WO2022113249A1 - 制御演算装置 - Google Patents
制御演算装置 Download PDFInfo
- Publication number
- WO2022113249A1 WO2022113249A1 PCT/JP2020/044154 JP2020044154W WO2022113249A1 WO 2022113249 A1 WO2022113249 A1 WO 2022113249A1 JP 2020044154 W JP2020044154 W JP 2020044154W WO 2022113249 A1 WO2022113249 A1 WO 2022113249A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- state
- vehicle
- equation
- target
- mixed
- Prior art date
Links
- 238000004364 calculation method Methods 0.000 claims description 51
- 230000002093 peripheral effect Effects 0.000 claims description 22
- 230000014509 gene expression Effects 0.000 claims description 11
- 230000006870 function Effects 0.000 description 63
- 238000000034 method Methods 0.000 description 21
- 238000010586 diagram Methods 0.000 description 12
- 238000011156 evaluation Methods 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 10
- 238000012545 processing Methods 0.000 description 10
- 239000013598 vector Substances 0.000 description 10
- 238000005457 optimization Methods 0.000 description 9
- 230000006399 behavior Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 7
- 230000036461 convulsion Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
- B60W2050/065—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot by reducing the computational load on the digital processor of the control computer
Definitions
- the present disclosure relates to a control calculation device that calculates a target control value for controlling the own vehicle in automatic driving.
- Patent Document 1 describes itself based on an evaluation function that evaluates the relationship between the future behavior of the own vehicle predicted by using the own vehicle motion model and the future behavior of another vehicle predicted by using the sensor.
- a vehicle control device for calculating a target control value for controlling a vehicle is disclosed.
- Patent Document 1 uses a two-wheel model, which is a simplified model, in order to reduce the calculation load when predicting the future behavior of the own vehicle.
- a two-wheel model that matches well with the actual behavior of the own vehicle at a high vehicle speed is used, a difference occurs between the behavior of the actual own vehicle at a low vehicle speed.
- the driver may feel uncomfortable.
- the present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to provide a control arithmetic unit that accurately calculates a target control value for controlling an own vehicle while suppressing an increase in an arithmetic load. do.
- the control calculation device generates a plurality of vehicle state equations including one or more first state variables to be acquired by the internal world sensor installed in the vehicle, and for each of the vehicle state equations.
- the mixed state equation generator that generates the first mixed state equation by weighting using the first weighting function, and the vehicle state that acquires the current value of each of the first state variables by the internal sensor.
- the acquisition unit, the target route generation unit that generates the target route of the vehicle based on the peripheral information acquired by the external world sensor installed in the vehicle, the first mixed state equation, and the first of each.
- a target value calculation that calculates a target control value for the vehicle to travel along the target route based on the current value of the state variable and outputs the target control value to the control unit that controls the vehicle. It is equipped with a department.
- the control arithmetic unit generates a first mixed state equation by weighting a plurality of vehicle state equations using a first weighting function, and uses the first mixed state equation. Since the target control value for controlling the own vehicle is calculated, the target control value can be calculated accurately while suppressing an increase in the calculation load.
- FIG. It is a block diagram which shows an example of the control arithmetic unit in Embodiment 1.
- FIG. It is a schematic diagram which shows an example of the 1st vehicle motion model in Embodiments 1 to 3. It is a schematic diagram which shows an example of the 2nd vehicle motion model in Embodiments 1 to 3. It is a graph which shows an example of the 1st weighting function with respect to the vehicle speed in Embodiments 1 to 3. It is a graph which shows an example of the yaw rate with respect to the vehicle speed in Embodiment 1.
- FIG. It is a flowchart which shows an example of the procedure of automatic operation in Embodiment 1. It is a block diagram which shows an example of the control arithmetic unit in Embodiment 2.
- FIG. 1 is a block diagram showing an example of the control arithmetic unit 200 according to the first embodiment.
- FIG. 1 is a block diagram including an inner world sensor 110, an outer world sensor 120, a control arithmetic unit 200, and a control unit 310.
- the control arithmetic unit 200 calculates a target control value for controlling the vehicle based on the vehicle information from the internal sensor 110 and the peripheral information from the external sensor 120.
- the target control value is a target steering amount and a target acceleration / deceleration amount.
- the internal sensor 110 is installed in the vehicle and outputs vehicle information.
- the internal world sensor 110 is, for example, a steering angle sensor, a steering torque sensor, a yaw rate sensor, a vehicle speed sensor, an acceleration sensor, a GNSS (Global Navigation Satellite System) sensor, or the like.
- the number of vehicle information acquired by one internal sensor 110 is one.
- an accelerometer acquires the front-rear acceleration of the vehicle. Therefore, the number of vehicle information that can be acquired increases by the number of the internal sensor 110.
- an internal sensor 110 capable of acquiring a plurality of vehicle information may be installed in the vehicle.
- the outside world sensor 120 is installed in the vehicle and outputs information around the vehicle.
- the outside world sensor 120 includes, for example, a front camera that detects the position, angle, and curvature of a road marking line, a radar that acquires the position and speed of a preceding person, a LiDAR (Light Detection and Ranking), a sonar, a vehicle-to-vehicle communication device, and a road. It is an inter-vehicle communication device.
- Peripheral information is, for example, the position and speed of other vehicles, bicycles, and pedestrians.
- the control calculation device 200 includes a mixed state equation generation unit 210, a vehicle state acquisition unit 220, a target route generation unit 230, and a target value calculation unit 240.
- the mixed state equation generation unit 210 generates a plurality of vehicle state equations including one or more first state variables to be acquired by the internal world sensor 110 installed in the vehicle.
- the mixed state equation generation unit 210 generates the first mixed state equation by weighting each vehicle state equation using the first weighting function.
- the mixed state equation generation unit 210 outputs the first mixed state equation to the target value calculation unit 240.
- the vehicle state equations here are a first vehicle state equation and a second vehicle state equation.
- the vehicle equation of state will be described in detail later with reference to FIGS. 2 and 3.
- the first weight function and the first mixed equation of state will also be described in detail later.
- the vehicle state acquisition unit 220 acquires the current value of each first state variable by the internal sensor 110.
- the vehicle state acquisition unit 220 outputs the current value of each first state variable to the target value calculation unit 240.
- the target route generation unit 230 generates the target route of the vehicle based on the peripheral information acquired by the external world sensor 120 installed in the vehicle.
- the target route is, for example, a route that travels in the center of the lane, a route that changes lanes, and the like.
- the target route generation unit 230 outputs the target route to the target value calculation unit 240.
- the target value calculation unit 240 calculates a target control value for the vehicle to travel along the target route based on the first mixed state equation and the current value of each first state variable, and calculates the vehicle.
- the target control value is output to the control unit 310 to be controlled.
- the target value calculation unit 240 will be described in detail later.
- the control unit 310 is a controller mounted on the vehicle, and operates the actuator so that the vehicle follows the target control value from the target value calculation unit 240.
- the control unit 310 is, for example, an EPS (Electric Power Steering) controller, an engine controller, and a brake controller.
- Actuators are motors that are indirectly connected to the wheels and steer, rotate, and brake the wheels.
- FIG. 2 is a schematic diagram showing an example of the first vehicle motion model in the first embodiment.
- the horizontal axis X and the vertical axis Y are the positions of the center of gravity of the vehicle in the inertial coordinate system.
- ⁇ is the azimuth angle
- V is the vehicle speed
- ⁇ is the yaw rate
- ⁇ is the front wheel steering angle
- ⁇ is the side slip angle
- ⁇ f is the front wheel side slip angle
- ⁇ r is the rear wheel side slip angle
- C f is the front wheel cornering force
- Cr is The cornering force of the rear wheels
- L f is the distance between the vehicle center of gravity and the front wheels
- L r is the distance between the vehicle center of gravity and the rear wheels.
- the first vehicle motion model is a two-wheeled model specialized at high vehicle speeds, and is a kinetic model using equations of motion related to lateral motion and rotational motion at the position of the center of gravity of the vehicle. Since this model can calculate the vehicle motion according to the force generated by the tire, it is possible to accurately express the vehicle motion at a high vehicle speed where lateral acceleration is generated especially when turning.
- the first vehicle motion model will be expressed using the first vehicle equation of state.
- the vehicle state quantity x and the control input quantity u of the first vehicle state equation are defined by the following mathematical formulas (1) and (2).
- a x is the front-rear acceleration
- ⁇ is the front wheel steering angular velocity
- j x is the front-rear jerk.
- X, Y, ⁇ , V, ⁇ , ⁇ , ⁇ , and ax which are variables of the vehicle state quantity x in the mathematical formula (1), are first state variables to be acquired by the internal sensor 110. be.
- the number of the first state variables is plural, but may be one.
- the vehicle state quantity x and the control input quantity u are vertical vectors, and a transposed matrix is used for simplification.
- the first equation of state of the vehicle using the variables of the equation (1) and the equation (2) is the following equation (3).
- x is the time derivative of the vehicle state quantity x.
- I is the yaw moment of inertia of the vehicle, and M is the mass of the vehicle.
- the cornering force C f of the front wheels and the cornering force Cr of the rear wheels are the following mathematical formulas (4) and (5) by using the cornering stiffness K f of the front wheels and the cornering stiffness K r of the rear wheels.
- f 1 is a vector function of the first equation of state of the vehicle.
- FIG. 3 is a schematic diagram showing an example of the second vehicle motion model in the first embodiment.
- the variables shown in FIG. 3 are the same as the variables described with reference to FIG.
- the second vehicle motion model is a two-wheeled model specialized at low vehicle speeds, and is a geometric model of the vehicle. Unlike the first vehicle motion model, this model does not include the force generated by the tires and can accurately express the vehicle motion at a low vehicle speed such that the vehicle turns along the direction of the tires.
- the second vehicle motion model will be expressed using the second vehicle equation of state.
- the vehicle state quantity x and the control input quantity u of the mathematical formulas (1) and (2) are used. That is, the same vehicle state quantity x and control input quantity u as in the first vehicle state equation are used.
- the second equation of state of the vehicle is the following equation (7).
- ⁇ is the time constant of yaw rate and skid angle
- ⁇ km and ⁇ km are yaw rate and skid angle that can be calculated by a two-wheel model using geometric relationships, respectively.
- the time constant ⁇ may have different values for yaw rate and skid angle.
- the yaw rate ⁇ km and the skid angle ⁇ km are the following mathematical formulas (8) and (9), respectively.
- f 2 is a vector function of the second equation of state of the vehicle.
- the first vehicle state equation of the equation (6) and the second vehicle state equation of the equation (10) include the same vehicle state quantity x and the control input quantity u, but in each variable of the vehicle condition quantity x.
- the arithmetic equations for the yaw rate ⁇ and the skid angle ⁇ are different.
- the first vehicle state equation and the second vehicle state equation are not limited to the equations (6) and (10), respectively, but are operations related to some or all of the first state variables. The equations may be configured differently.
- the second vehicle state equation may be an equation of motion relating to the lateral motion and rotational motion of the vehicle during a steady circular turn, instead of the equation (10). Unlike the first vehicle state equation, this equation of motion cannot express transient motion, but can accurately express vehicle motion at low vehicle speeds.
- the second equation of state of the vehicle in this case is the following equation (11).
- ⁇ sst and ⁇ sst are the yaw rate and skid angle in a steady circular turn, respectively.
- the yaw rate ⁇ sst and the skid angle ⁇ sst are the following mathematical formulas (12) and (13), respectively.
- A is a stability factor, which is the following formula (14).
- the first vehicle state equation of the formula (6) includes an arithmetic expression such that the value diverges when the vehicle speed V is around 0 km / h, so that the accuracy at a low vehicle speed deteriorates.
- the second vehicle state equation of the equation (10) only the fluctuation of the yaw rate ⁇ and the skid angle ⁇ due to the front wheel steering angle ⁇ is considered, and the force generated in the vehicle is not considered. The accuracy at high vehicle speeds is poor. Therefore, the first vehicle state equation and the second vehicle state equation are weighted using the first weighting function of the following equation (15) so that the accuracy is maintained at all vehicle speeds.
- V s is a vehicle speed at which the vehicle state quantity when the first vehicle state equation is solved and the vehicle state quantity when the second vehicle state equation is solved are the same.
- FIG. 4 is a graph showing an example of the first weighting function ⁇ with respect to the vehicle speed V in the first embodiment.
- the first weighting function ⁇ is a function of speed, and is set so that the first vehicle state equation is dominant at high vehicle speeds and the second vehicle state equation is dominant at low vehicle speeds. Also, the first weighting function ⁇ takes a value between 0 and 1.
- the first vehicle state equation of the equation (6) and the second vehicle state equation of the equation (10) are weighted by using the first weighting function of the equation (15) to obtain the first one.
- a mixed equation of state is generated.
- the first mixed equation of state is the following equation (16).
- f is a vector function of the first mixed equation of state.
- FIG. 5 is a graph showing an example of the yaw rate ⁇ with respect to the vehicle speed V in the first embodiment.
- the horizontal axis is the vehicle speed V and the vertical axis is the yaw rate ⁇ .
- the broken line C1 is a graph when the yaw rate ⁇ is solved from the first equation of state of the vehicle in the equation (6).
- the alternate long and short dash line C2 is a graph when the yaw rate ⁇ is solved from the second equation of state of the vehicle in the equation (10).
- the solid line C3 is a graph when the yaw rate ⁇ is solved from the first mixed state equation of the equation (16).
- the solid line C3 is in good agreement with the broken line C1 at high vehicle speed, and is in good agreement with the alternate long and short dash line C2 at low vehicle speed. That is, by using the first mixed equation of state of the equation (16), the yaw rate ⁇ can be calculated with high accuracy for all vehicle speeds. Further, the solid line C3 does not have to be discontinuous at the point where the broken line C1 and the alternate long and short dash line C2 intersect, that is, the point where the vehicle speed V becomes V s . Further, in the first mixed state equation of the equation (16), the vehicle state amount x and the control input amount u included in the first vehicle state equation and the second vehicle state equation are used, so that the first vehicle state is used.
- the vehicle state equations are the first vehicle state equation and the second vehicle state equation, but a plurality of vehicle state equations may be added, and a third vehicle state equation may be added.
- the third equation of state of vehicle is an equation of motion with good accuracy for vehicle speed between high and low vehicle speeds.
- the third vehicle state equation is also weighted using the first weighting function.
- the first weight function is a function including a quadratic term of the vehicle speed V as shown in the formula (15), but if it is set to take a value between 0 and 1, it is limited to the formula (15). Not done.
- a function including a polymorphic term instead of a quadratic term of the vehicle speed V, or an exponential function may be used.
- the first weight function may be a function of a part of the first state variables, and may be a function other than the vehicle speed V. Further, the first weight function may be plural instead of one. For example, as the first weight function, the following two functions (17) and (18) may be set.
- V s1 is a vehicle speed at which the yaw rate ⁇ when solving the first vehicle state equation and the yaw rate ⁇ when solving the second vehicle state equation are the same.
- V s1 is a vehicle speed at which the skid angle ⁇ when the first vehicle equation of state is solved and the skid angle ⁇ when the second vehicle equation of state is solved are the same.
- the first mixed-state equation is generated by weighting the first vehicle-state equation and the second vehicle-state equation using the weighting functions of the equations (17) and (18).
- the first mixed equation of state is the following equation (19).
- the target value calculation unit 240 sets a target control value for the vehicle to travel along the target route based on the first mixed state equation of the equation (16) and the current value of each first state variable. Calculate. Specifically, the target value calculation unit 240 predicts the behavior of the vehicle from the current time 0 to a predetermined time N ⁇ dt seconds later at intervals of a predetermined cycle dt seconds, and minimizes the evaluation function.
- the optimum target control value is calculated by solving the optimization problem for obtaining u at regular intervals.
- the target control value is a target steering amount and a target acceleration / deceleration amount.
- the target value calculation unit 240 solves the constrained optimization problem shown in the following mathematical formula (20) at regular intervals.
- J is an evaluation function
- x 0 is an initial value
- g is a vector function related to the constraint.
- the initial value x 0 corresponds to the current value of each first state variable at time 0.
- the optimization problem in the mathematical formula (20) is treated as a minimization problem, but it can also be treated as a maximization problem by inverting the sign of the evaluation function J.
- the following mathematical formula (21) is used as the evaluation function J.
- k is a prediction point that takes a value from 0 to N, and N is the end.
- x k is the vehicle state quantity at the prediction point k
- uk is the control input quantity at the prediction point k
- h is the vector function related to the evaluation item
- h N is the vector function related to the evaluation item at the end
- r k is the target value at the prediction point k.
- R N is the target value at the end
- W is the diagonal matrix having the weight for each evaluation item at the prediction point k on the diagonal component
- W N is the diagonal matrix having the weight for each evaluation item at the end on the diagonal component.
- e Y, k , e ⁇ , k , and e V, k are tracking errors with respect to the target path, the target azimuth angle, and the target vehicle speed at the prediction point k, respectively.
- ⁇ k is the front wheel steering angular velocity at the predicted point k
- j k is the front-rear jerk at the predicted point k.
- the target values r k and r N are set so that the path tracking error e Y, k , the azimuth tracking error e ⁇ , k , the vehicle speed tracking error e V, k , the front wheel steering angular velocity ⁇ k , and the front-rear jerk j k are reduced, respectively.
- the path tracking error e Y, k , the azimuth tracking error e ⁇ , k , the vehicle speed tracking error e V, k , the front wheel steering angular velocity ⁇ k , and the front-rear jerk j k are set to be evaluated.
- the anteroposterior acceleration ax, the yaw rate ⁇ , and the like may be added to the evaluation items.
- the vector function g is for setting the upper and lower limit values of the vehicle state quantity x and the control input quantity u in the constrained optimization problem, and the optimization is under the condition of g (x, u) ⁇ 0. Is executed by.
- the vector function g is set as in the following mathematical formula (26).
- ⁇ max and ⁇ min are the upper and lower limits of the front wheel steering angular velocity, respectively.
- j max and j min are the upper and lower limits of the front and rear jerk, respectively.
- the target value calculation unit 240 calculates the target control value using the first mixed equation of state, in addition to the method of solving the constrained optimization problem shown in the equation (20) at regular intervals. good. For example, known methods such as optimum regulator and H ⁇ control. Even in this case, the target value calculation unit 240 calculates the target control value based on the first mixed state equation and the current value of each first state variable.
- FIG. 6 is a flowchart showing an example of the procedure of automatic operation in the first embodiment.
- the mixed state equation generation unit 210 weights a plurality of vehicle state equations by using the first weighting function to obtain the first weighting function. Generate a mixed equation of state (step ST1).
- the plurality of vehicle state equations are, for example, a first vehicle state equation of the equation (6) and a second vehicle state equation of the equation (10).
- the vehicle state acquisition unit 220 acquires the current value of each first state variable by the internal sensor 110 (step ST2).
- the target route generation unit 230 generates a target route of the vehicle based on the peripheral information acquired by the external sensor 120 (step ST3).
- the target value calculation unit 240 calculates a target control value for the vehicle to travel along the target route based on the first mixed state equation and the current value of each first state variable (step ST4). ). That is, the target value calculation unit 240 calculates the target control value by solving the optimization problem of the mathematical formula (20).
- the control unit 310 controls the actuator so that the vehicle follows the target control value (step ST5).
- step ST6 It is determined whether or not to continue the automatic operation by a means (not shown) (step ST6).
- step ST6 determines whether the vehicle deviates from the target route and runs abnormally. If the determination in step ST6 is "No", the automatic operation ends.
- the case where the automatic driving ends is a case where the automatic driving is forcibly terminated, for example, when it is determined that the vehicle deviates from the target route and runs abnormally. In this case, processing such as temporarily stopping the vehicle on the spot is performed.
- the first mixed state equation is generated by weighting a plurality of vehicle state equations using the first weighting function, and the first mixed state equation is used. Since the target control value is calculated, the target control value can be calculated accurately while suppressing an increase in the calculation load.
- Embodiment 2 In the first embodiment, all the variables of the vehicle state quantity x in the mathematical formula (1) are set as the first state variables to be acquired by the internal world sensor 110, but they are normally obtained due to the measurement error of the internal world sensor 110 or the like. It may not be possible to obtain it. In such a case, the vehicle state estimation unit 260, which will be described later, estimates a state variable that cannot be normally acquired.
- FIG. 7 is a block diagram showing an example of the control arithmetic unit 200a according to the second embodiment.
- FIG. 7 shows a point that includes a vehicle state estimation unit 260, a point that includes a mixed state equation generation unit 250 instead of the mixed state equation generation unit 210, and a point that a target value calculation unit 270 is provided instead of the target value calculation unit 240.
- the mixed state equation generation unit 250, the vehicle state estimation unit 260, and the target value calculation unit 270 they are the same as those shown in FIG. 1, and thus the description thereof will be omitted.
- the mixed state equation generation unit 250 includes one or more first state variables that are acquired by the internal sensor 110 installed in the vehicle, and one or more that are not acquired but estimated by the internal sensor 110. Generate a plurality of vehicle equations of state including a second state variable. The mixed state equation generation unit 250 generates the first mixed state equation by weighting each vehicle state equation using the first weighting function. The mixed state equation generation unit 250 outputs the first mixed state equation to the vehicle state estimation unit 260 and the target value calculation unit 270.
- the first state variable is a state variable normally acquired by the internal sensor 110.
- the second state variable is a state variable that is not normally acquired due to a measurement error of the internal sensor 110 or the like. That is, the vehicle state quantity x in the formula (1) is composed of a first state variable and a second state variable.
- the number of the first state variables may be one or plural. Further, the number of the second state variables may be one or a plurality.
- the vehicle state equations are, but are not limited to, the first vehicle state equation of the equation (6) and the second vehicle state equation of the equation (10). It suffices that the arithmetic expressions for some or all of the first state variable and the second state variable are different.
- the first weight function is a function of a part of the first state variable and the second state variable. That is, the first weight function may be a function of a part of the state variables of the first state variable, a function of a part of the state variables of the second state variable, or the first. It may be a function of a part of the state variables and a part of the second state variables.
- the vehicle state estimation unit 260 estimates the current value of each second state variable based on the first mixed state equation and the current value of each first state variable.
- the vehicle state estimation unit 260 outputs the current value of each second state variable to the target value calculation unit 270.
- the internal sensor 110 for acquiring the center of gravity positions X and Y, the azimuth angle ⁇ , the vehicle speed V, the front wheel steering angle ⁇ , and the front-rear acceleration ax is normal, and the yaw rate ⁇ and the skid angle ⁇ are acquired. It is assumed that a measurement error occurs in the internal sensor 110 of the above.
- the first state variables in the equation (1) are the center of gravity positions X and Y of the vehicle, the azimuth angle ⁇ , the vehicle speed V, the front wheel steering angle ⁇ , and the front-rear acceleration ax.
- the second state variables are yaw rate ⁇ and skid angle ⁇ .
- the current value of the first state variable is acquired by the vehicle state acquisition unit 220.
- the current value of the second state variable is estimated by a known method based on the first mixed state equation and the current value of each first state variable. Known methods include, for example, a Kalman filter, a particle filter, and MHE (Moving Horizon Estimation).
- the state variable that is not normally acquired is set as the second state variable, but the state variable that is normally acquired may also be estimated as the second state variable.
- the vehicle state estimation unit 260 may be included in the target value calculation unit 270.
- the target value calculation unit 270 is a vehicle for traveling along the target route based on the first mixed state equation, the current value of each first state variable, and the current value of each second state variable.
- the target control value is calculated and the target control value is output to the control unit that controls the vehicle.
- the target value calculation unit 270 calculates the target control value by solving the constrained optimization problem shown in the mathematical formula (20) at regular intervals.
- the initial value x 0 is the current value of each first state variable and the current value of each second state variable at time 0.
- FIG. 8 is a flowchart showing an example of the procedure of automatic operation in the second embodiment. Since steps ST2, ST3, ST5 and ST6 in FIG. 8 are the same as steps ST2, ST3, ST5 and ST6 in FIG. 6, detailed description thereof will be omitted here.
- the mixed state equation generation unit 250 weights a plurality of vehicle state equations by using the first weighting function to obtain a first weight. Generate a mixed equation of state (step ST7).
- the plurality of vehicle state equations are, for example, a first vehicle state equation of the equation (6) and a second vehicle state equation of the equation (10).
- the vehicle state acquisition unit 220 acquires the current value of each first state variable by the internal sensor 110 (step ST2).
- the vehicle state estimation unit 260 estimates the current value of each second state variable based on the first mixed state equation and the current value of each first state variable (step ST8).
- the target route generation unit 230 generates a target route of the vehicle based on the peripheral information acquired by the external sensor 120 (step ST3).
- the target value calculation unit 270 is a vehicle for traveling along the target route based on the first mixed state equation, the current value of each first state variable, and the current value of each second state variable. Calculate the target control value to (step ST9). That is, the target value calculation unit 270 calculates the target control value by solving the optimization problem shown in the mathematical formula (20).
- the control unit 310 controls the actuator so that the vehicle follows the target control value (step ST5).
- step ST6 It is determined whether or not to continue the automatic operation by a means (not shown) (step ST6).
- step ST6 If the determination in step ST6 is "Yes”, the process returns to step ST2 and the automatic operation is continued. If the determination in step ST6 is "No”, the automatic operation ends.
- the current value of the second state variable is estimated using the first mixed state equation, and the target control value is calculated.
- the current value of the second state variable may be estimated using the first mixed state equation and the target control value may be calculated using the second mixed state equation.
- the second mixed state equation is composed of some arithmetic expressions of the first mixed state equation. That is, the mixed state equation generation unit 250 generates a second mixed state equation composed of some arithmetic expressions of the first mixed state equation.
- the mixed state equation generation unit 250 outputs the first mixed state equation to the vehicle state estimation unit 260 and outputs the second mixed state equation to the target value calculation unit 270.
- the target value calculation unit 270 sets a target based on the first mixed state equation, the second mixed state equation, the current value of each first state variable, and the current value of each second state variable. Calculate the control value. Specifically, the target value calculation unit 270 is estimated by the second mixed state equation, the current value of each first state variable, the first mixed state equation, and each first state variable. The target control value is calculated based on the current value of each second state variable.
- the second mixed equation of state becomes the following equation (27) with respect to the first mixed equation of state of the equation (16).
- the second mixed state equation is the first mixed state equation of the formula (19) in which the arithmetic formulas relating to the positions X and Y of the center of gravity of the vehicle are deleted.
- FIG. 9 is a flowchart showing another example of the procedure of automatic operation in the second embodiment. Specifically, FIG. 9 is a flowchart when the mixed state equation generation unit 250 generates the second mixed state equation. Since steps ST2, ST3, ST5, ST6, ST7 and ST8 in FIG. 9 are the same as steps ST2, ST3, ST5, ST6, ST7 and ST8 in FIG. 8, detailed description thereof will be omitted here.
- the mixed state equation generation unit 250 when the automatic operation is started by a means (not shown), the mixed state equation generation unit 250 generates the first mixed state equation (step ST7).
- the mixed state equation generation unit 250 generates a second mixed state equation composed of some arithmetic expressions of the first mixed state equation (step ST10).
- the vehicle state acquisition unit 220 acquires the current value of each first state variable by the internal sensor 110 (step ST2).
- the vehicle state estimation unit 260 estimates the current value of each second state variable based on the first mixed state equation and the current value of each first state variable (step ST8).
- the target route generation unit 230 generates a target route of the vehicle based on the peripheral information acquired by the external sensor 120 (step ST3).
- the target value calculation unit 270 is a vehicle for traveling along the target route based on the second mixed state equation, the current value of each first state variable, and the current value of each second state variable.
- the target control value for is calculated (step ST11).
- the vehicle state estimation unit 260 is included in the target value calculation unit 270, the process of step ST8 becomes unnecessary. Instead, in step ST11, the target value calculation unit 270 uses the first mixed state equation, the second mixed state equation, the current value of each first state variable, and the current value of each second state variable.
- the target control value is calculated based on.
- the control unit 310 controls the actuator so that the vehicle follows the target control value (step ST5).
- step ST6 It is determined whether or not to continue the automatic operation by a means (not shown) (step ST6).
- step ST6 If the determination in step ST6 is "Yes”, the process returns to step ST2 and the automatic operation is continued. If the determination in step ST6 is "No”, the automatic operation ends.
- the calculation load can be suppressed by using the second mixed equation of state when calculating the target control value.
- the internal sensor by estimating the current value of the second state variable based on the first mixed state equation and the current value of each first state variable. State variables that are not normally acquired by 110 can be estimated accurately.
- the target route is generated based on the peripheral information acquired by the external sensor 120. However, it may not be obtained normally due to a measurement error of the external sensor 120 or the like. In such a case, the target route generation unit 290, which will be described later, estimates the state variables that cannot be normally acquired, and the target route is generated.
- FIG. 10 is a block diagram showing an example of the control arithmetic unit 200b according to the third embodiment.
- FIG. 10 differs from FIG. 1 in that the mixed state equation generation unit 280 is provided in place of the mixed state equation generation unit 210, and the target route generation unit 290 is provided in place of the target route generation unit 230. Except for the mixed state equation generation unit 280 and the target path generation unit 290, they are the same as those shown in FIG. 1, and thus the description thereof will be omitted.
- the mixed state equation generation unit 280 includes one or more third state variables that are acquired by the external sensor 120 installed in the vehicle, and one or more fourth state variables that are not acquired but estimated by the external sensor 120. Generate multiple peripheral equations of state that include the state variables of.
- the mixed state equation generation unit 280 generates a third mixed state equation by weighting each peripheral state equation using the second weighting function.
- the mixed state equation generation unit 280 outputs the third mixed state equation to the target path generation unit 290 and the target value calculation unit 240.
- the third mixed equation of state can be applied particularly to other vehicles among the peripheral information acquired by the external world sensor 120.
- the third state variable is a state variable normally acquired by the external sensor 120.
- the fourth state variable is a state variable that is not normally acquired due to a measurement error of the external sensor 120 or the like.
- the vehicle state quantity x included in the peripheral state equation is composed of a third state variable and a fourth state variable. That is, the mixed state equation generation unit 280 generates a third mixed state equation in addition to the first mixed state equation in the first or second embodiment and the second mixed state equation in the second embodiment.
- the number of the third state variable may be one or plural. Further, the number of the fourth state variables may be one or a plurality.
- the vehicle state equation in the first or second embodiment and the peripheral state equation in the third embodiment may be the same or different.
- the peripheral state equation is configured so that the arithmetic expressions for some or all of the third state variable and the fourth state variable are different.
- the first weight function in the first or second embodiment and the second weight function in the third embodiment may be the same or different.
- the second weight function is a function of a part of the third state variable and the fourth state variable. That is, the second weighting function may be a function of a part of the state variables of the third state variable, a function of a part of the state variables of the fourth state variable, or a third state variable. It may be a function of a part of the state variables and a part of the fourth state variables.
- first mixed-state equation and the third mixed-state equation may be the same or different.
- the second mixed state equation and the third mixed state equation are different.
- the second mixed state equation and the third mixed state equation may be the same or different.
- the target path generation unit 290 acquires the current value of each third state variable by the outside world sensor, and each fourth state variable is based on the third mixed state equation and the current value of each third state variable.
- the current value of each state variable is estimated, and the target path is generated based on the current value of each third state variable and the current value of each fourth state variable.
- the target route generation unit 290 outputs the target route to the target value calculation unit 240.
- the method for estimating the current value of the fourth state variable is a known method such as a Kalman filter, a particle filter, and MHE.
- FIG. 11 is a flowchart showing an example of the procedure of automatic operation in the third embodiment. Since steps ST1, ST2, ST4, ST5 and ST6 in FIG. 11 are the same as steps ST1, ST2, ST4, ST5 and ST6 in FIG. 6, detailed description thereof will be omitted here.
- the mixed state equation generation unit 280 generates the first mixed state equation (step ST1).
- the mixed state equation generation unit 280 generates a third mixed state equation by weighting a plurality of peripheral state equations using a second weighting function (step ST12).
- the vehicle state acquisition unit 220 acquires the current value of each first state variable by the internal sensor 110 (step ST2).
- the target path generation unit 290 acquires the current value of each third state variable by the outside world sensor, and each fourth state variable is based on the third mixed state equation and the current value of each third state variable.
- the current value of each state variable is estimated, and a target path is generated based on the current value of each third state variable and the current value of each fourth state variable (step ST13).
- the target value calculation unit 240 calculates a target control value for the vehicle to travel along the target route based on the first mixed state equation and the current value of each first state variable (step ST4). ).
- the control unit 310 controls the actuator so that the vehicle follows the target control value (step ST5).
- step ST6 It is determined whether or not to continue the automatic operation by a means (not shown) (step ST6).
- step ST6 If the determination in step ST6 is "Yes”, the process returns to step ST2 and the automatic operation is continued. If the determination in step ST6 is "No”, the automatic operation ends.
- FIG. 11 shows a flow when the mixed state equation generation unit 280 and the target path generation unit 290 are applied to the first embodiment, but the mixed state equation generation unit 280 and the target are also applied to the second embodiment.
- the route generation unit 290 can be applied.
- the third mixed state equation is generated by weighting the plurality of peripheral state equations using the second weighting function, and the third mixed state equation and each of them are generated. Estimates the current value of the fourth state variable based on the current value of the third state variable of, and generates a target path based on the current value of the third state variable and the current value of the fourth state variable. do.
- the target path is generated by using the state variables other than the third state variable that is the acquisition target of the external world sensor, the target path can be generated accurately.
- control arithmetic units 200, 200a, 200b, and the control unit 310 will be described.
- Each function of the control arithmetic unit 200, 200a, 200b, and the control unit 310 can be realized by a processing circuit.
- the processing circuit comprises at least one processor and at least one memory.
- FIG. 12 is a diagram showing the hardware configurations of the control arithmetic units 200, 200a, 200b, and the control unit 310 according to the first to third embodiments.
- the control arithmetic unit 200, 200a, 200b, and the control unit 310 can be realized by the processor 400 and the memory 500 shown in FIG. 12 (a).
- the processor 400 is, for example, a CPU (Central Processing Unit, central processing unit, processing unit, arithmetic unit, microprocessor, microprocessor, processor, DSP (Digital Signal Processor)) or system LSI (Large Scale Integration).
- the memory 500 includes, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EPROM (registered trademark), etc. Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versaille Disk), and the like.
- control arithmetic units 200, 200a, 200b, and the control unit 310 are realized by software or the like (software, firmware, or software and firmware).
- Software and the like are described as programs and stored in the memory 500.
- the processor 400 realizes the functions of each part by reading and executing the program stored in the memory 500. That is, it can be said that this program causes the computer to execute the procedure or method of the control arithmetic units 200, 200a, 200b, and the control unit 310.
- the program executed by the processor 400 may be a file in an installable format or an executable format, stored in a computer-readable storage medium, and provided as a computer program product. Further, the program executed by the processor 400 may be provided to the control arithmetic units 200, 200a, 200b, and the control unit 310 via a network such as the Internet.
- control arithmetic unit 200, 200a, 200b, and the control unit 310 may be realized by the dedicated processing circuit 600 shown in FIG. 12B.
- the processing circuit 600 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate). Array) or a combination of these is applicable.
- control arithmetic units 200, 200a, 200b, and the control unit 310 are realized by either software or hardware. However, it is not limited to this, and it is a configuration in which some components of the control arithmetic units 200, 200a, 200b, and the control unit 310 are realized by software or the like, and another part is realized by dedicated hardware. You may.
- 110 internal world sensor 120 external world sensor, 200, 200a, 200b control arithmetic unit, 210, 250, 280 mixed state equation generation unit, 220 vehicle state acquisition unit, 230, 290 target route generation unit, 240, 270 target value calculation unit.
- 310 control unit 400 processor, 500 memory, 600 processing circuit.
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
図1は、実施の形態1における制御演算装置200の一例を示すブロック図である。図1は、内界センサ110と、外界センサ120と、制御演算装置200と、制御部310とにより構成されるブロック図である。制御演算装置200は、内界センサ110からの車両情報と、外界センサ120からの周辺情報とに基づいて、車両を制御するための目標制御値を演算する。ここで目標制御値とは、目標操舵量および目標加減速量である。
実施の形態1では、数式(1)の車両状態量xの各変数は全て、内界センサ110の取得対象である第1の状態変数としたが、内界センサ110の測定誤差などにより正常に取得できない場合がある。このような場合、後に説明する車両状態推定部260により、正常に取得できない状態変数を推定する。
実施の形態1および2では、外界センサ120により取得される周辺情報に基づいて、目標経路が生成される。しかし、外界センサ120の測定誤差などにより正常に取得できない場合がある。このような場合、後に説明する目標経路生成部290により、正常に取得できない状態変数を推定し、目標経路が生成される。
Claims (10)
- 車両に設置された内界センサの取得対象である1つ以上の第1の状態変数が含まれる車両状態方程式を複数生成し、各々の前記車両状態方程式に対し第1の重み関数を用いて重み付けを行うことで第1の混合状態方程式を生成する混合状態方程式生成部と、
前記内界センサにより各々の前記第1の状態変数の現在値を取得する車両状態取得部と、
前記車両に設置された外界センサにより取得される周辺情報に基づいて、前記車両の目標経路を生成する目標経路生成部と、
前記第1の混合状態方程式と各々の前記第1の状態変数の現在値とに基づいて、前記目標経路に沿って走行するための前記車両への目標制御値を演算し、前記車両を制御する制御部に対し前記目標制御値を出力する目標値演算部と、
を備える制御演算装置。 - 車両に設置された内界センサの取得対象である1つ以上の第1の状態変数と、前記内界センサの取得対象ではなく推定対象である1つ以上の第2の状態変数とが含まれる車両状態方程式を複数生成し、各々の前記車両状態方程式に対し第1の重み関数を用いて重み付けを行うことで第1の混合状態方程式を生成する混合状態方程式生成部と、
前記内界センサにより各々の前記第1の状態変数の現在値を取得する車両状態取得部と、
前記第1の混合状態方程式と各々の前記第1の状態変数の現在値とに基づいて、各々の前記第2の状態変数の現在値を推定する車両状態推定部と、
前記車両に設置された外界センサにより取得される周辺情報に基づいて、前記車両の目標経路を生成する目標経路生成部と、
前記第1の混合状態方程式と各々の前記第1の状態変数の現在値と各々の前記第2の状態変数の現在値とに基づいて、前記目標経路に沿って走行するための前記車両への目標制御値を演算し、前記車両を制御する制御部に対し前記目標制御値を出力する目標値演算部と、
を備える制御演算装置。 - 前記混合状態方程式生成部は、前記第1の混合状態方程式の一部の演算式で構成される第2の混合状態方程式を生成し、
前記目標値演算部は、前記第1の混合状態方程式と前記第2の混合状態方程式と各々の前記第1の状態変数の現在値と各々の前記第2の状態変数の現在値とに基づいて、前記目標制御値を演算する請求項2に記載の制御演算装置。 - 各々の前記車両状態方程式は、前記第1の状態変数のうち一部あるいは全ての状態変数に関する演算式が異なるよう構成される請求項1に記載の制御演算装置。
- 各々の前記車両状態方程式は、前記第1の状態変数と前記第2の状態変数とのうち一部あるいは全ての状態変数に関する演算式が異なるよう構成される請求項2または3に記載の制御演算装置。
- 前記第1の重み関数は、前記第1の状態変数のうち一部の状態変数の関数である請求項1または4に記載の制御演算装置。
- 前記第1の重み関数は、前記第1の状態変数と前記第2の状態変数とのうち一部の状態変数の関数である請求項2、3、または5のいずれか1項に記載の制御演算装置。
- 前記混合状態方程式生成部は、前記外界センサの取得対象である1つ以上の第3の状態変数と、前記外界センサの取得対象ではなく推定対象である1つ以上の第4の状態変数とが含まれる周辺状態方程式を複数生成し、各々の前記周辺状態方程式に対し第2の重み関数を用いて重み付けを行うことで第3の混合状態方程式を生成し、
前記目標経路生成部は、前記外界センサにより各々の前記第3の状態変数の現在値を取得し、前記第3の混合状態方程式と各々の前記第3の状態変数の現在値とに基づいて各々の前記第4の状態変数の現在値を推定し、各々の前記第3の状態変数の現在値と各々の前記第4の状態変数の現在値とに基づいて前記目標経路を生成する請求項1から7のいずれか1項に記載の制御演算装置。 - 各々の前記周辺状態方程式は、前記第3の状態変数と前記第4の状態変数とのうち一部あるいは全ての状態変数に関する演算式が異なるよう構成される請求項8に記載の制御演算装置。
- 前記第2の重み関数は、前記第3の状態変数と前記第4の状態変数とのうち一部の状態変数の関数である請求項8または9に記載の制御演算装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/029,143 US20230365144A1 (en) | 2020-11-27 | 2020-11-27 | Control arithmetic device |
PCT/JP2020/044154 WO2022113249A1 (ja) | 2020-11-27 | 2020-11-27 | 制御演算装置 |
DE112020007805.1T DE112020007805T5 (de) | 2020-11-27 | 2020-11-27 | Arithmetische steuerungseinrichtung |
JP2022564918A JP7471451B2 (ja) | 2020-11-27 | 2020-11-27 | 制御演算装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2020/044154 WO2022113249A1 (ja) | 2020-11-27 | 2020-11-27 | 制御演算装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022113249A1 true WO2022113249A1 (ja) | 2022-06-02 |
Family
ID=81755403
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/044154 WO2022113249A1 (ja) | 2020-11-27 | 2020-11-27 | 制御演算装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230365144A1 (ja) |
JP (1) | JP7471451B2 (ja) |
DE (1) | DE112020007805T5 (ja) |
WO (1) | WO2022113249A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230044869A1 (en) * | 2021-07-22 | 2023-02-09 | GM Global Technology Operations LLC | Vehicle actuation commands to affect transient handling |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016008024A (ja) * | 2014-06-26 | 2016-01-18 | 株式会社豊田中央研究所 | 操作情報推定装置及びプログラム |
JP2019073177A (ja) * | 2017-10-17 | 2019-05-16 | 日立オートモティブシステムズ株式会社 | 予測制御装置及び方法 |
JP2019142303A (ja) * | 2018-02-19 | 2019-08-29 | マツダ株式会社 | 車両制御装置 |
WO2019180919A1 (ja) * | 2018-03-23 | 2019-09-26 | 三菱電機株式会社 | 経路生成装置、および、車両制御システム |
JP2020008889A (ja) * | 2018-07-02 | 2020-01-16 | 日立オートモティブシステムズ株式会社 | 予測制御装置 |
JP2020090119A (ja) * | 2018-12-03 | 2020-06-11 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP2020090269A (ja) * | 2018-11-22 | 2020-06-11 | トヨタ自動車株式会社 | パワートレーンシステム |
JP2020189560A (ja) * | 2019-05-22 | 2020-11-26 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6569470B2 (ja) | 2015-10-28 | 2019-09-04 | 株式会社デンソーアイティーラボラトリ | 車両用制御装置 |
-
2020
- 2020-11-27 US US18/029,143 patent/US20230365144A1/en active Pending
- 2020-11-27 JP JP2022564918A patent/JP7471451B2/ja active Active
- 2020-11-27 WO PCT/JP2020/044154 patent/WO2022113249A1/ja active Application Filing
- 2020-11-27 DE DE112020007805.1T patent/DE112020007805T5/de active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016008024A (ja) * | 2014-06-26 | 2016-01-18 | 株式会社豊田中央研究所 | 操作情報推定装置及びプログラム |
JP2019073177A (ja) * | 2017-10-17 | 2019-05-16 | 日立オートモティブシステムズ株式会社 | 予測制御装置及び方法 |
JP2019142303A (ja) * | 2018-02-19 | 2019-08-29 | マツダ株式会社 | 車両制御装置 |
WO2019180919A1 (ja) * | 2018-03-23 | 2019-09-26 | 三菱電機株式会社 | 経路生成装置、および、車両制御システム |
JP2020008889A (ja) * | 2018-07-02 | 2020-01-16 | 日立オートモティブシステムズ株式会社 | 予測制御装置 |
JP2020090269A (ja) * | 2018-11-22 | 2020-06-11 | トヨタ自動車株式会社 | パワートレーンシステム |
JP2020090119A (ja) * | 2018-12-03 | 2020-06-11 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP2020189560A (ja) * | 2019-05-22 | 2020-11-26 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230044869A1 (en) * | 2021-07-22 | 2023-02-09 | GM Global Technology Operations LLC | Vehicle actuation commands to affect transient handling |
US11724739B2 (en) * | 2021-07-22 | 2023-08-15 | GM Global Technology Operations LLC | Vehicle actuation commands to affect transient handling |
Also Published As
Publication number | Publication date |
---|---|
JP7471451B2 (ja) | 2024-04-19 |
US20230365144A1 (en) | 2023-11-16 |
DE112020007805T5 (de) | 2023-11-02 |
JPWO2022113249A1 (ja) | 2022-06-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4161923B2 (ja) | 車両安定化制御システム | |
US9796421B1 (en) | Autonomous vehicle lateral control for path tracking and stability | |
JP6642332B2 (ja) | 運転支援制御装置 | |
US8849515B2 (en) | Steering assist in driver initiated collision avoidance maneuver | |
JP6715899B2 (ja) | 衝突回避装置 | |
US8078373B2 (en) | Vehicle dynamics prediction with lane/path information using a preview-correction-prediction approach | |
JP4835054B2 (ja) | 車両安定化制御システム | |
JP6628843B1 (ja) | 障害物回避装置および障害物回避経路生成装置 | |
JP7391293B2 (ja) | 車両制御装置 | |
CN103448723A (zh) | 使用后摄像机的车道保持系统 | |
JP2000302055A (ja) | 車線追従制御装置 | |
CN105774905A (zh) | 与电动助力转向控制器和后转向一体化的防碰撞控制 | |
KR102164606B1 (ko) | 자율주행 차량을 위한 횡방향 제어 파라미터 보정 장치 및 방법 | |
CN112703539A (zh) | 行驶路径生成装置及车辆控制装置 | |
WO2022113249A1 (ja) | 制御演算装置 | |
JP2012126293A (ja) | 車両の操舵制御装置 | |
CN108860137B (zh) | 失稳车辆的控制方法、装置及智能车辆 | |
JP7069624B2 (ja) | 位置演算方法、車両制御方法及び位置演算装置 | |
KR101930163B1 (ko) | 차로 유지 제어 장치 및 방법 | |
JP7036284B1 (ja) | 制御演算装置および制御演算方法 | |
CN115675481A (zh) | Gps增强摩擦估计 | |
JP7454122B2 (ja) | 車両制御装置 | |
JP7241800B2 (ja) | 車両制御装置及び車両制御方法 | |
JP7321220B2 (ja) | 車両走行支援装置、車両走行支援方法及び車両制御装置 | |
JP7430214B2 (ja) | 制御演算装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20963514 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2022564918 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112020007805 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20963514 Country of ref document: EP Kind code of ref document: A1 |