JP2023512548A - 車両を制御する方法 - Google Patents
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- 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
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- G—PHYSICS
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- 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
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
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- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B60W2540/16—Ratio selector position
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- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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Abstract
Description
-アクチュエータの少なくとも1つの変数に基づいて、アクチュエータのアクチュエータモデルを作成するステップと、
-先読みの時間ステップを確定するステップと、
-アクチュエータモデルと変数の境界値とに基づいて、時間ステップに沿ってアクチュエータの変数の変化を算出するステップと、
-アクチュエータの変数の境界値に基づいて探索空間を境界画定するステップと、
-車両質量と車輪径とを用いて少なくとも1つの変数を変換することにより、車両の加速度値および/または減速度値を算出するステップと、
-探索空間を境界画定するために加速度値および減速度値を出力するステップであって、探索空間内において軌道がプラニングされるかまたは軌道プランナが可能な軌道を探索するステップ。
また、現在のトルクTによる最大トルク変化は全体として、それぞれのアクチュエータの絶対境界(つまり、例えば最大電動機モーメントTM,max)以下であってよいため、飽和13に基づいて図示されるように、アクチュエータの可能な動作領域に限定される。
2 制御装置
3 操舵装置
4 電動機
5 制動装置
6 カメラ
7 ライダセンサ
8 レーダセンサ
9a 超音波センサ
9b 超音波センサ
10 電動機モデル
10a 電動機モーメント上昇
10b 電動機モーメント下降
11 制動装置モデル
11a 制動装置モーメント上昇
11b 制動装置モーメント下降
12 先読み
13 飽和
14 変換
15a 走行抵抗
15b 走行抵抗
A フロント面積
a 車両加速度
cW 抗力係数
iG 変速比
m 車両質量
r 車輪径
T モーメント
t 時間
v 車両速度
ρL 空気密度
Claims (13)
- 軌道に沿って少なくとも1つのアクチュエータを有する車両(1)を制御する方法において、探索空間内の前記軌道が、前記アクチュエータの少なくとも1つの変数の先読みを考慮してプラニングされ、以下の方法ステップ:
-前記アクチュエータの前記少なくとも1つの変数に基づいて、前記アクチュエータのアクチュエータモデルを作成するステップと、
-前記先読みの時間ステップを確定するステップと、
-前記アクチュエータモデルと前記変数の境界値とに基づいて、前記時間ステップに沿って前記アクチュエータの前記変数の変化を算出するステップと、
-前記アクチュエータの前記変数の前記境界値に基づいて前記探索空間を境界画定するステップと、
-車両質量と車輪径とを用いて前記少なくとも1つの変数を変換することにより、前記車両(1)の加速度値および/または減速度値を算出するステップと、
-前記探索空間を境界画定するために前記加速度値および前記減速度値を出力するステップであって、前記探索空間内において前記軌道がプラニングされるステップと、
を備える方法。 - アクチュエータとして、前記車両(1)の電動機(4)および/または制動装置(5)が設けられていることを特徴とする、請求項1に記載の方法。
- 変数として、モーメント、特に前記電動機(4)の電動機モーメントまたは前記制動装置(5)の制動装置モーメントが設けられていることを特徴とする、請求項1または2に記載の方法。
- 境界値として、正および/または負の方向の前記変数の最大可能変化が設けられていることを特徴とする、請求項1~3の少なくとも1項に記載の方法。
- 前記アクチュエータモデルは前記変数の関数に基づいており、時間tに関する、変数上昇用の前記変数の正の増加と、変数下降用の前記変数の負の増加とを含むことを特徴とする、請求項1~4の少なくとも1項に記載の方法。
- 加速度値として前記車両(1)の最大可能加速度および減速度値として前記車両(1)の最大可能減速度が設けられていることを特徴とする、請求項1~5の少なくとも1項に記載の方法。
- 走行抵抗が、特に前記先読みの前記時間ステップにおいて算出されることを特徴とする、請求項1~6の少なくとも1項に記載の方法。
- 走行抵抗が加速度値の算出の際および/減速値の算出の際に考慮されることを特徴とする、請求項7に記載の方法。
- 周辺検知用の少なくとも1つのセンサ、特にカメラ(6)および/またはライダセンサ(7)および/またはレーダセンサ(8)および/または超音波センサが設けられていることを特徴とする、請求項1~8の少なくとも1項に記載の方法。
- 前記検知された周辺が、前記探索空間(9)の確定のためおよび/または軌道プラニングのために用いられることを特徴とする、請求項9に記載の方法。
- コンピュータプログラムがコンピュータにおいて実行される際に請求項1~10の少なくとも1項に記載の方法を実行するプログラムコードを備えるコンピュータプログラム。
- 命令が実行されるコンピュータに、請求項1~10の少なくとも1項に記載の方法を実行させる命令を含むコンピュータ可読記憶媒体。
- 軌道に沿って車両(1)を制御する制御装置(2)であって、前記車両(1)の制御は請求項1~10の少なくとも1項に記載の方法に基づいて行われることを特徴とする、制御装置(2)。
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DE102020202758.7 | 2020-03-04 | ||
DE102020202758.7A DE102020202758A1 (de) | 2020-03-04 | 2020-03-04 | Verfahren zur Steuerung eines Fahrzeuges |
PCT/DE2021/200021 WO2021175384A1 (de) | 2020-03-04 | 2021-02-23 | Verfahren zur steuerung eines fahrzeuges |
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US (1) | US20230174096A1 (ja) |
EP (1) | EP4114703A1 (ja) |
JP (1) | JP2023512548A (ja) |
CN (1) | CN115243951A (ja) |
DE (1) | DE102020202758A1 (ja) |
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DE102020202986A1 (de) * | 2020-03-10 | 2021-09-16 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Vorrichtung zum Betreiben eines Motorrads |
DE102021213861A1 (de) | 2021-12-07 | 2023-06-07 | Continental Automotive Technologies GmbH | Skalierbare, modulare, portierbare Softwarearchitektur für die Bewegungsregelung eines Fahrzeugs für automatisierte und assistierte Fahrfunktionen |
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DE102015209066A1 (de) | 2015-05-18 | 2016-11-24 | Bayerische Motoren Werke Aktiengesellschaft | Aufwandsreduzierte Trajektorienplanung für ein Fahrzeug |
DE102016221723B4 (de) | 2016-11-07 | 2019-08-08 | Continental Automotive Gmbh | Steuerungssystem für ein Fahrzeug |
DE102017213650A1 (de) | 2017-06-30 | 2019-01-03 | Robert Bosch Gmbh | Verfahren zum Regeln eines hydraulischen Systems, Regeleinheit für ein hydraulisches System und hydraulisches System |
DE102017114731A1 (de) | 2017-06-30 | 2019-01-03 | Technische Universität Dortmund | Verfahren zum regeln eines mechatronischen systems, regelungseinheit für ein mechatronisches system und mechatronisches system |
DE102018203617A1 (de) | 2018-03-09 | 2019-09-12 | Zf Friedrichshafen Ag | Verfahren zum Berechnen einer Trajektorien-Limitierung und Verfahren zur Regelung einer Fahrdynamik |
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WO2021175384A1 (de) | 2021-09-10 |
DE102020202758A1 (de) | 2021-09-09 |
CN115243951A (zh) | 2022-10-25 |
EP4114703A1 (de) | 2023-01-11 |
US20230174096A1 (en) | 2023-06-08 |
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