JP2022541875A - 車両モデルの正しさを定量化するための方法 - Google Patents
車両モデルの正しさを定量化するための方法 Download PDFInfo
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- 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
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Abstract
Description
xk+1=f(xk,uk)
ここで、
xk+1=f(xk,uk)+εk
xk+1=f(xk,uk)
ならびに状態の数列
εi=xi+1-f(xi,ui)、i=1,・・・,n-1
を形成することは簡単である。その後、十分に高い閾値
Claims (15)
- 前記パラメータ化されたGDPに関連する信頼度βを決定するステップ(S5)を含む、請求項1から4のいずれか1項に記載の方法。
- 前記パラメータ化されたGDPに関連する前記信頼度βに基づいて、モデルの正しさの検証のために収集されたモデルデータの十分性を評価するステップ(S51)を含む請求項5に記載の方法。
- 前記パラメータ化されたGDPをベースラインGDPのパラメータの集合と比較することによって、前記車両に関連する運行設計領域(ODD)をモニタリングするステップ(S6)を含み、
前記ODD外の動作は、パラメータ化されたGDPのパラメータとベースラインGDPのパラメータとの間の差によって示される請求項1から6のいずれか1項に記載の方法。 - 前記閾値ζを超える誤差間で経過した時間を示す超過メトリック間の時間を測定し、前記超過メトリック間の時間に基づいてODDをモニタリングするステップ(S7)を含む請求項1から7のいずれか1項に記載の方法。
- 前記車両が所定のODDの外で動作する場合に、警告信号を発するステップを含む請求項7または8に記載の方法。
- 現在の車両状態(xk|k)に関連する車両(1)を制御するための車両制御コマンド(uk)が、前記車両(1)による将来の状況回避操作(SAM)(23)を除外するかを決定するため、前記方法はさらに、
1つまたは複数の安全集合(S1、S2、・・・Sk)を得るステップであって、各安全集合は将来のSAM(23)が成功の見込みを有して開始され得る車両状態の範囲を表すステップ(S8)と、
前記現在の車両状態(xk|k)および前記制御コマンド(uk)を取得するステップ(S9)と、
前記現在の車両状態(xk|k)および前記制御コマンド(uk)に基づいて将来の車両状態(xk+1|k)を予測するステップであって、前記有界外乱モデルに基づいて前記将来の車両状態(xk+1|k)を予測するステップ(S10)と、
前記予測された将来の車両状態(xk+1|k)を前記1つまたは複数の安全集合(S1、S2、・・・Sk)と比較し、前記予測された将来の車両状態(xk+1|k)が前記1つまたは複数の安全集合(S1、S2、・・・Sk)のいずれにも含まれない場合は、前記制御コマンド(uk)が前記将来のSAM(23)を除外することを決定するステップ(S11)と
を含む請求項4に記載の方法。 - SAM(23)は、車両状態(X)の目標範囲に到達するための対応する制御法則によって補うことができない少なくとも1つの外乱数列が存在する場合に、除外される請求項9に記載の方法。
- プログラムがコンピュータ上または制御ユニット(1200)の処理回路(1310)上で動作するときに、請求項1から11のいずれか1項に記載のステップを実行するためのプログラムコード手段を含むコンピュータプログラム(1320)。
- プログラムプロダクトがコンピュータ上または制御ユニット(1200)の処理回路(1310)上で動作するときに、請求項1から11のいずれか1項に記載のステップを実行するためのプログラムコード手段を含むコンピュータプログラム(1320)を格納するコンピュータ読み取り可能な媒体(1310)。
- 車両モデルf(・)の正しさを定量化するための制御ユニット(1300)であって、
請求項1から11のいずれか1項に記載の方法のステップを実行するように構成された制御ユニット(1300)。 - 請求項14に記載の制御ユニット(1300)を備える車両(1)。
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PCT/EP2019/065729 WO2020249235A1 (en) | 2019-06-14 | 2019-06-14 | A method for quantifying correctness of a vehicle model |
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US (1) | US20220250631A1 (ja) |
EP (1) | EP3983861B1 (ja) |
JP (1) | JP2022541875A (ja) |
KR (1) | KR20220024529A (ja) |
CN (1) | CN113994289A (ja) |
WO (1) | WO2020249235A1 (ja) |
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US11958501B1 (en) * | 2020-12-07 | 2024-04-16 | Zoox, Inc. | Performance-based metrics for evaluating system quality |
Citations (4)
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JP2003108753A (ja) * | 2001-09-28 | 2003-04-11 | Tokai Bank Ltd | 金融機関のリスク管理システム及びそれを用いた処理方法 |
JP2009146377A (ja) * | 2007-11-21 | 2009-07-02 | Toyota Central R&D Labs Inc | ドライバ状態推定装置及びプログラム |
WO2013027562A1 (ja) * | 2011-08-24 | 2013-02-28 | 日本電気株式会社 | 運用管理装置、運用管理方法、及びプログラム |
US20180273046A1 (en) * | 2017-03-23 | 2018-09-27 | Mitsubishi Electric Research Laboratories, Inc. | System and Method for Calibrating Parameters of Tires |
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BR112015028757B1 (pt) | 2013-05-15 | 2022-03-15 | Volvo Truck Corporation | Método para auxiliar a reversão de um veículo articulado |
EP3283358B1 (en) * | 2015-04-15 | 2021-06-02 | Volvo Truck Corporation | Vehicle guidance system |
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KR20180091357A (ko) | 2017-02-06 | 2018-08-16 | 한국전자통신연구원 | 추측 항법을 이용한 자율주행 차량의 제어 방법 및 장치 |
EP3552901A3 (en) * | 2018-04-11 | 2020-04-29 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
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- 2019-06-14 US US17/596,293 patent/US20220250631A1/en active Pending
- 2019-06-14 WO PCT/EP2019/065729 patent/WO2020249235A1/en active Application Filing
- 2019-06-14 KR KR1020227001197A patent/KR20220024529A/ko unknown
- 2019-06-14 EP EP19731266.3A patent/EP3983861B1/en active Active
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Patent Citations (5)
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JP2003108753A (ja) * | 2001-09-28 | 2003-04-11 | Tokai Bank Ltd | 金融機関のリスク管理システム及びそれを用いた処理方法 |
JP2009146377A (ja) * | 2007-11-21 | 2009-07-02 | Toyota Central R&D Labs Inc | ドライバ状態推定装置及びプログラム |
WO2013027562A1 (ja) * | 2011-08-24 | 2013-02-28 | 日本電気株式会社 | 運用管理装置、運用管理方法、及びプログラム |
US20180273046A1 (en) * | 2017-03-23 | 2018-09-27 | Mitsubishi Electric Research Laboratories, Inc. | System and Method for Calibrating Parameters of Tires |
WO2018173340A1 (en) * | 2017-03-23 | 2018-09-27 | Mitsubishi Electric Corporation | System and method for calibrating tire of vehicle |
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EP3983861B1 (en) | 2023-10-04 |
CN113994289A (zh) | 2022-01-28 |
EP3983861A1 (en) | 2022-04-20 |
EP3983861C0 (en) | 2023-10-04 |
US20220250631A1 (en) | 2022-08-11 |
WO2020249235A1 (en) | 2020-12-17 |
KR20220024529A (ko) | 2022-03-03 |
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