JP7046740B2 - 予測制御装置 - Google Patents

予測制御装置 Download PDF

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Publication number
JP7046740B2
JP7046740B2 JP2018126250A JP2018126250A JP7046740B2 JP 7046740 B2 JP7046740 B2 JP 7046740B2 JP 2018126250 A JP2018126250 A JP 2018126250A JP 2018126250 A JP2018126250 A JP 2018126250A JP 7046740 B2 JP7046740 B2 JP 7046740B2
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Prior art keywords
vehicle
unit
amount
control device
prediction
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JP2018126250A
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English (en)
Japanese (ja)
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JP2020008889A5 (enExample
JP2020008889A (ja
Inventor
敏明 中村
鉄平 広津
英之 坂本
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Hitachi Astemo Ltd
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Hitachi Astemo Ltd
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Priority to JP2018126250A priority Critical patent/JP7046740B2/ja
Priority to PCT/JP2019/022267 priority patent/WO2020008785A1/ja
Priority to CN201980031293.0A priority patent/CN112292717B/zh
Priority to US17/255,748 priority patent/US20210221402A1/en
Publication of JP2020008889A publication Critical patent/JP2020008889A/ja
Publication of JP2020008889A5 publication Critical patent/JP2020008889A5/ja
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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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • 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
    • B60W40/04—Traffic conditions
    • 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
    • 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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4043—Lateral speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2018126250A 2018-07-02 2018-07-02 予測制御装置 Active JP7046740B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2018126250A JP7046740B2 (ja) 2018-07-02 2018-07-02 予測制御装置
PCT/JP2019/022267 WO2020008785A1 (ja) 2018-07-02 2019-06-05 予測制御装置
CN201980031293.0A CN112292717B (zh) 2018-07-02 2019-06-05 预测控制装置
US17/255,748 US20210221402A1 (en) 2018-07-02 2019-06-05 Prediction control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018126250A JP7046740B2 (ja) 2018-07-02 2018-07-02 予測制御装置

Publications (3)

Publication Number Publication Date
JP2020008889A JP2020008889A (ja) 2020-01-16
JP2020008889A5 JP2020008889A5 (enExample) 2021-04-08
JP7046740B2 true JP7046740B2 (ja) 2022-04-04

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JP2018126250A Active JP7046740B2 (ja) 2018-07-02 2018-07-02 予測制御装置

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US (1) US20210221402A1 (enExample)
JP (1) JP7046740B2 (enExample)
CN (1) CN112292717B (enExample)
WO (1) WO2020008785A1 (enExample)

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CN115667043B (zh) * 2020-05-22 2025-10-17 三菱电机株式会社 车辆控制系统、车辆综合控制装置、电子控制装置、网络通信装置、车辆控制方法以及计算机可读取的存储介质
JP7342828B2 (ja) * 2020-09-24 2023-09-12 いすゞ自動車株式会社 自動運転装置
CN114516342B (zh) * 2020-11-19 2024-05-03 上海汽车集团股份有限公司 一种车辆控制方法、装置及车辆
WO2022113249A1 (ja) * 2020-11-27 2022-06-02 三菱電機株式会社 制御演算装置
JP7036284B1 (ja) * 2021-02-09 2022-03-15 三菱電機株式会社 制御演算装置および制御演算方法
WO2022215233A1 (ja) * 2021-04-08 2022-10-13 三菱電機株式会社 シーケンス自動生成装置、シーケンス自動生成方法およびプログラム
JP7195369B2 (ja) * 2021-04-26 2022-12-23 三菱電機株式会社 車両のモデル予測制御装置
JP7241800B2 (ja) * 2021-05-12 2023-03-17 三菱電機株式会社 車両制御装置及び車両制御方法
WO2023089751A1 (ja) * 2021-11-19 2023-05-25 三菱電機株式会社 最適演算装置
WO2023136150A1 (ja) * 2022-01-17 2023-07-20 株式会社エヌエスアイテクス 最適解演算装置
KR102784102B1 (ko) * 2022-08-02 2025-03-21 포티투닷 주식회사 차량의 궤적을 최적화하는 방법 및 장치
US12472981B2 (en) * 2023-06-30 2025-11-18 Mitsubishi Electric Research Laboratories, Inc. Systems and methods for decision making for autonomous vehicles

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Publication number Publication date
CN112292717B (zh) 2022-10-04
US20210221402A1 (en) 2021-07-22
CN112292717A (zh) 2021-01-29
JP2020008889A (ja) 2020-01-16
WO2020008785A1 (ja) 2020-01-09

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