BR112015019993A2 - control system for autonomous vehicles and a method for the control system - Google Patents

control system for autonomous vehicles and a method for the control system

Info

Publication number
BR112015019993A2
BR112015019993A2 BR112015019993A BR112015019993A BR112015019993A2 BR 112015019993 A2 BR112015019993 A2 BR 112015019993A2 BR 112015019993 A BR112015019993 A BR 112015019993A BR 112015019993 A BR112015019993 A BR 112015019993A BR 112015019993 A2 BR112015019993 A2 BR 112015019993A2
Authority
BR
Brazil
Prior art keywords
vehicle
control system
control
speed
friction
Prior art date
Application number
BR112015019993A
Other languages
Portuguese (pt)
Inventor
Andersson Jon
Ah-King Joseph
Nyström Tom
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Publication of BR112015019993A2 publication Critical patent/BR112015019993A2/en

Links

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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • B60W30/10—Path keeping
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00182—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions in response to weather conditions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/65—Following a desired speed profile
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/12—Lateral speed
    • B60W2720/125—Lateral acceleration
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

1/1 resumo “sistema de controle para veículos autônomos e um método para o sistema de controle” um sistema de controle (2), adaptado para controlar um veículo autônomo (4) ao longo de uma rota planejada, em que o sistema de controle é adaptado para receber um sinal de fricção (6), que contém informação acerca da fricção µ para uma estrada em,que o veículo vai trafegar, e um sinal de velocidade (8), que contém informação acerca da velocidade do veículo v. o sistema de controle (2) compreende uma unidade de processamento (10) e uma unidade de controle (12), em que a unidade de processamento é adaptada para determinar uma margem de segurança variável 8m(µ,v), relativa a um objeto nas proximidades do veículo, com base na fricção medida µ e na velocidade do veículo v; e para determinar uma trajetória (14) para a rota planejada, de modo que dita margem de segurança sm seja atendida. a unidade de controle é ainda adaptada para controlar o veículo por meio de um sinal de controle (16), de modo que a trajetória seja seguida, influenciando pelo menos a direção e a velocidade do veículo, pela aplicação de um conjunto de regras de controle, em que ditas regras de controle incluem uma regra que leva em consideração a aceleração lateral ay do veículo.1/1 abstract control system for autonomous vehicles and a method for the control system a control system (2), adapted to control an autonomous vehicle (4) along a planned route, wherein the control system is adapted to receive a friction signal (6), which contains information about the friction µ for a road on which the vehicle will travel, and a speed signal (8), which contains information about the vehicle's speed v. the control system (2) comprises a processing unit (10) and a control unit (12), wherein the processing unit is adapted to determine a variable safety margin 8m(µ,v), relative to an object in the vicinity of the vehicle, based on the measured friction µ and the vehicle speed v; and to determine a trajectory (14) for the planned route, so that said safety margin is met. the control unit is further adapted to control the vehicle by means of a control signal (16), so that the trajectory is followed, influencing at least the direction and speed of the vehicle, by applying a set of control rules , wherein said control rules include a rule that takes into account the lateral acceleration y of the vehicle.

BR112015019993A 2013-03-19 2014-03-13 control system for autonomous vehicles and a method for the control system BR112015019993A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1350332A SE537674C2 (en) 2013-03-19 2013-03-19 Control system for autonomous vehicles, and a method for the control system
PCT/SE2014/050310 WO2014148989A1 (en) 2013-03-19 2014-03-13 Control system for autonomous vehicles, and a method for the control system

Publications (1)

Publication Number Publication Date
BR112015019993A2 true BR112015019993A2 (en) 2017-07-18

Family

ID=51580515

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112015019993A BR112015019993A2 (en) 2013-03-19 2014-03-13 control system for autonomous vehicles and a method for the control system

Country Status (4)

Country Link
BR (1) BR112015019993A2 (en)
DE (1) DE112014001065T5 (en)
SE (1) SE537674C2 (en)
WO (1) WO2014148989A1 (en)

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US9849883B2 (en) * 2016-05-04 2017-12-26 Ford Global Technologies, Llc Off-road autonomous driving
DE102016208675A1 (en) * 2016-05-19 2017-11-23 Lucas Automotive Gmbh Method for determining a safe speed at a future waypoint
US10173674B2 (en) * 2016-06-15 2019-01-08 Ford Global Technologies, Llc Traction based systems and methods
EP3260344B1 (en) 2016-06-20 2021-10-06 Volvo Car Corporation Method and system for adjusting a safety margin threshold of a driver support function
US10921810B2 (en) 2016-08-02 2021-02-16 Pcms Holdings, Inc. System and method for optimizing autonomous vehicle capabilities in route planning
EP3552071B1 (en) 2016-12-08 2020-10-21 PCMS Holdings, Inc. System and method for routing and reorganization of a vehicle platoon in a smart city
WO2018129711A1 (en) * 2017-01-13 2018-07-19 Baidu.Com Times Technology (Beijing) Co., Ltd. Method and system for determining road frictions of autonomous driving vehicles using learning-based model predictive control
US11260875B2 (en) * 2017-12-07 2022-03-01 Uatc, Llc Systems and methods for road surface dependent motion planning
US10576991B2 (en) 2018-02-09 2020-03-03 GM Global Technology Operations LLC Systems and methods for low level feed forward vehicle control strategy
JP2019156175A (en) * 2018-03-13 2019-09-19 本田技研工業株式会社 Vehicle controller, vehicle control method and program
US10816987B2 (en) * 2018-10-15 2020-10-27 Zoox, Inc. Responsive vehicle control
US10940851B2 (en) * 2018-12-12 2021-03-09 Waymo Llc Determining wheel slippage on self driving vehicle
CN109814574B (en) * 2019-02-22 2022-07-19 百度在线网络技术（北京）有限公司 Method and device for planning speed of junction of automatic driving lanes and storage medium
CN112114582B (en) * 2019-06-19 2023-12-19 北京车和家信息技术有限公司 Unmanned method and device
SE544257C2 (en) * 2019-08-23 2022-03-15 Scania Cv Ab Method and control device for controlling driving of a vehicle along a road
DE102019132070A1 (en) * 2019-11-27 2021-05-27 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method and device for determining a platoon dynamic of a vehicle platoon
BE1029667B1 (en) * 2021-12-02 2023-03-02 Ivex METHODS, SYSTEMS, STORAGE MEDIA AND EQUIPMENT FOR ANALYZING THE BAND ROAD FRICTION ESTIMATE OF TRAVEL CANDIDATES AT THE PLANNER LEVEL FOR SAFER ROUTE SELECTION IN AUTOMATED VEHICLES

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WO2011009009A1 (en) * 2009-07-15 2011-01-20 Massachusetts Institute Of Technology Methods and apparati for predicting and quantifying threat being experienced by a modeled system
DE102012215562B4 (en) * 2012-09-03 2024-03-07 Robert Bosch Gmbh Method for determining an avoidance trajectory for a motor vehicle and safety device or safety system

Also Published As

Publication number Publication date
SE1350332A1 (en) 2014-09-20
WO2014148989A1 (en) 2014-09-25
SE537674C2 (en) 2015-09-29
DE112014001065T5 (en) 2015-11-12

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Legal Events

Date Code Title Description
B06F Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B11B Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements