RU2018111040A - Способ и система для виртуального пути для руления - Google Patents

Способ и система для виртуального пути для руления Download PDF

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Publication number
RU2018111040A
RU2018111040A RU2018111040A RU2018111040A RU2018111040A RU 2018111040 A RU2018111040 A RU 2018111040A RU 2018111040 A RU2018111040 A RU 2018111040A RU 2018111040 A RU2018111040 A RU 2018111040A RU 2018111040 A RU2018111040 A RU 2018111040A
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Russia
Prior art keywords
polynomial
vehicle
virtual
path
paths
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RU2018111040A
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English (en)
Inventor
Уолтер Джозеф ТАЛАМОНТИ
Стивен Джозеф ШВАБОВСКИ
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ФОРД ГЛОУБАЛ ТЕКНОЛОДЖИЗ, ЭлЭлСи
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Publication of RU2018111040A publication Critical patent/RU2018111040A/ru

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
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    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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    • B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
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    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B60W2710/202—Steering torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles

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Claims (18)

1. Способ, содержащий этапы, на которых:
определяют виртуальный полином путей для руления, включающий в себя маневр по смене полосы движения;
обновляют упомянутый виртуальный полином путей для руления посредством траектории управления транспортным средством; и
пилотируют транспортное средство на основе упомянутого виртуального полинома путей для руления.
2. Способ по п. 1, дополнительно содержащий этап, на котором определяют упомянутый виртуальный полином путей для руления на основе траектории транспортного средства, при этом траектория транспортного средства включает в себя позицию транспортного средства, направление транспортного средства, скорость транспортного средства и поперечное ускорение транспортного средства и продольное ускорение транспортного средства.
3. Способ по п. 2, дополнительно содержащий этап, на котором определяют маневр по смене полосы движения на основе ограничений по траектории транспортного средства, трафику в смежной полосе движения и поперечному ускорению.
4. Способ по п. 1, в котором пилотирование транспортного средства на основе виртуального полинома путей для руления включает в себя этап, на котором определяют то, когда выполнять маневр по смене полосы движения.
5. Способ по п. 1, в котором пилотирование транспортного средства на основе виртуального полинома путей для руления включает в себя этап, на котором переключаются с полинома путей для руления без маневра по смене полосы движения на виртуальный полином путей для руления, который включает в себя маневр по смене полосы движения.
6. Способ по п. 1, в котором управление траекторией включает в себя этап, на котором регулируют скорость транспортного средства на основе трафика в смежной полосе движения.
7. Способ по п. 6, в котором управление траекторией включает в себя этап, на котором увеличивают или уменьшают скорость транспортного средства.
8. Способ по п. 1, дополнительно содержащий этап, на котором траекторию меняют на противоположную, при отмене маневра по смене полосы движения.
9. Способ по п. 1, в котором виртуальный полином путей для руления основан на кривых Безье.
10. Способ по п. 1, в котором виртуальный полином путей для руления основан на ограничениях по поперечному ускорению.
11. Способ по п. 10, дополнительно содержащий этап, на котором определяют ограничения по поперечному ускорению на основе фрикционного круга.
12. Способ по п. 3, в котором трафик в смежной полосе движения определяется посредством плотности трафика в смежной полосе движения.
13. Способ по п. 4, дополнительно содержащий этап, на котором определяют то, когда выполнять маневр по смене полосы движения на основе ввода пассажира.
14. Способ по п. 5, дополнительно содержащий этап, на котором полином путей для руления и виртуальный полином путей для руления перекрываются и включают в себя аналогичные траектории перед переключением.
15. Система, содержащая компьютер, запрограммированный с возможностью осуществлять способ по любому из пп. 1-14.
RU2018111040A 2017-03-31 2018-03-28 Способ и система для виртуального пути для руления RU2018111040A (ru)

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US10514457B2 (en) 2019-12-24
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US20180281855A1 (en) 2018-10-04
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