IT202000009259A1 - Progettazione basata su modello della pianificazione e del controllo della traiettoria per autoveicoli automatizzati in un ambiente dinamico - Google Patents

Progettazione basata su modello della pianificazione e del controllo della traiettoria per autoveicoli automatizzati in un ambiente dinamico Download PDF

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Publication number
IT202000009259A1
IT202000009259A1 IT102020000009259A IT202000009259A IT202000009259A1 IT 202000009259 A1 IT202000009259 A1 IT 202000009259A1 IT 102020000009259 A IT102020000009259 A IT 102020000009259A IT 202000009259 A IT202000009259 A IT 202000009259A IT 202000009259 A1 IT202000009259 A1 IT 202000009259A1
Authority
IT
Italy
Prior art keywords
model
control
trajectory planning
dynamic environment
based design
Prior art date
Application number
IT102020000009259A
Other languages
English (en)
Inventor
Enrico Raffone
Claudio Rei
Marco Rossi
Original Assignee
Fiat Ricerche
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 Fiat Ricerche filed Critical Fiat Ricerche
Priority to EP20775727.9A priority Critical patent/EP4031428A1/en
Priority to US17/627,005 priority patent/US20220371594A1/en
Priority to PCT/IB2020/058721 priority patent/WO2021053607A1/en
Publication of IT202000009259A1 publication Critical patent/IT202000009259A1/it

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
    • B60W30/18—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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
    • 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
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • B60W2520/105—Longitudinal 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2520/28—Wheel 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
IT102020000009259A 2019-09-18 2020-04-28 Progettazione basata su modello della pianificazione e del controllo della traiettoria per autoveicoli automatizzati in un ambiente dinamico IT202000009259A1 (it)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP20775727.9A EP4031428A1 (en) 2019-09-18 2020-09-18 Model-based design of trajectory planning and control for automated motor-vehicles in a dynamic environment
US17/627,005 US20220371594A1 (en) 2019-09-18 2020-09-18 Model-based design of trajectory planning and control for automated motor-vehicles in a dynamic environment
PCT/IB2020/058721 WO2021053607A1 (en) 2019-09-18 2020-09-18 Model-based design of trajectory planning and control for automated motor-vehicles in a dynamic environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19198133 2019-09-18

Publications (1)

Publication Number Publication Date
IT202000009259A1 true IT202000009259A1 (it) 2021-10-28

Family

ID=86097390

Family Applications (1)

Application Number Title Priority Date Filing Date
IT102020000009259A IT202000009259A1 (it) 2019-09-18 2020-04-28 Progettazione basata su modello della pianificazione e del controllo della traiettoria per autoveicoli automatizzati in un ambiente dinamico

Country Status (1)

Country Link
IT (1) IT202000009259A1 (it)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190382019A1 (en) * 2018-06-15 2019-12-19 Honda Motor Co., Ltd. Vehicle control device, vehicle control method, and storage medium

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190382019A1 (en) * 2018-06-15 2019-12-19 Honda Motor Co., Ltd. Vehicle control device, vehicle control method, and storage medium

Non-Patent Citations (24)

* Cited by examiner, † Cited by third party
Title
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CVXGEN: CODE GENERATION FOR CONVEX OPTIMIZATION, Retrieved from the Internet <URL:https://cvxgen.com>
D. FERGUSONM. DARMSJ. STRUBLEM. TAYLOR ET AL.: "Autonomous driving in urban environments: Boss and the urban challenge", JOURNAL OF FIELD ROBOTICS, 2008, pages 425 - 466, XP055169612, DOI: 10.1002/rob.20255
D. FERGUSONT.M. HOWARDM. LIKHACHEV: "Motion planning in urban environments: Part I", 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2008, pages 1063 - 1069
D. FERGUSONT.M. HOWARDM. LIKHACHEV: "Motion planning in urban environments: Part ii", 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2008, pages 1070 - 1076
D. MADASM. NOSRATINIAZM. KESHAVARZYP. SUNDSTROMR. PHILIPPSENYA. EIDEHALLK.M. DAHLEN: "On Path Planning Methods for Automotive Collision Avoidance", 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV, 2013, pages 931 - 937, XP032502005, DOI: 10.1109/IVS.2013.6629586
D.B. RENJ.Y. ZHANGJ.M. ZHANGS.M. CUI: "Trajectory planning and yaw rate tracking control for lane changing of intelligent vehicle on curved road", SCIENCE CHINA TECHNOLOGICAL SCIENCES, 2011, pages 630 - 642
E. RAFFONE: "A Reduced Order Steering State Observer for Automated Steering Control Functions", PROCEEDINGS OF THE 13TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 2016, pages 426 - 432
E. RAFFONEC. REIM. ROSSI: "Optimal look-ahead vehicle lane centering control design and application for mid-high speed and curved roads", ECC19 EUROPEAN CONTROL CONFERENCE, 2019
ENRICO RAFFONE: "A Reduced Order Steering State Observer for Automated Steering Control Functions :", PROCEEDINGS OF THE 13TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 1 January 2016 (2016-01-01), pages 426 - 432, XP055748301, ISBN: 978-989-7581-98-4, DOI: 10.5220/0005959704260432 *
F. YOUR. ZHANGG. LIEH. WANGH. WENJ. XU: "Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system", EXPERT SYSTEMS WITH APPLICATIONS, 2015, pages 5932 - 5946
J. NILSSONJ. SILVLINM. BRANNSTROME. COELINGHJ. FREDRIKSSON: "If, When, and How to Perform Lane Change Maneuvers on Highways", IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE, 2016, pages 68 - 78, XP011626695, DOI: 10.1109/MITS.2016.2565718
J. NILSSONM. BRANNSTROME. COELINGHJ. FREDRIKSSON: "Longitudinal and lateral control for automated lane change maneuvers", 2015 AMERICAN CONTROL CONFERENCE, 2015, pages 1399 - 1404
JULIA NILSSON ET AL: "Lane Change Maneuvers for Automated Vehicles", IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, vol. 18, no. 5, 1 May 2017 (2017-05-01), Piscataway, NJ, USA, pages 1087 - 1096, XP055748521, ISSN: 1524-9050, DOI: 10.1109/TITS.2016.2597966 *
JULIA NILSSON ET AL: "Longitudinal and lateral control for automated lane change maneuvers", 2015 AMERICAN CONTROL CONFERENCE (ACC), 1 July 2015 (2015-07-01), pages 1399 - 1404, XP055348606, ISBN: 978-1-4799-8684-2, DOI: 10.1109/ACC.2015.7170929 *
M. MONTEMERLOJ.B.S. BHATH4. DAHLKAMPD. DOLGOVS. ETTINGERD. HAEHNELT. HILDENG. HOFFMANNB. HUHNKE ET AL.: "Junior: The stanford entry in the urban challenge", JOURNAL OF FIELD ROBOTICS, 2008, pages 569 - 597, XP055169616, DOI: 10.1002/rob.20258
R. PEPYA. LAMBERTH. MOUNIER: "Path planning using a dynamic vehicle model", 2ND INTERNATIONAL CONFERENCE ON INFORMATION & COMMUNICATION TECHNOLOGIES, vol. 1, 2006, pages 781 - 786
RAFFONE E ET AL: "Optimal look-ahead vehicle lane centering control design and application for mid-high speed and curved roads", 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), EUCA, 25 June 2019 (2019-06-25), pages 2024 - 2029, XP033595592, DOI: 10.23919/ECC.2019.8796031 *
S.J. ANDERSONS.PETERST.E. PILUTTIK. IAGNEMMA: "An optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios", INTERNATIONAL JOURNAL OF VEHICLE AUTONOMOUS SYSTEMS, 2010, pages 190 - 216
T. GUJ. SNIDERJ.M. DOLANJ.W. LEE: "Focused trajectory planning for autonomous on-road driving", IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV, 2013, pages 547 - 552, XP032502044, DOI: 10.1109/IVS.2013.6629524
T.M. HOWARDA. KELLY: "Optimal rough terrain trajectory generation for wheeled mobile robots", THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2007, pages 141 - 166
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