JP2019199205A5 - - Google Patents
Download PDFInfo
- Publication number
- JP2019199205A5 JP2019199205A5 JP2018095543A JP2018095543A JP2019199205A5 JP 2019199205 A5 JP2019199205 A5 JP 2019199205A5 JP 2018095543 A JP2018095543 A JP 2018095543A JP 2018095543 A JP2018095543 A JP 2018095543A JP 2019199205 A5 JP2019199205 A5 JP 2019199205A5
- Authority
- JP
- Japan
- Prior art keywords
- target path
- timing
- vehicle
- coordinate system
- orientation information
- Prior art date
- 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
Links
- 238000000034 method Methods 0.000 claims 5
- 238000006243 chemical reaction Methods 0.000 claims 1
Claims (3)
前記車両の位置及び方位を示す位置方位情報を含む運転環境情報を取得する情報取得装置と、
前記運転環境情報に基づいて目標パスを決定し、前記目標パスに追従するように前記車両の走行を制御する制御装置と
を備え、
車両座標系は、前記車両に固定された相対座標系であり、
第1座標系は、第1タイミングにおける前記車両座標系であり、
第2座標系は、前記第1タイミングより後の第2タイミングにおける前記車両座標系であり、
前記制御装置は、
前記第1タイミングにおける前記運転環境情報に基づいて、前記第1座標系で定義される第1目標パスを算出する目標パス算出処理と、
前記第2タイミングにおける最新の前記位置方位情報を取得する処理と、
前記最新の位置方位情報に異常が存在するか否かを判定する異常判定処理と、
前記異常が存在しない場合、前記最新の位置方位情報を用いて前記第1座標系から前記第2座標系への座標変換を行うことにより、前記第1目標パスを前記第2座標系で定義される第2目標パスに補正する目標パス補正処理と、
前記異常が存在する場合、前記目標パス補正処理を行うことなく前記第1目標パスを前記目標パスとして決定し、前記異常が存在しない場合、前記第2目標パスを前記目標パスとして決定する目標パス決定処理と
を行う
自動運転システム。 It is an automatic driving system installed in a vehicle.
An information acquisition device that acquires driving environment information including position / orientation information indicating the position and orientation of the vehicle, and
It is provided with a control device that determines a target path based on the driving environment information and controls the running of the vehicle so as to follow the target path.
The vehicle coordinate system is a relative coordinate system fixed to the vehicle.
The first coordinate system is the vehicle coordinate system at the first timing, and is
The second coordinate system is the vehicle coordinate system at the second timing after the first timing.
The control device is
A target path calculation process for calculating a first target path defined in the first coordinate system based on the driving environment information at the first timing, and
The process of acquiring the latest position / orientation information at the second timing, and
Anomaly determination processing for determining whether or not an abnormality exists in the latest position / orientation information, and
When the abnormality does not exist, the first target path is defined in the second coordinate system by performing coordinate conversion from the first coordinate system to the second coordinate system using the latest position / orientation information. Target path correction processing to correct to the second target path,
When the abnormality exists, the first target path is determined as the target path without performing the target path correction process, and when the abnormality does not exist, the second target path is determined as the target path. An automated driving system that performs decision processing.
前記異常判定処理において、前記制御装置は、
前記第1タイミングにおける前記車両の車速とヨーレートに基づいて、前記第1タイミングから前記第2タイミングまでの期間において前記車両が存在すると想定される想定範囲を算出し、
前記第2タイミングにおいて取得された前記最新の位置方位情報で示される前記車両の位置が前記想定範囲から逸脱している場合、前記最新の位置方位情報に異常が存在すると判定する
自動運転システム。 The automatic driving system according to claim 1.
In the abnormality determination process, the control device
Based on the vehicle speed and yaw rate of the vehicle at the first timing, the assumed range in which the vehicle is assumed to exist in the period from the first timing to the second timing is calculated.
An automatic driving system that determines that an abnormality exists in the latest position / orientation information when the position of the vehicle indicated by the latest position / orientation information acquired at the second timing deviates from the assumed range.
前記異常判定処理において、前記制御装置は、
前記第2タイミングにおいて取得された前記最新の位置方位情報のタイムスタンプが前記第1タイミングにおいて算出された前記第1目標パスのタイムスタンプよりも古い場合、前記最新の位置方位情報に異常が存在すると判定する
自動運転システム。 The automatic driving system according to claim 1.
In the abnormality determination process, the control device
When the time stamp of the latest position / orientation information acquired at the second timing is older than the time stamp of the first target path calculated at the first timing, it is considered that the latest position / orientation information has an abnormality. Automatic driving system to judge.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018095543A JP7000245B2 (en) | 2018-05-17 | 2018-05-17 | Autonomous driving system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018095543A JP7000245B2 (en) | 2018-05-17 | 2018-05-17 | Autonomous driving system |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2019199205A JP2019199205A (en) | 2019-11-21 |
JP2019199205A5 true JP2019199205A5 (en) | 2021-03-04 |
JP7000245B2 JP7000245B2 (en) | 2022-01-19 |
Family
ID=68611831
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018095543A Active JP7000245B2 (en) | 2018-05-17 | 2018-05-17 | Autonomous driving system |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP7000245B2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112486018B (en) * | 2020-12-23 | 2021-08-17 | 中国矿业大学(北京) | Model-free unmanned vehicle path tracking method based on speed adaptive preview |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2853077B2 (en) * | 1993-09-17 | 1999-02-03 | 本田技研工業株式会社 | Self-driving vehicle |
JPH1120499A (en) * | 1997-06-27 | 1999-01-26 | Mitsubishi Motors Corp | Automatic follow up type traveling system |
JP5178406B2 (en) * | 2008-09-03 | 2013-04-10 | 株式会社Ihiエアロスペース | Remote control system |
JP5617513B2 (en) * | 2010-10-13 | 2014-11-05 | 株式会社エクォス・リサーチ | Travel control device |
JP6579441B2 (en) * | 2016-01-12 | 2019-09-25 | 三菱重工業株式会社 | Parking support system, parking support method and program |
-
2018
- 2018-05-17 JP JP2018095543A patent/JP7000245B2/en active Active
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3306591A3 (en) | Parking assistance apparatus, vehicle having the same, method of providing automatic parking function | |
JP2019069774A5 (en) | ||
WO2016209424A8 (en) | Automated vehicle control with time to take-over compensation | |
US10789491B2 (en) | Traffic light recognition device and traffic light recognition method | |
MX2016010485A (en) | Automatic calibration method for robot systems using a vision sensor. | |
WO2015187679A8 (en) | Systems and methods for measuring and reducing vehicle fuel waste | |
JP2017016403A5 (en) | ||
JP2016224669A5 (en) | ||
JP2016223812A5 (en) | ||
MX2016011013A (en) | Motion compensation for on-board vehicle sensors. | |
JP2016103223A5 (en) | ||
EP3379358A3 (en) | Control system, control device, control program, and control method | |
JP2019061613A5 (en) | ||
EP2731076A3 (en) | Target point arrival detector, method of detecting target point arrival, carrier medium of program of detecting target point arrival and vehicle-mounted device control system | |
RU2017141927A (en) | SYSTEM AND METHOD FOR TURNING OPERATION | |
JP2016039539A5 (en) | Image processing apparatus, imaging apparatus, image processing method, and program | |
PH12021551120A1 (en) | Volume measurement apparatus, system, method, and program | |
JP2015052736A5 (en) | Optical device and control method of optical device | |
MY197902A (en) | Vehicle control method and vehicle control device | |
JP2015133078A5 (en) | ||
JP2010050934A5 (en) | ||
EP3919864A3 (en) | Method and apparatus for processing map data | |
JP2019199205A5 (en) | ||
WO2016012867A3 (en) | Autonomous vehicle operation | |
RU2016114246A (en) | METHOD FOR AUTOMATIC FORMATION OF SMOOTH MOBILE ROBOT MOTION TRAJECTORIES IN UNKNOWN ENVIRONMENT |