagmedia en apparatuur voor het analyseren van de band-wegfrictieschatting van trajectkandidaten op plannerniveau voor een veiliger trajectkeuze in geautomatiseerde voertuigen
EP22830432.5A EP4440899A1 (en) 2021-12-02 2022-12-02 Methods, systems, storage media and apparatus for analysing the tire-road friction estimation of trajectory candidates at planner level for safer trajectory choice in automated vehicles
PCT/EP2022/084286 WO2023099765A1 (en) 2021-12-02 2022-12-02 Methods, systems, storage media and apparatus for analysing the tire-road friction estimation of trajectory candidates at planner level for safer trajectory choice in automated vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
BE20215937A BE1029667B1 (nl) 2021-12-02 2021-12-02 Methoden, systemen, opslagmedia en apparatuur voor het analyseren van de band-wegfrictieschatting van trajectkandidaten op plannerniveau voor een veiliger trajectkeuze in geautomatiseerde voertuigen

Publications (1)

Publication Number Publication Date
BE1029667B1 true BE1029667B1 (nl) 2023-03-02

Family

ID=78829329

Family Applications (1)

Application Number Title Priority Date Filing Date
BE20215937A BE1029667B1 (nl) 2021-12-02 2021-12-02 Methoden, systemen, opslagmedia en apparatuur voor het analyseren van de band-wegfrictieschatting van trajectkandidaten op plannerniveau voor een veiliger trajectkeuze in geautomatiseerde voertuigen

Country Status (3)

Country Link
EP (1) EP4440899A1 (nl)
BE (1) BE1029667B1 (nl)
WO (1) WO2023099765A1 (nl)

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WO2014148989A1 (en) * 2013-03-19 2014-09-25 Scania Cv Ab Control system for autonomous vehicles, and a method for the control system
EP3738850A1 (en) * 2018-01-10 2020-11-18 Hitachi Automotive Systems, Ltd. Driving assistance device, driving assistance method, and driving assistance system
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US20210316758A1 (en) * 2021-06-24 2021-10-14 Intel Corporation Proactive vehicle safety system

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US9550480B2 (en) 2011-10-21 2017-01-24 Autoliv Nissin Brake Systems Japan Co., Ltd. Vehicle brake hydraulic pressure control apparatus and road surface friction coefficient estimating device
WO2016139748A1 (ja) 2015-03-03 2016-09-09 パイオニア株式会社 経路探索装置、制御方法、プログラム及び記憶媒体
DE102015211926A1 (de) 2015-06-26 2016-12-29 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ermitteln bzw. Bewerten einer Soll-Trajektorie eines Kraftfahrzeugs
US10019008B2 (en) 2016-09-28 2018-07-10 Baidu Usa Llc Sideslip compensated control method for autonomous vehicles
US10976745B2 (en) 2018-02-09 2021-04-13 GM Global Technology Operations LLC Systems and methods for autonomous vehicle path follower correction
KR102423172B1 (ko) 2018-03-20 2022-07-22 모빌아이 비젼 테크놀로지스 엘티디 차량의 항법을 위한 시스템 및 방법
US10940851B2 (en) 2018-12-12 2021-03-09 Waymo Llc Determining wheel slippage on self driving vehicle
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EP2537727A1 (en) * 2011-06-22 2012-12-26 Volvo Car Corporation Method for estimating a speed profile for a vehicle
WO2014148989A1 (en) * 2013-03-19 2014-09-25 Scania Cv Ab Control system for autonomous vehicles, and a method for the control system
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Also Published As

Publication number Publication date
WO2023099765A1 (en) 2023-06-08
EP4440899A1 (en) 2024-10-09

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Effective date: 20230302