JPWO2022190910A1 - - Google Patents

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Publication number
JPWO2022190910A1
JPWO2022190910A1 JP2023505290A JP2023505290A JPWO2022190910A1 JP WO2022190910 A1 JPWO2022190910 A1 JP WO2022190910A1 JP 2023505290 A JP2023505290 A JP 2023505290A JP 2023505290 A JP2023505290 A JP 2023505290A JP WO2022190910 A1 JPWO2022190910 A1 JP WO2022190910A1
Authority
JP
Japan
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.)
Granted
Application number
JP2023505290A
Other languages
Japanese (ja)
Other versions
JP7535648B2 (ja
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 filed Critical
Publication of JPWO2022190910A1 publication Critical patent/JPWO2022190910A1/ja
Application granted granted Critical
Publication of JP7535648B2 publication Critical patent/JP7535648B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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

Landscapes

  • 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

Publications (2)

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

Family

ID=83226831

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023505290A Active JP7535648B2 (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

Country Status (5)

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

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Also Published As

Publication number Publication date
EP4306376A4 (en) 2024-09-04
US20240294185A1 (en) 2024-09-05
JP7535648B2 (ja) 2024-08-16
US12515695B2 (en) 2026-01-06
WO2022190910A1 (ja) 2022-09-15
CN116963948A (zh) 2023-10-27
EP4306376A1 (en) 2024-01-17

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