JP6643370B2 - 走行基準ライン決定装置及び自動運転装置 - Google Patents
走行基準ライン決定装置及び自動運転装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B60—VEHICLES IN GENERAL
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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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- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- 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
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
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Description
また、誤差を評価する評価関数値が算出され、評価関数値の変動成分を抽出する変動成分と参照信号値とを乗算した乗算値に所定のフィルタ処理を施すことにより、誤差が最小のときに値0となる相関値が算出されるとともに、この相関値が値0になるように、円弧規定パラメータが算出される。このように、評価関数値の傾きの特性を予め設定/決定することなく、走行基準ラインのラインモデル値とライン推定値との誤差が最小になるように、円弧規定パラメータを算出することができるので、自車両が曲がりながら走行するような、評価関数値の傾きの特性を予め設定/決定することが不可能な条件下においても、円弧規定パラメータを精度よく算出することができ、走行基準ラインを精度よく決定することができる。
走行基準ライン決定装置1によって決定された走行基準ラインXfを用いて、自車両3の走行状態を制御する(ステップ31〜33)ことを特徴とする。
2 ECU(ラインモデル値算出手段、ライン推定値算出手段、円弧規定パラメータ 算出手段、走行基準ライン決定手段、評価関数値算出手段、変動成分抽出手段、 相関値算出手段)
3 自車両
4 走路環境検出装置(走路環境データ取得手段)
10 推定走路位置算出部(ライン推定値算出手段)
11 モデルy座標値算出部(ラインモデル値算出手段)
12 評価関数値算出部(円弧規定パラメータ算出手段、評価関数値算出手段)
30 曲率算出部(円弧規定パラメータ算出手段)
31 ウォッシュアウトフィルタ(変動成分抽出手段)
34 移動平均フィルタ(相関値算出手段)
40 走行軌道算出部(走行基準ライン決定手段)
Xf 走行軌道(走行基準ライン)
ymw_i モデルy座標値(ラインモデル値)
D_info 走路環境データ
y_i 推定y座標値(ライン推定値)
C 曲率(円弧規定パラメータ)
Cw 信号付加曲率(円弧規定パラメータを含む値、信号付加パラメータ)
w 所定の参照信号値
J 評価関数値
Pc 中間値(乗算値)
Pmav 移動平均値(相関値)
LL 左境界ライン(走行基準ライン)
LR 右境界ライン(走行基準ライン)
Claims (5)
- 自車両が走行するときの基準となる走行基準ラインを決定する走行基準ライン決定装置であって、
前記走行基準ラインをモデリングした走行基準ラインモデルを用いて、前記走行基準ラインの延在態様を表すラインモデル値を算出するラインモデル値算出手段と、
前記自車両の走路を含む走路環境を表す走路環境データを取得する走路環境データ取得手段と、
当該走路環境データを用いて、前記ラインモデル値とは別の、前記走行基準ラインの延在態様を表すライン推定値を算出するライン推定値算出手段と、
前記ラインモデル値と前記ライン推定値との誤差が最小になるように、円弧を規定する円弧規定パラメータを算出する円弧規定パラメータ算出手段と、
当該円弧規定パラメータを用いて、前記走行基準ラインを円弧状に決定する走行基準ライン決定手段と、
を備え、
前記走行基準ラインモデルは、前記円弧規定パラメータに所定の参照信号値を付加した信号付加パラメータを入力に含み、前記ラインモデル値を出力とするモデルとして構成され、
前記円弧規定パラメータ算出手段は、
前記誤差を評価する評価関数値を算出する評価関数値算出手段と、
当該評価関数値の変動成分を抽出する変動成分抽出手段と、
当該変動成分と前記所定の参照信号値とを乗算した乗算値に所定のフィルタ処理を施すことにより、前記誤差が最小のときに値0となる相関値を算出する相関値算出手段と、を有し、
当該相関値が値0になるように、前記円弧規定パラメータを算出し、
前記ラインモデル値算出手段は、前記円弧規定パラメータ算出手段によって算出された前記円弧規定パラメータと前記走行基準ラインモデルを用いて、前記ラインモデル値を算出することを特徴とする走行基準ライン決定装置。 - 前記走行基準ラインは、前記自車両の未来の走行軌道であり、
前記ラインモデル値算出手段は、前記未来の走行軌道の前記ラインモデル値を、当該ラインモデル値の延在態様が前記自車両の進行方向に並ぶとともに、前記未来の走行軌道を決定するときの前記自車両の存在範囲を少なくとも通るように算出することを特徴とする請求項1に記載の走行基準ライン決定装置。 - 前記走行基準ラインは、前記自車両の前記走路及び前記自車両の走行レーンの一方の境界ラインであり、
前記ラインモデル値算出手段は、前記一方の境界ラインの前記ラインモデル値を、当該ラインモデル値の接線が前記一方の境界ラインを決定するときの前記自車両の側方において当該自車両の中心線と平行になるように算出することを特徴とする請求項1に記載の走行基準ライン決定装置。 - 前記円弧規定パラメータ算出手段は、過去から現在までの間に算出された複数の前記ライン推定値を用いて、前記円弧規定パラメータを算出することを特徴とする請求項1ないし3のいずれかに記載の走行基準ライン決定装置。
- 請求項1ないし4のいずれかに記載の走行基準ライン決定装置を備え、
当該走行基準ライン決定装置によって決定された前記走行基準ラインを用いて、前記自車両の走行状態を制御することを特徴とする自動運転装置。
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CN201811453197.9A CN110065493B (zh) | 2018-01-23 | 2018-11-30 | 行驶基准线确定装置和自动驾驶装置 |
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JP7321034B2 (ja) * | 2019-08-28 | 2023-08-04 | 日産自動車株式会社 | 走行支援方法及び走行支援装置 |
CN111862604B (zh) * | 2020-07-20 | 2022-03-04 | 北京京东乾石科技有限公司 | 无人车的控制方法及装置、计算机存储介质、电子设备 |
GB2597914A (en) * | 2020-07-22 | 2022-02-16 | Daimler Ag | A method for determining a dynamic reference line for an autonomous motor vehicle, as well as an assistance system |
JP7183237B2 (ja) * | 2020-10-23 | 2022-12-05 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
CN112230663B (zh) * | 2020-10-28 | 2023-11-10 | 腾讯科技(深圳)有限公司 | 车辆定位数据的监测方法、装置 |
CN112706785B (zh) * | 2021-01-29 | 2023-03-28 | 重庆长安汽车股份有限公司 | 一种自动驾驶车辆行驶环境认知目标选择方法、装置及存储介质 |
CN113432618A (zh) * | 2021-06-16 | 2021-09-24 | 深圳市道通智能汽车有限公司 | 轨迹生成方法、装置、计算设备及计算机可读存储介质 |
CN114348001B (zh) * | 2022-01-06 | 2024-04-26 | 腾讯科技(深圳)有限公司 | 一种交通仿真方法、装置、设备以及存储介质 |
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