JP2017111683A - 制御装置、制御方法 - Google Patents
制御装置、制御方法 Download PDFInfo
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Abstract
Description
・実施形態では、各処理にヨーレート及びヨーレート変化量を用いるものとした。この点、操舵角センサ24が取得する操舵角も、自車50の重心周りの角速度を表すものであり、操舵角の単位時間当たりの変化量は自車50の重心周りの角加速度を表すものである。したがって、自車50の予測進路を求める際に操舵角の値を用いるものとし、軸ずれ情報を取得するか否かの判定を操舵角の単位時間当たりの変化量に基づいて行うものとしてもよい。
Claims (9)
- 移動体の周囲に存在する物体を検出する検出装置(21,22)を備え、前記移動体の移動時において、前記検出装置の検出結果に基づいて所定制御を実施する制御装置(10)であって、
静止物の前記移動体に対する相対位置の履歴を取得する軌跡取得部と、
前記移動体の移動方向を取得する方向取得部と、
前記軌跡と前記移動方向とに基づき、前記検出装置の中心軸の軸ずれの角度を軸ずれ情報として算出する角度算出部(16)と、
前記軸ずれ情報に基づいて、前記所定制御を実施する制御部と、
前記移動体の重心周りの角加速度の絶対値が閾値よりも大きい場合に、前記所定制御に対する前記軸ずれ情報の反映を規制する規制部と、を備える制御装置。 - 前記角加速度の絶対値が前記閾値を下回ってから所定時間の経過後に、前記軸ずれ情報の反映を行う、請求項1に記載の制御装置。
- 前記角度算出部は、所定周期ごとに前記軸ずれ情報を算出し、
前記規制部は、前記角加速度の絶対値が前記閾値よりも大きくなった場合に前記軸ずれ情報の前記反映を中断し、前記角加速度の絶対値が前記閾値よりも小さくなってから所定時間の経過後に前記軸ずれ情報の前記反映を再開する、請求項2に記載の制御装置。 - 前記制御部は、複数回算出した前記軸ずれ情報の分布の重心値を用いて前記所定制御を実施するものであり、
前記規制部は、前記軸ずれ情報の前記重心値への反映を規制する、請求項1〜3のいずれか1項に記載の制御装置。 - 前記方向取得部は、前記移動体の重心周りの角速度と、前記移動体の移動速度とに基づき、前記移動方向を取得する、請求項1〜4のいずれか1項に記載の制御装置。
- 前記制御部は、前記角度算出部が算出した前記軸ずれ情報に基づき、前記検出装置が検出した前記物体の位置を補正する補正部(17)を含む、請求項1〜5のいずれか1項に記載の制御装置。
- 前記移動体の重心周りの角加速度の絶対値が閾値よりも大きい場合に、前記角度算出部が前記軸ずれ情報の算出を行わないことにより、前記軸ずれ情報を前記所定制御に反映させない、請求項1〜6のいずれか1項に記載の制御装置。
- 前記移動体の重心周りの角加速度の絶対値が閾値よりも大きい場合に算出した前記軸ずれ情報を、前記制御部が前記所定制御に用いないことにより、前記軸ずれ情報を前記所定制御に反映させない、請求項1〜6のいずれか1項に記載の制御装置。
- 移動体の周囲に存在する物体を検出する検出装置(21,22)を備え、前記移動体の移動時において、前記検出装置の検出結果に基づいて所定制御を実施する制御装置(10)が実行する制御方法であって、
静止物の前記移動体に対する相対位置の履歴を取得する軌跡取得ステップと、
前記移動体の移動方向を取得する方向取得ステップと、
前記軌跡と前記移動方向とに基づき、前記検出装置の中心軸の軸ずれの角度を軸ずれ情報として算出する角度算出ステップと、
前記軸ずれ情報に基づいて、前記所定制御を実施する制御ステップと、
前記移動体の重心周りの角加速度の絶対値が閾値よりも大きい場合に、前記所定制御に対する前記軸ずれ情報の反映を規制する規制ステップと、を実行する制御方法。
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