JP2022538199A - リアルタイムで経路を制御するための予測モジュール、関連する装置及び方法 - Google Patents
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Abstract
Description
- 前輪のドリフトの剛性Cf、
- 後輪のドリフトの剛性Cr、
- 車両の重心から前車軸までの距離lf、
- 車両の重心から後車軸までの距離lr、
- 車両の総質量m、
- 車両の速度V、
- 車両の重心を通る垂直軸を中心とした車両の慣性力J、
- 2次関数のダンピング係数ξ、
- 2次伝達関数の固有のパルスω。
Claims (7)
- 前記可変ゲイン装置(70)の出力に接続され、前記車両のモデルを用いて擬似的に計算される測定値のベクトル(ηeq)を計算するように設計された第2の演算サブモジュール(77)を備える請求項1に記載の予測モジュール。
- 前記車両のモデルは、自転車モデルである請求項2に記載の予測モジュール。
- 請求項5に記載のリアルタイム経路制御方法であって、
前記車両の基準系(R)において、前記横方向の偏差(yl)とカーブの方向が同じ方向に向いていて、かつ、前記横方向の偏差が検出閾値(S)よりも大きい場合に、前記車両が公称の構成に対してオーバーステアしていると判断するリアルタイム経路制御方法。 - 請求項6に記載のリアルタイム経路制御方法であって、
前記車両の基準系(R)において、前記横方向の偏差(yl)と前記カーブの方向が異なる方向に向いていて、かつ、前記横方向の偏差が前記検出閾値(S)よりも小さい場合に、前記可変ゲイン装置(73)のゲインがリセットされるリアルタイム経路制御方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1903456A FR3094317B1 (fr) | 2019-04-01 | 2019-04-01 | Module anticipateur, dispositif de contrôle en temps réel de trajectoire et procédé associés |
FR1903456 | 2019-04-01 | ||
PCT/EP2020/058820 WO2020201141A1 (fr) | 2019-04-01 | 2020-03-27 | Module anticipateur, dispositif de contrôle en temps réel de trajectoire et procédé associés |
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JP2022538199A true JP2022538199A (ja) | 2022-09-01 |
JP7264275B2 JP7264275B2 (ja) | 2023-04-25 |
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JP2021557518A Active JP7264275B2 (ja) | 2019-04-01 | 2020-03-27 | リアルタイムで経路を制御するための予測モジュール、関連する装置及び方法 |
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US (1) | US11731623B2 (ja) |
EP (1) | EP3947076A1 (ja) |
JP (1) | JP7264275B2 (ja) |
CN (1) | CN113677579A (ja) |
FR (1) | FR3094317B1 (ja) |
WO (1) | WO2020201141A1 (ja) |
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FR3117972B1 (fr) * | 2020-12-17 | 2022-11-04 | Renault Sas | Méthode de contrôle pour contrôler le déplacement d’un véhicule automobile autonome |
KR20220128153A (ko) * | 2021-03-12 | 2022-09-20 | 현대자동차주식회사 | 차로 유지 제어 장치, 그를 포함한 차량 시스템 및 그 방법 |
CN114274974B (zh) * | 2021-11-30 | 2023-09-29 | 重庆长安汽车股份有限公司 | 自动驾驶中的弯道行驶控制方法、系统及车辆 |
CN114162134B (zh) * | 2022-02-14 | 2022-05-06 | 西南交通大学 | 跨海桥梁上车辆轨迹预测方法、设备和存储介质 |
CN115158445B (zh) * | 2022-07-11 | 2023-06-23 | 岚图汽车科技有限公司 | 一种车辆转向冗余控制方法、系统、电子设备及存储介质 |
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- 2020-03-27 CN CN202080027466.4A patent/CN113677579A/zh active Pending
- 2020-03-27 EP EP20713054.3A patent/EP3947076A1/fr active Pending
- 2020-03-27 WO PCT/EP2020/058820 patent/WO2020201141A1/fr unknown
- 2020-03-27 JP JP2021557518A patent/JP7264275B2/ja active Active
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JP7264275B2 (ja) | 2023-04-25 |
US20220194371A1 (en) | 2022-06-23 |
CN113677579A (zh) | 2021-11-19 |
EP3947076A1 (fr) | 2022-02-09 |
FR3094317B1 (fr) | 2021-03-05 |
FR3094317A1 (fr) | 2020-10-02 |
US11731623B2 (en) | 2023-08-22 |
WO2020201141A1 (fr) | 2020-10-08 |
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