JP7332785B2 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

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Publication number
JP7332785B2
JP7332785B2 JP2022505685A JP2022505685A JP7332785B2 JP 7332785 B2 JP7332785 B2 JP 7332785B2 JP 2022505685 A JP2022505685 A JP 2022505685A JP 2022505685 A JP2022505685 A JP 2022505685A JP 7332785 B2 JP7332785 B2 JP 7332785B2
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Prior art keywords
vehicle
target
polynomial
travel distance
unit
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Japanese (ja)
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JPWO2021181652A5 (https=
JPWO2021181652A1 (https=
Inventor
知輝 鵜生
凜 伊藤
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0225—Failure correction strategy
    • 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
    • B60W30/10—Path keeping
    • 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
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • 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
    • 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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • 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
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • 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
    • B60W2552/00—Input parameters relating to infrastructure

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2022505685A 2020-03-13 2020-03-13 車両制御装置 Active JP7332785B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/011041 WO2021181652A1 (ja) 2020-03-13 2020-03-13 車両制御装置

Publications (3)

Publication Number Publication Date
JPWO2021181652A1 JPWO2021181652A1 (https=) 2021-09-16
JPWO2021181652A5 JPWO2021181652A5 (https=) 2022-07-29
JP7332785B2 true JP7332785B2 (ja) 2023-08-23

Family

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JP2022505685A Active JP7332785B2 (ja) 2020-03-13 2020-03-13 車両制御装置

Country Status (4)

Country Link
US (1) US20230030368A1 (https=)
JP (1) JP7332785B2 (https=)
DE (1) DE112020006881T5 (https=)
WO (1) WO2021181652A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11731655B2 (en) * 2021-10-15 2023-08-22 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling motion of a vehicle technical field
WO2024036431A1 (zh) * 2022-08-15 2024-02-22 华为技术有限公司 一种控制方法以及相关设备
US12522215B2 (en) * 2023-03-31 2026-01-13 Torc Robotics, Inc. Lane change path generation using piecewise clothoid segments

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080275602A1 (en) 2005-05-24 2008-11-06 Peake John W Method and apparatus for automatic vehicle guidance using continuous 2-D poly-point path
JP2019525148A (ja) 2016-07-21 2019-09-05 モービルアイ ビジョン テクノロジーズ リミテッド 自律車両ナビゲーションのための疎な地図並びにレーン測定値のクラウドソーシング及び配信
JP2020001678A (ja) 2018-06-27 2020-01-09 バイドゥ・ユーエスエイ・リミテッド・ライアビリティ・カンパニーＢａｉｄｕ ＵＳＡ ＬＬＣ 重み付け幾何学的コストを有する区分的螺旋曲線を使用した基準線平滑化方法
JP2020037339A (ja) 2018-09-05 2020-03-12 三菱電機株式会社 衝突回避装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2010295227B2 (en) * 2009-09-15 2015-02-05 Technological Resources Pty. Limited A system and method for autonomous navigation of a tracked or skid-steer vehicle
JP6409346B2 (ja) * 2014-06-04 2018-10-24 株式会社デンソー 移動距離推定装置
JP6910973B2 (ja) 2018-02-02 2021-07-28 日立Astemo株式会社 車両制御装置及びその制御方法並びに車両制御システム
US11500385B2 (en) * 2019-09-30 2022-11-15 Zoox, Inc. Collision avoidance perception system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080275602A1 (en) 2005-05-24 2008-11-06 Peake John W Method and apparatus for automatic vehicle guidance using continuous 2-D poly-point path
JP2019525148A (ja) 2016-07-21 2019-09-05 モービルアイ ビジョン テクノロジーズ リミテッド 自律車両ナビゲーションのための疎な地図並びにレーン測定値のクラウドソーシング及び配信
JP2020001678A (ja) 2018-06-27 2020-01-09 バイドゥ・ユーエスエイ・リミテッド・ライアビリティ・カンパニーＢａｉｄｕ ＵＳＡ ＬＬＣ 重み付け幾何学的コストを有する区分的螺旋曲線を使用した基準線平滑化方法
JP2020037339A (ja) 2018-09-05 2020-03-12 三菱電機株式会社 衝突回避装置

Also Published As

Publication number Publication date
WO2021181652A1 (ja) 2021-09-16
DE112020006881T5 (de) 2023-01-26
JPWO2021181652A1 (https=) 2021-09-16
US20230030368A1 (en) 2023-02-02

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