JP7524888B2 - 制御システム、制御装置、制御方法、制御プログラム - Google Patents

制御システム、制御装置、制御方法、制御プログラム Download PDF

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Publication number
JP7524888B2
JP7524888B2 JP2021207404A JP2021207404A JP7524888B2 JP 7524888 B2 JP7524888 B2 JP 7524888B2 JP 2021207404 A JP2021207404 A JP 2021207404A JP 2021207404 A JP2021207404 A JP 2021207404A JP 7524888 B2 JP7524888 B2 JP 7524888B2
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Japan
Prior art keywords
maximum
acceleration
speed
turning
driving
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JP2021207404A
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English (en)
Japanese (ja)
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JP2023092266A (ja
JP2023092266A5 (https=
Inventor
崇 青木
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.)
Denso Corp
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Denso Corp
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Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2021207404A priority Critical patent/JP7524888B2/ja
Priority to CN202280083607.3A priority patent/CN118525257A/zh
Priority to PCT/JP2022/045358 priority patent/WO2023120223A1/ja
Publication of JP2023092266A publication Critical patent/JP2023092266A/ja
Publication of JP2023092266A5 publication Critical patent/JP2023092266A5/ja
Priority to US18/747,274 priority patent/US12547190B2/en
Application granted granted Critical
Publication of JP7524888B2 publication Critical patent/JP7524888B2/ja
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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
    • G05D1/60—Intended control result
    • G05D1/65—Following a desired speed profile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/22—Yaw angle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/50—Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2021207404A 2021-12-21 2021-12-21 制御システム、制御装置、制御方法、制御プログラム Active JP7524888B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2021207404A JP7524888B2 (ja) 2021-12-21 2021-12-21 制御システム、制御装置、制御方法、制御プログラム
CN202280083607.3A CN118525257A (zh) 2021-12-21 2022-12-08 控制系统、控制装置、控制方法、控制程序
PCT/JP2022/045358 WO2023120223A1 (ja) 2021-12-21 2022-12-08 制御システム、制御装置、制御方法、制御プログラム
US18/747,274 US12547190B2 (en) 2021-12-21 2024-06-18 Control system, and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2021207404A JP7524888B2 (ja) 2021-12-21 2021-12-21 制御システム、制御装置、制御方法、制御プログラム

Publications (3)

Publication Number Publication Date
JP2023092266A JP2023092266A (ja) 2023-07-03
JP2023092266A5 JP2023092266A5 (https=) 2023-09-07
JP7524888B2 true JP7524888B2 (ja) 2024-07-30

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JP2021207404A Active JP7524888B2 (ja) 2021-12-21 2021-12-21 制御システム、制御装置、制御方法、制御プログラム

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Country Link
US (1) US12547190B2 (https=)
JP (1) JP7524888B2 (https=)
CN (1) CN118525257A (https=)
WO (1) WO2023120223A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250076891A1 (en) * 2022-05-23 2025-03-06 Beijing Xiaomi Robot Technology Co., Ltd. Mobile device, speed control method and apparatus thereof, and storage medium
US20260086577A1 (en) * 2024-09-26 2026-03-26 Intel Corporation Mobile robot apparatus, system, and method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008129695A (ja) 2006-11-17 2008-06-05 Toyota Motor Corp 移動体の経路生成システム及び経路生成方法
JP2016186751A (ja) 2015-03-27 2016-10-27 本田技研工業株式会社 無人作業車の制御装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006031148A (ja) 2004-07-13 2006-02-02 Matsushita Electric Ind Co Ltd アーク溶接ロボットの制御装置
JP5065206B2 (ja) * 2008-09-02 2012-10-31 トヨタ自動車株式会社 移動体、倒立型移動体、及びその制御方法
JP2017019265A (ja) * 2015-07-13 2017-01-26 株式会社リコー 印刷物配送装置、印刷物配送システム及び印刷物配送方法
US11628827B2 (en) * 2021-01-19 2023-04-18 Denso Ten Limited Vehicle control device and control method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008129695A (ja) 2006-11-17 2008-06-05 Toyota Motor Corp 移動体の経路生成システム及び経路生成方法
JP2016186751A (ja) 2015-03-27 2016-10-27 本田技研工業株式会社 無人作業車の制御装置

Also Published As

Publication number Publication date
JP2023092266A (ja) 2023-07-03
US20240338039A1 (en) 2024-10-10
US12547190B2 (en) 2026-02-10
CN118525257A (zh) 2024-08-20
WO2023120223A1 (ja) 2023-06-29

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