JP2019502582A - 自動運転車両の速度制御に用いられるパラメータの推定方法 - Google Patents
自動運転車両の速度制御に用いられるパラメータの推定方法 Download PDFInfo
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Abstract
【選択図】なし
Description
Claims (24)
- 自動運転車両(ADV)を走行させるためのコンピュータ実施方法であって、
目標速度に基づいて発信される速度制御コマンドに応答して、前記自動運転車両の予想速度と実際速度とに基づいて第一フィードバックパラメータを決定するステップと、
速度制御パラメータ調整(SPCA)モデルを、リアルタイムで取得される入力パラメータのセットに適用することにより、第二フィードバックパラメータを決定するステップであって、前記入力パラメータのセットは前記自動運転車両のある時点における運転環境を示すステップと、
前記第一フィードバックパラメータと前記第二フィードバックパラメータとに基づいて、前記速度制御コマンドを発信する速度コントローラの制御パラメータを動的に調整するステップと、
調整された前記速度コントローラの制御パラメータに基づいて、後のコマンドサイクルに用いられる後の速度制御コマンドを生成するステップと、を含む、
ことを特徴とする方法。 - 前記速度コントローラの前記制御パラメータは、更に、第三フィードバックパラメータとする前記速度制御コマンドに基づいて調整され、前記速度制御コマンドは、前のコマンドサイクルの前の速度制御コマンドを示し、次のコマンドサイクルの次の速度制御コマンドに用いられる、
ことを特徴とする請求項1に記載の方法。 - 前記速度コントローラの前記制御パラメータは、前記第一フィードバックパラメータ、前記第二フィードバックパラメータ及び前記第三フィードバックパラメータに基づいて所定の加重アルゴリズムによって調整され、前記第一フィードバックパラメータ、前記第二フィードバックパラメータ及び前記第三フィードバックパラメータのそれぞれは、単独の重み因子に関連する、
ことを特徴とする請求項2に記載の方法。 - 前記速度制御コマンドは、最大のアクセルコマンド値のアクセルパーセンテージを含む、
ことを特徴とする請求項2に記載の方法。 - 前記目標速度に基づいて、前記自動運転車両に関連するパワートレーン参照モデルによって、前記予想速度を決定するステップを更に含む、
ことを特徴とする請求項1に記載の方法。 - 前記パワートレーン参照モデルは、前記自動運転車両に関連するエンジン、変速機、動力伝達パラメータに基づいて生成される、
ことを特徴とする請求項5に記載の方法。 - 前記入力パラメータのセットは、前記時点において測定される天気状況、道路状況、風抵抗、地図位置、車両重量又はタイヤ空気圧のうちの少なくとも一つを含む、
ことを特徴とする請求項1に記載の方法。 - 前記入力パラメータのセットは、前記時点において前記自動運転車両に乗っている乗客のユーザ運転好みを更に含む、
ことを特徴とする請求項7に記載の方法。 - コマンドが記憶されており、前記コマンドがプロセッサにより実行されると、前記プロセッサに処理を実行させる、不発揮性の機械可読媒体であって、
前記処理は、
目標速度に基づいて発信される速度制御コマンドに応答して、前記自動運転車両の予想速度と実際速度とに基づいて第一フィードバックパラメータを決定することと、
速度制御パラメータ調整モデルを、リアルタイムで取得される入力パラメータのセットに適用することにより、第二フィードバックパラメータを決定するステップであって、前記入力パラメータのセットは前記自動運転車両のある時点における運転環境を示すことと、
前記第一フィードバックパラメータと前記第二フィードバックパラメータとに基づいて、前記速度制御コマンドを発信する速度コントローラの制御パラメータを動的に調整することと、
調整された前記速度コントローラの制御パラメータに基づいて、後のコマンドサイクルに用いられる後の速度制御コマンドを生成することと、を含む、
ことを特徴とする不発揮性の機械可読媒体。 - 前記速度コントローラの前記制御パラメータは、更に、第三フィードバックパラメータとする前記速度制御コマンドに基づいて調整され、前記速度制御コマンドは、前のコマンドサイクルの前の速度制御コマンドを示し、次のコマンドサイクルの次の速度制御コマンドに用いられる
ことを特徴とする請求項9に記載の機械可読媒体。 - 前記速度コントローラの前記制御パラメータは、前記第一フィードバックパラメータ、前記第二フィードバックパラメータ及び前記第三フィードバックパラメータに基づいて所定の加重アルゴリズムによって調整され、前記第一フィードバックパラメータ、前記第二フィードバックパラメータ及び前記第三フィードバックパラメータのそれぞれは、単独の重み因子に関連する、
ことを特徴とする請求項10に記載の機械可読媒体。 - 前記速度制御コマンドは、最大のアクセルコマンド値のアクセルパーセンテージを含む、
ことを特徴とする請求項10に記載の機械可読媒体。 - 前記処理は、前記目標速度に基づいて、前記自動運転車両に関連するパワートレーン参照モデルによって、前記予想速度を決定することを更に含む、
ことを特徴とする請求項9に記載の機械可読媒体。 - 前記パワートレーン参照モデルは、前記自動運転車両に関連するエンジン、変速機、動力伝達パラメータに基づいて生成される
ことを特徴とする請求項13に記載の機械可読媒体。 - 前記入力パラメータのセットは、前記時点において測定される天気状況、道路状況、風抵抗、地図位置、車両重量又はタイヤ空気圧のうちの少なくとも一つを含む
ことを特徴とする請求項9に記載の機械可読媒体。 - 前記入力パラメータのセットは、前記時点において前記自動運転車両に乗っている乗客のユーザ運転好みを更に含む
ことを特徴とする請求項15に記載の機械可読媒体。 - プロセッサと、
前記プロセッサに連結されてコマンドを記憶するメモリと、を含み、
前記コマンドが前記プロセッサによって実行されるとき、前記プロセッサに処理を実行させる、データ処理システムであって、
前記処理は、
目標速度に基づいて発信される速度制御コマンドに応答して、前記自動運転車両の予想速度と実際速度とに基づいて第一フィードバックパラメータを決定することと、
速度制御パラメータ調整モデルを、リアルタイムで取得される入力パラメータのセットに適用することにより、第二フィードバックパラメータを決定するステップであって、前記入力パラメータのセットは前記自動運転車両のある時点における運転環境を示すことと、
前記第一フィードバックパラメータと前記第二フィードバックパラメータとに基づいて、前記速度制御コマンドを発信する速度コントローラの制御パラメータを動的に調整することと、
調整された前記速度コントローラの制御パラメータに基づいて、後のコマンドサイクルに用いられる後の速度制御コマンドを生成することと、を含む、
ことを特徴とするデータ処理システム。 - 前記速度コントローラの前記制御パラメータは、更に、第三フィードバックパラメータとする前記速度制御コマンドに基づいて調整され、前記速度制御コマンドは、前のコマンドサイクルの前の速度制御コマンドを示し、次のコマンドサイクルの次の速度制御コマンドに用いられる
ことを特徴とする請求項17に記載のシステム。 - 前記速度コントローラの前記制御パラメータは、前記第一フィードバックパラメータ、前記第二フィードバックパラメータ及び前記第三フィードバックパラメータに基づいて所定の加重アルゴリズムによって調整され、前記第一フィードバックパラメータ、前記第二フィードバックパラメータ及び前記第三フィードバックパラメータのそれぞれは、単独の重み因子に関連する
ことを特徴とする請求項18に記載のシステム。 - 前記速度制御コマンドは、最大のアクセルコマンド値のアクセルパーセンテージを含む
ことを特徴とする請求項18に記載のシステム。 - 前記処理は、前記目標速度に基づいて、前記自動運転車両に関連するパワートレーン参照モデルによって、前記予想速度を決定することを更に含む
ことを特徴とする請求項17に記載のシステム。 - 前記パワートレーン参照モデルは、前記自動運転車両に関連するエンジン、変速機、動力伝達パラメータに基づいて生成される
ことを特徴とする請求項21に記載のシステム。 - 前記入力パラメータのセットは、前記時点において測定される天気状況、道路状況、風抵抗、地図位置、車両重量又はタイヤ空気圧のうちの少なくとも一つを含む
ことを特徴とする請求項17に記載のシステム。 - 前記入力パラメータのセットは、前記時点において前記自動運転車両に乗っている乗客のユーザ運転好みを更に含む
ことを特徴とする請求項23に記載のシステム。
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