JP6494872B2 - 車両の運動を制御する方法、及び車両の制御システム - Google Patents
車両の運動を制御する方法、及び車両の制御システム Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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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
- 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
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Description
Claims (13)
- 車両の運動を制御する方法であって、
前記車両の前記運動のモデルに対する可能な制御入力の制御空間をサンプリングして、サンプリングされた制御入力のセットを導入することであって、前記車両の前記運動の前記モデルは、不確定要素を含むことと、
前記車両の前記運動の前記モデルを用いて、前記車両の前記運動についての制約を満たす状態へ前記車両を移動させる、各サンプリングされた制御入力の確率を決定することであって、該決定することは、
前記車両の初期状態を決定することと、
前記初期状態及び前記サンプリングされた制御入力を、前記車両の前記運動の前記モデルに提出して、前記車両の前記初期状態から次の状態までの変移を推定することと、
前記次の状態に対応する点における前記車両の状態にわたって確率分布関数(PDF)の値を、前記サンプリングされた制御入力の前記確率として選択することと、
障害物の不確定要素領域と交差する前記次の状態の確率を決定することと、
前記障害物の前記不確定要素領域と交差する前記次の状態の前記確率と、衝突閾値とを比較し、当該比較の結果、前記次の状態の前記確率が前記衝突閾値を超える場合、前記次の状態が前記障害物と衝突を起こすと判断し、前記サンプリングされた制御入力にゼロの確率を割り当てることと、
を含む、決定することと、
前記サンプリングされた制御入力の前記確率を用いて、閾値を超える前記状態に前記車両を移動させる前記確率を有する制御入力を決定することと、
前記制御入力を、前記車両の少なくとも1つのアクチュエーターに対する制御コマンドにマッピングすることと、
前記制御コマンドに従って前記車両の前記運動を制御することと、
を含み、
前記方法のステップは、前記車両のプロセッサを用いて実行される、
方法。 - 前記車両の前記運動の前記モデルは、前記車両の状態の変移を記述する関数であり、
該関数は、前記状態に作用するノイズを含み、
前記状態は、前記車両のロケーション、前記車両の速度及び前記車両の進行方向を含み、
前記状態に作用する前記ノイズは、前記関数によって記述される前記車両の動的特性の正確性についての不確定要素、及び前記関数によって用いられる前記車両のパラメーターの正確性についての不確定要素の一方又は組み合わせによって形成される前記不確定要素を含む、
請求項1に記載の方法。 - 前記制御入力を前記決定することは、
前記閾値を超える前記サンプリングされた制御入力の前記確率のうちの最高確率を有するサンプリングされた制御入力を、前記制御入力として選択すること、
を含む、請求項1に記載の方法。 - 前記車両の前記運動についての前記制約は、道路の中央からの前記車両のロケーションの偏差についての範囲、前記車両の現在の加速度及び進行方向角度からの変化についての範囲、前記車両の望ましい速度プロファイルからの偏差についての範囲、及び前記道路上の障害物に対する最小距離についての範囲のうちの1つ又は組み合わせを含む、
請求項1に記載の方法。 - 前記車両の前記運動についての前記制約は、道路の中央からの前記車両のロケーションの偏差の確率、前記車両の現在の加速度及び進行方向角度からの偏差の確率、前記車両の望ましい速度プロファイルからの偏差についての確率、及び前記道路上の障害物に対する最小距離に違反する確率のうちの1つ又は組み合わせを含む、
請求項1に記載の方法。 - 前記車両の前記運動についての前記制約及び前記車両の前記運動の前記モデルの前記不確定要素についての制約を用いて、前記PDFを決定すること、
を更に含む、請求項1に記載の方法。 - 前記初期状態は、前記車両の現在の状態である、
請求項1に記載の方法。 - 前記車両の前記初期状態から前記車両の目標状態までの前記車両の前記運動を指定する制御入力のシーケンスを反復的に決定することを更に含み、
前記初期状態は、前記方法の以前の反復中に決定された前記制御入力に対応する前記状態である、
請求項1に記載の方法。 - 前記運動の目的及び前記プロセッサの計算電力に基づいて前記目標状態を決定すること、
を更に含む、請求項8に記載の方法。 - 車両の制御システムであって、
プロセッサと、運動の不確定要素及び前記車両の前記運動についての制約を含む前記車両の前記運動のモデルを記憶するメモリと備える運動計画システムであって、
該運動計画システムは、
前記車両の前記運動の前記モデルに対する可能な制御入力の制御空間をサンプリングして、サンプリングされた制御入力のセットを生成し、
前記車両の前記運動の前記モデルを用いて、前記車両を、該車両の前記運動についての制約を満たす状態に移動させる、各サンプリングされた制御入力の確率を決定し、
前記サンプリングされた制御入力の前記確率を用いて、閾値を超える前記確率を有する制御入力を決定し、
該運動計画システムは、前記車両の状態にわたって確率分布関数(PDF)の値を選択することによって、前記サンプリングされた制御入力の前記確率を、前記サンプリングされた制御入力に従う初期状態から変移した次の状態に対応する点における前記サンプリングされた制御入力の前記確率として決定する、
運動計画システムと、
障害物の位置を時間の関数として特定するセンサーであって、前記運動計画システムは、前記障害物の不確定要素領域と交差する前記次の状態の確率を決定し、前記障害物の前記不確定要素領域と交差する前記次の状態の前記確率と、衝突閾値とを比較し、当該比較の結果、前記次の状態の前記確率が前記衝突閾値を超える場合、前記次の状態が前記障害物と衝突を起こすと判断し、前記サンプリングされた制御入力にゼロの確率を割り当てる、センサーと、
前記制御入力を、前記車両の少なくとも1つのアクチュエーターに対する制御コマンドにマッピングし、前記車両の前記アクチュエーターに対する前記制御コマンドを用いて前記車両の前記運動を制御する車両コントローラーと、
を備える、制御システム。 - 前記車両の前記運動の前記モデルは、前記車両の状態の変移を記述する関数であり、
前記関数は、前記状態に作用するノイズを含み、
前記状態は、前記車両のロケーション、前記車両の速度及び前記車両の進行方向を含み、
前記状態に作用する前記ノイズは、前記関数によって記述される前記車両の動的特性の正確性についての不確定要素及び前記関数によって用いられる前記車両のパラメーターの正確性についての不確定要素のうちの一方又は組み合わせによって形成される前記不確定要素を含む、
請求項10に記載の制御システム。 - 前記車両の前記運動についての前記制約は、道路の中央からの前記車両のロケーションの偏差の確率、前記車両の現在の加速度及び進行方向角度からの偏差の確率、前記車両の望ましい速度プロファイルからの偏差についての確率、前記道路上の障害物への最小距離を違反する確率のうちの1つ又は組み合わせを含む、
請求項10に記載の制御システム。 - 前記車両の現在の状態及び前記車両の目標状態を決定するナビゲーションシステムを更に備え、
前記運動計画システムは、前記車両の前記現在の状態から前記車両の前記目標状態までの前記車両の前記運動を指定する制御入力のシーケンスを反復的に決定し、
前記初期状態は、前記現在の状態である、
請求項10に記載の制御システム。
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US15/041,639 US9568915B1 (en) | 2016-02-11 | 2016-02-11 | System and method for controlling autonomous or semi-autonomous vehicle |
US15/041,639 | 2016-02-11 | ||
PCT/JP2017/005026 WO2017138664A1 (en) | 2016-02-11 | 2017-02-06 | Method for controlling motion of vehicle and control system of vehicle |
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