JP6666304B2 - 走行制御装置、走行制御方法、およびプログラム - Google Patents
走行制御装置、走行制御方法、およびプログラム Download PDFInfo
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Description
図1は、実施形態に係る走行制御装置を利用した車両システム1の構成図である。車両システム1が搭載される車両は、例えば、二輪や三輪、四輪等の車両であり、その駆動源は、ディーゼルエンジンやガソリンエンジンなどの内燃機関、電動機、或いはこれらの組み合わせである。電動機は、内燃機関に連結された発電機による発電電力、或いは二次電池や燃料電池の放電電力を使用して動作する。
以下、第2制御部140によるカーブ走行時の処理の内容について説明する。まず、パラメータ探索部142による処理について説明する。パラメータ探索部142は、行動計画生成部123により生成された目標軌道との乖離が最も小さくなる予測走行軌道を探索する。予測走行軌道とは、あるパラメータを仮定したときに、そのパラメータによって規定される軌道モデルに沿った軌道である。例えば、軌道モデルは、曲線を一部または全部に含む曲線モデルである。軌道モデルは、曲線モデルの他、直線を連ねたモデルであってもよい。軌道モデルは、円弧モデル、アッカーマンモデル、二輪モデルなど種々の曲線モデルを採用することができるが、以下の説明では曲線モデルの一例である円弧モデルが採用されるものとする。円弧モデルとは、例えば、軌道の一部または全部が円弧である曲線モデルである。この場合、パラメータは曲率、または曲率半径である。従って、パラメータ探索部142は、行動計画生成部123により生成された軌道との乖離が最も小さくなる円弧モデルの推定曲率Cを探索する。推定曲率Cは、操舵制御部143によるフィードフォワード制御に用いられる。
120 第1制御部
121 外界認識部
122 自車位置認識部
123 行動計画生成部
140 第2制御部
141 取得部
142 パラメータ探索部
142A 予測走行軌道導出部
142B コスト計算部
143C ウォッシュアウトフィルタ処理部
142D 乗算部
142E 移動平均フィルタ処理部
142F 増幅部
142G 積分演算部
142H 加算部142
143 操舵制御部
143A FF(フィードフォワード)操舵角算出部
143B FB(フィードバック)操舵角算出部
144 速度制御部
Claims (4)
- 車両が将来通過すべき目標軌道の情報を取得する取得部と、
一以上のパラメータで規定される軌道モデルについて、前記軌道モデルが前記取得部により取得された目標軌道に合致するパラメータを決定するパラメータ探索部と、
少なくとも、前記パラメータ探索部により決定されたパラメータにより規定される軌道モデルに基づいて、前記車両の操舵をフィードフォワード制御する操舵制御部と、を備え、
前記パラメータ探索部は、
前記軌道モデルと前記目標軌道との乖離度合を評価する関数の入力値に参照信号を加算し、
前記関数の出力値の変動成分を抽出し、
前記抽出した変動成分と前記参照信号とを乗算してフィルタ処理を行うことで、前記軌道モデルと前記目標軌道との乖離度合が最も小さい場合にゼロとなる相関値を導出し、
前記相関値をゼロとする前記パラメータを探索する、
走行制御装置。 - 前記パラメータ探索部は、積分フィードバック処理を行うことで、前記相関値をゼロとする前記パラメータを探索する、
請求項1記載の走行制御装置。 - 前記フィルタ処理は、前記参照信号の周期の整数倍の移動平均フィルタ処理である、
請求項1または2記載の走行制御装置。 - 前記操舵制御部は、更に、目標位置に対する横偏差を小さくするためのフィードバック操舵角を、スライディングモード制御に基づく手法により算出し、前記軌道モデルに基づくフィードフォワード操舵角と、前記フィードバック操舵角との双方に基づいて車両の操舵を制御する、
請求項1から3のうちいずれか1項記載の走行制御装置。
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JP2017110197A JP6666304B2 (ja) | 2017-06-02 | 2017-06-02 | 走行制御装置、走行制御方法、およびプログラム |
CN201810528566.XA CN108973992B (zh) | 2017-06-02 | 2018-05-28 | 行驶控制装置、行驶控制方法以及存储介质 |
US15/990,996 US10732642B2 (en) | 2017-06-02 | 2018-05-29 | Travel control apparatus, travel control method, and storage medium |
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JP2017110197A JP6666304B2 (ja) | 2017-06-02 | 2017-06-02 | 走行制御装置、走行制御方法、およびプログラム |
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JP2018203018A JP2018203018A (ja) | 2018-12-27 |
JP6666304B2 true JP6666304B2 (ja) | 2020-03-13 |
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JP6652401B2 (ja) * | 2016-02-22 | 2020-02-19 | 本田技研工業株式会社 | 車両走行制御装置 |
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US10732642B2 (en) | 2020-08-04 |
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