JP7535648B2 - 車両制御装置、車両制御方法、目標軌道算出方法、及び車両 - Google Patents

車両制御装置、車両制御方法、目標軌道算出方法、及び車両 Download PDF

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JP7535648B2
JP7535648B2 JP2023505290A JP2023505290A JP7535648B2 JP 7535648 B2 JP7535648 B2 JP 7535648B2 JP 2023505290 A JP2023505290 A JP 2023505290A JP 2023505290 A JP2023505290 A JP 2023505290A JP 7535648 B2 JP7535648 B2 JP 7535648B2
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basic
vehicle
orbit
curvature
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Japanese (ja)
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JPWO2022190910A1 (https=
Inventor
遊 佐藤
誠 山門
正人 安部
芳郎 狩野
優介 田中
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Ikutoku Gakuen School Corp
Astemo Ltd
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Ikutoku Gakuen School Corp
Hitachi Astemo Ltd
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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
    • B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
    • 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
    • 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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2720/103—Speed profile
    • 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
    • B60W2720/14—Yaw

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2023505290A 2021-03-11 2022-02-25 車両制御装置、車両制御方法、目標軌道算出方法、及び車両 Active JP7535648B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021039029 2021-03-11
JP2021039029 2021-03-11
PCT/JP2022/007969 WO2022190910A1 (ja) 2021-03-11 2022-02-25 車両制御装置、車両制御方法、目標軌道算出方法、及び車両

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JPWO2022190910A1 JPWO2022190910A1 (https=) 2022-09-15
JP7535648B2 true JP7535648B2 (ja) 2024-08-16

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US (1) US12515695B2 (https=)
EP (1) EP4306376A4 (https=)
JP (1) JP7535648B2 (https=)
CN (1) CN116963948A (https=)
WO (1) WO2022190910A1 (https=)

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EP4056441B1 (en) * 2021-03-12 2026-05-06 Aptiv Technologies AG Back propagation planning for adas/ad motion planning and control
FR3125495B1 (fr) * 2021-07-20 2024-03-08 Continental Automotive Dispositif et procédé de détection d’une sortie de voie d’un véhicule
US20240174239A1 (en) * 2022-11-30 2024-05-30 Zoox, Inc. Route-relative trajectory generation and optimization computations incorporating vehicle sideslip
CN117104223A (zh) * 2023-09-28 2023-11-24 东风商用车有限公司 一种车辆规划轨迹的控制点曲率获取方法和平滑方法
CN121157969B (zh) * 2025-11-20 2026-01-27 吉林大学 用于自动驾驶汽车位姿与速度同时跟随的运动预瞄方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014218098A (ja) 2013-05-01 2014-11-20 トヨタ自動車株式会社 運転支援装置および運転支援方法
JP2015214282A (ja) 2014-05-12 2015-12-03 株式会社デンソー 運転支援装置
JP2019189187A (ja) 2018-04-27 2019-10-31 学校法人幾徳学園 走行軌道設計方法及び車両運動制御装置

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EP1659367B1 (en) * 2004-11-19 2008-09-03 Harman Becker Automotive Systems GmbH Vehicle navigation with integrated curve warning using clothoid models
DE102009047476A1 (de) * 2009-12-04 2011-06-09 Robert Bosch Gmbh Verfahren und Steuergerät zur Bestimmung einer Schnitttrajektorie eines Kurvenabschnitts einer Fahrbahn
JP5601224B2 (ja) 2010-03-04 2014-10-08 株式会社デンソー 道路形状学習装置
JP5761162B2 (ja) * 2012-11-30 2015-08-12 トヨタ自動車株式会社 車両位置推定装置
JP6055525B1 (ja) * 2015-09-02 2016-12-27 富士重工業株式会社 車両の走行制御装置
US10379538B1 (en) * 2017-03-20 2019-08-13 Zoox, Inc. Trajectory generation using motion primitives
US10671075B1 (en) * 2017-12-15 2020-06-02 Zoox, Inc. Trajectory generation using curvature segments
JP7216589B2 (ja) * 2019-03-25 2023-02-01 株式会社Subaru 自動操舵制御装置
EP3730384B1 (en) * 2019-04-24 2022-10-26 Aptiv Technologies Limited System and method for trajectory estimation
US11592830B2 (en) * 2020-05-29 2023-02-28 Zoox, Inc. Trajectory generation using lateral offset biasing
CN116547730B (zh) * 2020-11-27 2025-02-21 日产自动车株式会社 行驶控制方法及行驶控制装置
US12077181B1 (en) * 2021-09-30 2024-09-03 Zoox, Inc. Vehicle control using context-sensitive trajectory generation

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014218098A (ja) 2013-05-01 2014-11-20 トヨタ自動車株式会社 運転支援装置および運転支援方法
JP2015214282A (ja) 2014-05-12 2015-12-03 株式会社デンソー 運転支援装置
JP2019189187A (ja) 2018-04-27 2019-10-31 学校法人幾徳学園 走行軌道設計方法及び車両運動制御装置

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EP4306376A4 (en) 2024-09-04
US20240294185A1 (en) 2024-09-05
US12515695B2 (en) 2026-01-06
JPWO2022190910A1 (https=) 2022-09-15
WO2022190910A1 (ja) 2022-09-15
CN116963948A (zh) 2023-10-27
EP4306376A1 (en) 2024-01-17

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