JP6161422B2 - 自律走行車両、車両の自律走行システム及び自律走行車両の制御方法 - Google Patents
自律走行車両、車両の自律走行システム及び自律走行車両の制御方法 Download PDFInfo
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- JP6161422B2 JP6161422B2 JP2013127012A JP2013127012A JP6161422B2 JP 6161422 B2 JP6161422 B2 JP 6161422B2 JP 2013127012 A JP2013127012 A JP 2013127012A JP 2013127012 A JP2013127012 A JP 2013127012A JP 6161422 B2 JP6161422 B2 JP 6161422B2
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- 238000000034 method Methods 0.000 title claims description 10
- 238000004364 calculation method Methods 0.000 claims description 8
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Description
u :スロットル開度
Kth :スロットルバルブアクチュエータ26のゲイン
i :制御電圧
ev :スロットル開度の偏差
Kp :比例ゲイン
Ki :積分ゲイン
tl :PI制御における積分時間
m :車両重量
v :車両速度
f :駆動力
c :粘性抵抗係数
T :エンジン24の時定数
Kd :駆動力ゲイン
g :重力加速度
θ :路面勾配
d :外乱あるいはモデル化誤差
r :参照入力
u :制御入力
z :制御量
y :観測量
100 スロットルバルブ、101 車両とエンジン、102 フィードフォワード項、103 PI制御器、104 ゲインスケジュールドH∞制御器、105 重力補正入力、106 積分項。
Claims (6)
- あらかじめ定められた速度プロファイルと、車両の現在速度に基いて、車両質量をスケジューリングパラメータとして用いたゲインスケジュールドH∞制御により原動機の出力制御指令値を求めるコントローラと、
前記出力制御指令値に基いて原動機出力を調節する原動機出力調整部と、
を有する自律走行車両。 - 前記車両質量を、積載物の重量、積載物の容積、積載物の数量及び積載物の使用時間の少なくともいずれかに基いて算出する車両重量算出部を有する請求項1に記載の自律走行車両。
- 前記コントローラは、車両のピッチ角に基いて制御入力に対し補正をする請求項1又は2に記載の自律走行車両。
- 前記コントローラは、前記速度プロファイルより求められる目標速度と前記現在速度との偏差に積分項による補正をする請求項1乃至3のいずれかに記載の自律走行車両。
- あらかじめ定められた速度プロファイルと、車両の現在速度に基いて、車両質量をスケジューリングパラメータとして用いたゲインスケジュールドH∞制御により原動機の出力制御指令値を求めるコントローラと、
前記出力制御指令値に基いて原動機出力を調節する原動機出力調整部を有する車両と、
を有する車両の自律走行システム。 - あらかじめ定められた速度プロファイルと、車両の現在速度に基いて、車両質量をスケジューリングパラメータとして用いたゲインスケジュールドH∞制御により原動機の出力制御指令値を求めるステップと、
前記出力制御指令値に基いて原動機出力を調節するステップと、
を有する自律走行車両の制御方法。
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JP2013127012A JP6161422B2 (ja) | 2013-06-17 | 2013-06-17 | 自律走行車両、車両の自律走行システム及び自律走行車両の制御方法 |
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JP2015001907A JP2015001907A (ja) | 2015-01-05 |
JP6161422B2 true JP6161422B2 (ja) | 2017-07-12 |
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Cited By (1)
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KR20190057881A (ko) | 2017-11-21 | 2019-05-29 | 한국건설기술연구원 | 커넥티드 자율주행차량-기반 교통신호 시스템 및 그 제어방법 |
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JPH09249145A (ja) * | 1996-03-15 | 1997-09-22 | Toyota Motor Corp | 車両の運動制御装置 |
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KR20190057881A (ko) | 2017-11-21 | 2019-05-29 | 한국건설기술연구원 | 커넥티드 자율주행차량-기반 교통신호 시스템 및 그 제어방법 |
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