CN116534000A - 用于载具横向控制的方法和系统 - Google Patents
用于载具横向控制的方法和系统 Download PDFInfo
- Publication number
- CN116534000A CN116534000A CN202211540881.7A CN202211540881A CN116534000A CN 116534000 A CN116534000 A CN 116534000A CN 202211540881 A CN202211540881 A CN 202211540881A CN 116534000 A CN116534000 A CN 116534000A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- computer
- steering angle
- implemented method
- reference steering
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000006870 function Effects 0.000 description 40
- 238000012545 processing Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 108010076504 Protein Sorting Signals Proteins 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
-
- 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
- B60W40/072—Curvature of the road
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—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
- B60W2520/12—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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (15)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22154830.8A EP4223616A1 (en) | 2022-02-02 | 2022-02-02 | Methods and systems for lateral control of a vehicle |
EP22154830.8 | 2022-02-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN116534000A true CN116534000A (zh) | 2023-08-04 |
Family
ID=80225843
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202211540881.7A Pending CN116534000A (zh) | 2022-02-02 | 2022-12-02 | 用于载具横向控制的方法和系统 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20230242110A1 (zh) |
EP (1) | EP4223616A1 (zh) |
CN (1) | CN116534000A (zh) |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10202144B2 (en) * | 2015-12-08 | 2019-02-12 | Ford Global Technologies, Llc | Vehicle curvature determination |
US10239529B2 (en) * | 2016-03-01 | 2019-03-26 | Ford Global Technologies, Llc | Autonomous vehicle operation based on interactive model predictive control |
US9796421B1 (en) * | 2016-04-07 | 2017-10-24 | GM Global Technology Operations LLC | Autonomous vehicle lateral control for path tracking and stability |
CN107697155A (zh) * | 2017-09-25 | 2018-02-16 | 北京新能源汽车股份有限公司 | 车轮转向角的控制方法、装置和车轮转向角控制器 |
GB2568548B (en) * | 2017-11-21 | 2020-07-29 | Jaguar Land Rover Ltd | Apparatus and method for controling a process |
US20200148261A1 (en) * | 2018-11-14 | 2020-05-14 | Steering Solutions Ip Holding Corporation | Lane change and collision avoidance system |
DE102019205405A1 (de) * | 2019-04-15 | 2020-10-15 | Zf Friedrichshafen Ag | Ermittlung einer Eingangsgröße eines Fahrzeug-Aktuators mittels modellgestützter prädiktiver Regelung |
CN110027547B (zh) * | 2019-04-29 | 2020-11-06 | 百度在线网络技术(北京)有限公司 | 车辆横向控制方法和装置 |
US11192584B2 (en) * | 2019-09-23 | 2021-12-07 | GM Global Technology Operations LLC | Method and apparatus for lateral movement control |
US20210139007A1 (en) * | 2019-11-11 | 2021-05-13 | Ford Global Technologies, Llc | Enhanced vehicle operation |
CN111731307B (zh) * | 2020-06-28 | 2021-09-17 | 中国第一汽车股份有限公司 | 一种车辆转弯控制方法、装置、车辆及存储介质 |
CN113511188B (zh) * | 2021-05-27 | 2023-02-17 | 上海华兴数字科技有限公司 | 车辆横向控制的方法、装置、电子设备及存储介质 |
-
2022
- 2022-02-02 EP EP22154830.8A patent/EP4223616A1/en active Pending
- 2022-12-02 CN CN202211540881.7A patent/CN116534000A/zh active Pending
-
2023
- 2023-01-31 US US18/162,146 patent/US20230242110A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
US20230242110A1 (en) | 2023-08-03 |
EP4223616A1 (en) | 2023-08-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3730384B1 (en) | System and method for trajectory estimation | |
US9278713B2 (en) | Collision avoidance control integrated with EPS controller | |
Li et al. | Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles | |
Son et al. | Robust multirate control scheme with predictive virtual lanes for lane-keeping system of autonomous highway driving | |
US10118639B2 (en) | Method and system for steering control of an autonomous vehicle using proportional, integral, and derivative (PID) controller | |
Kang et al. | Multirate lane-keeping system with kinematic vehicle model | |
Ahangarnejad et al. | A review of vehicle active safety control methods: From antilock brakes to semiautonomy | |
KR101639525B1 (ko) | 차선 유지 시스템, 차선 유지 방법과 이에 사용되는 제어 방법 | |
EP2325069B1 (en) | Method and system for controlling the lateral lane position of an automotive vehicle | |
Lee et al. | Synthesis of robust lane keeping systems: Impact of controller and design parameters on system performance | |
KR102024986B1 (ko) | 차로 유지 제어 장치 및 방법 | |
JP2016193678A (ja) | 車両用操舵装置および車両操舵制御方法 | |
CN113511205B (zh) | 规划车辆的移动的方法和系统 | |
Kim et al. | Vehicle path prediction using yaw acceleration for adaptive cruise control | |
JP2017074838A (ja) | 車両用操舵装置および車両用操舵方法 | |
CN115123233A (zh) | 规划车辆轨迹的方法和装置 | |
Peng et al. | Lane‐Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather | |
KR101930163B1 (ko) | 차로 유지 제어 장치 및 방법 | |
Kim et al. | Discrete-time integral sliding model predictive control for dynamic lateral motion of autonomous driving vehicles | |
CN116534000A (zh) | 用于载具横向控制的方法和系统 | |
CN115447615A (zh) | 基于车辆运动学模型预测控制的轨迹优化方法 | |
EP2364891B1 (en) | Method for threat assessment in a vehicle | |
Raffone et al. | Optimal look-ahead vehicle lane centering control design and application for mid-high speed and curved roads | |
Yang et al. | Predictive collision avoidance control with optimized ride comfort in vehicle lateral motion control | |
US20230096493A1 (en) | Methods and Systems for Trajectory Planning of a Vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20240308 Address after: Luxembourg Applicant after: Aptiv Manufacturing Management Services Co. Country or region after: Luxembourg Address before: Babado J San Michael Applicant before: Aptiv Technologies Ltd. Country or region before: Barbados |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20240326 Address after: Schaffhausen Applicant after: APTIV Technology Co.,Ltd. Country or region after: Switzerland Address before: Luxembourg Applicant before: Aptiv Manufacturing Management Services Co. Country or region before: Luxembourg |