JP7527491B2 - 走行軌道生成装置 - Google Patents

走行軌道生成装置 Download PDF

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Publication number
JP7527491B2
JP7527491B2 JP2023536271A JP2023536271A JP7527491B2 JP 7527491 B2 JP7527491 B2 JP 7527491B2 JP 2023536271 A JP2023536271 A JP 2023536271A JP 2023536271 A JP2023536271 A JP 2023536271A JP 7527491 B2 JP7527491 B2 JP 7527491B2
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Prior art keywords
planning
vehicle
trajectory
reference value
planning point
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Japanese (ja)
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JPWO2023002579A5 (https=
JPWO2023002579A1 (https=
Inventor
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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2023536271A 2021-07-20 2021-07-20 走行軌道生成装置 Active JP7527491B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/027186 WO2023002579A1 (ja) 2021-07-20 2021-07-20 走行軌道生成装置

Publications (3)

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JPWO2023002579A1 JPWO2023002579A1 (https=) 2023-01-26
JPWO2023002579A5 JPWO2023002579A5 (https=) 2023-10-11
JP7527491B2 true JP7527491B2 (ja) 2024-08-02

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JP2023536271A Active JP7527491B2 (ja) 2021-07-20 2021-07-20 走行軌道生成装置

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US (1) US20240326862A1 (https=)
JP (1) JP7527491B2 (https=)
DE (1) DE112021007998T5 (https=)
WO (1) WO2023002579A1 (https=)

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JPWO2023002579A1 (https=) 2023-01-26
WO2023002579A1 (ja) 2023-01-26
US20240326862A1 (en) 2024-10-03
DE112021007998T5 (de) 2024-05-02

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