JP7337302B2 - 制御演算装置及び制御演算方法 - Google Patents

制御演算装置及び制御演算方法 Download PDF

Info

Publication number
JP7337302B2
JP7337302B2 JP2023516939A JP2023516939A JP7337302B2 JP 7337302 B2 JP7337302 B2 JP 7337302B2 JP 2023516939 A JP2023516939 A JP 2023516939A JP 2023516939 A JP2023516939 A JP 2023516939A JP 7337302 B2 JP7337302 B2 JP 7337302B2
Authority
JP
Japan
Prior art keywords
vehicle
trajectory
field
control arithmetic
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2023516939A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022230094A5 (https=
JPWO2022230094A1 (https=
Inventor
健太 富永
知輝 鵜生
僚太 岡本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of JPWO2022230094A1 publication Critical patent/JPWO2022230094A1/ja
Publication of JPWO2022230094A5 publication Critical patent/JPWO2022230094A5/ja
Application granted granted Critical
Publication of JP7337302B2 publication Critical patent/JP7337302B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • 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
    • 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
    • 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
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2023516939A 2021-04-28 2021-04-28 制御演算装置及び制御演算方法 Active JP7337302B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/016923 WO2022230094A1 (ja) 2021-04-28 2021-04-28 制御演算装置及び制御演算方法

Publications (3)

Publication Number Publication Date
JPWO2022230094A1 JPWO2022230094A1 (https=) 2022-11-03
JPWO2022230094A5 JPWO2022230094A5 (https=) 2023-07-20
JP7337302B2 true JP7337302B2 (ja) 2023-09-01

Family

ID=83848008

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023516939A Active JP7337302B2 (ja) 2021-04-28 2021-04-28 制御演算装置及び制御演算方法

Country Status (4)

Country Link
US (1) US20240116506A1 (https=)
JP (1) JP7337302B2 (https=)
DE (1) DE112021007599T5 (https=)
WO (1) WO2022230094A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2621317B (en) * 2022-07-26 2024-09-11 Jaguar Land Rover Ltd Determination of autonomous manoeuvring control configurations
US12337878B2 (en) 2022-11-30 2025-06-24 Zoox, Inc. Prediction model with variable time steps
US12428032B2 (en) * 2022-11-30 2025-09-30 Zoox, Inc. Determining prediction times for a model

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007253745A (ja) 2006-03-22 2007-10-04 Nissan Motor Co Ltd 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法
JP2020163967A (ja) 2019-03-29 2020-10-08 マツダ株式会社 車両運転支援システム
JP2020163975A (ja) 2019-03-29 2020-10-08 マツダ株式会社 車両運転支援システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007253745A (ja) 2006-03-22 2007-10-04 Nissan Motor Co Ltd 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法
JP2020163967A (ja) 2019-03-29 2020-10-08 マツダ株式会社 車両運転支援システム
JP2020163975A (ja) 2019-03-29 2020-10-08 マツダ株式会社 車両運転支援システム

Also Published As

Publication number Publication date
DE112021007599T5 (de) 2024-03-07
JPWO2022230094A1 (https=) 2022-11-03
WO2022230094A1 (ja) 2022-11-03
US20240116506A1 (en) 2024-04-11

Similar Documents

Publication Publication Date Title
US10823575B2 (en) Reference line smoothing method using piecewise spiral curves with weighted geometry costs
EP3517893B1 (en) Path and speed optimization fallback mechanism for autonomous vehicles
JP6715899B2 (ja) 衝突回避装置
CN110531750B (zh) 一种用于操作自动驾驶车辆的计算机实施的方法、可读介质及系统
US10800408B2 (en) Determining driving paths for autonomous driving that avoid moving obstacles
US10429849B2 (en) Non-linear reference line optimization method using piecewise quintic polynomial spiral paths for operating autonomous driving vehicles
US11199847B2 (en) Curvature corrected path sampling system for autonomous driving vehicles
US10606277B2 (en) Speed optimization based on constrained smoothing spline for autonomous driving vehicles
US10591926B2 (en) Smooth road reference for autonomous driving vehicles based on 2D constrained smoothing spline
JP6594589B1 (ja) 走行計画生成装置および自動運転システム
CN110877611B (zh) 障碍物回避装置及障碍物回避路径生成装置
US10908613B2 (en) Optimal longitudinal trajectory generation under varied lateral acceleration constraints
US10534364B2 (en) Method and system for autonomous vehicle speed following
US20190243370A1 (en) Systems and methods for accelerated curve projection
US20190079528A1 (en) Dynamic programming and gradient descent based decision and planning for autonomous driving vehicles
US11099017B2 (en) Determining driving paths for autonomous driving vehicles based on offset points
US20190079523A1 (en) Dp and qp based decision and planning for autonomous driving vehicles
US20190080266A1 (en) Cost based path planning for autonomous driving vehicles
US11106212B2 (en) Path planning for complex scenes with self-adjusting path length for autonomous driving vehicles
JP7337302B2 (ja) 制御演算装置及び制御演算方法
US10732632B2 (en) Method for generating a reference line by stitching multiple reference lines together using multiple threads
US11414096B2 (en) QP spline path and spiral path based reference line smoothing method for autonomous driving
JP7490012B2 (ja) 車両制御装置
JP7332785B2 (ja) 車両制御装置
JP7710630B1 (ja) 軌道生成装置、および、軌道生成方法

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230308

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230711

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20230725

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20230822

R150 Certificate of patent or registration of utility model

Ref document number: 7337302

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150