WO2022194443A1 - Prädizieren einer zukünftigen ist-geschwindigkeit eines kraftfahrzeugs - Google Patents
Prädizieren einer zukünftigen ist-geschwindigkeit eines kraftfahrzeugs Download PDFInfo
- Publication number
- WO2022194443A1 WO2022194443A1 PCT/EP2022/052611 EP2022052611W WO2022194443A1 WO 2022194443 A1 WO2022194443 A1 WO 2022194443A1 EP 2022052611 W EP2022052611 W EP 2022052611W WO 2022194443 A1 WO2022194443 A1 WO 2022194443A1
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- WO
- WIPO (PCT)
- Prior art keywords
- acceleration
- motor vehicle
- speed
- function
- model
- Prior art date
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 104
- 230000003321 amplification Effects 0.000 claims description 14
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 14
- 238000012546 transfer Methods 0.000 claims description 13
- 238000012937 correction Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 description 45
- 238000012897 Levenberg–Marquardt algorithm Methods 0.000 description 6
- 230000001364 causal effect Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 102100025674 Angiopoietin-related protein 4 Human genes 0.000 description 1
- 101000693076 Homo sapiens Angiopoietin-related protein 4 Proteins 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004393 prognosis Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
- B60W50/0097—Predicting future conditions
-
- 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
- B60W2050/0052—Filtering, filters
- B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
- B60W2050/0056—Low-pass filters
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
Definitions
- the invention relates to a device for predicting a future actual speed of a motor vehicle.
- automated driving can be understood as driving with automated longitudinal or lateral guidance or autonomous driving with automated longitudinal and lateral guidance.
- automated driving includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation were defined by the Federal Highway Research Institute (BASt).
- assisted driving the driver constantly performs longitudinal or lateral guidance, while the system takes over the other function within certain limits.
- TAF semi-automated driving
- the system takes over the longitudinal and lateral guidance for a certain period of time and/or in specific situations, whereby the driver has to constantly monitor the system as with assisted driving.
- FIAF highly automated driving
- the system takes over longitudinal and lateral guidance for a certain period of time without the driver having to constantly monitor the system; however, the driver must be able to take control of the vehicle within a certain period of time.
- VAF fully automated driving
- the four levels of automation mentioned above, as defined by BASt correspond to SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering).
- highly automated driving (HAF) corresponds to level 3 of the SAE J3016 standard.
- SAE J3016 also provides SAE Level 5 as the highest degree of automation, which is not included in the BASt definition.
- SAE Level 5 corresponds to driverless driving, in which the system can automatically handle all situations like a human driver throughout the journey; a driver is generally no longer required.
- One aspect of the invention relates to a device for predicting a future actual speed of a motor vehicle.
- the device includes a low-pass filter.
- the low-pass filter is a filter that allows signal components with frequencies below their limit frequency to pass through almost unattenuated, while components with higher frequencies are attenuated.
- the low-pass filter is set up to filter a signal that is characteristic of a setpoint speed of the motor vehicle and to make it available as the setpoint speed of the motor vehicle.
- the device includes an acceleration controller, the acceleration controller being set up to specify a setpoint acceleration for the motor vehicle in a time step at least as a function of the setpoint speed of the motor vehicle.
- the device also includes a model, the model being set up to predict the future actual speed at least as a function of the setpoint acceleration.
- the acceleration controller is set up to specify the target acceleration for the motor vehicle as a function of an actual speed of the motor vehicle and an amplification factor.
- the model is set up to additionally predict the future actual speed as a function of the actual speed.
- the device is set up to store the setpoint speed, the actual speed and the setpoint acceleration specified as a function of this as information for at least two time steps, to select a first subset of the information as a function of the train the model in the first subset, select a second subset of the information, and adjust the gain factor depending on the second subset, the model, and the accelerator.
- the invention includes a device for adapting an amplification factor of an acceleration controller for a motor vehicle, in particular for an automated motor vehicle.
- the acceleration controller is set up in a time step in
- the longitudinal guidance of the motor vehicle then takes place at least as a function of the setpoint acceleration.
- the desired acceleration of a drive or motor controller is specified as the target acceleration.
- the desired acceleration is also processed before it is specified as the target acceleration for the drive or motor controller.
- the device is set up to store the setpoint speed, the actual speed and the setpoint acceleration specified as a function of this as information for at least two time steps.
- the device is set up to store the setpoint speed, the actual speed and the setpoint acceleration specified as a function of this as a tuple, so that the stored information also shows that the data mentioned correspond to the same time step.
- the device is set up to store the setpoint speed, the actual speed, the setpoint acceleration specified as a function of this and the respective time step as information for at least two time steps, so that a causal or temporal sequence can also be derived from the stored information of the data mentioned.
- the device is set up to select a first subset of the information, with the first subset in particular comprising at most 150 or 200 tuples from target speed, actual speed and/or target acceleration.
- the invention is based on the finding that the number of tuples is selected in such a way that processing is possible under real-time conditions, ie with a binding deadline being observed.
- the device is set up to train a model as a function of the first subset, the model being set up to predict an actual speed of a later time step from at least one stored actual speed and at least one stored setpoint acceleration.
- the invention is based on the finding that the actual speed for the second magazine is predicted from the actual speed and the target acceleration at a first time step, taking into account the time difference between the first time step and a second magazine following the first time step leaves.
- the device is set up to select a second subset of the information, the second subset in particular comprises at most 20, 50, 100 or 150 tuples from target speed, actual speed and/or target acceleration.
- the device is set up to adapt the amplification factor as a function of the second subset, the model and the acceleration controller.
- the invention is based on the finding that the selection of the amplification factor has a strong influence on how quickly and with what quality the actual speed of the motor vehicle adapts to a target speed that deviates from it. For example, although a very large amplification factor can ensure that the actual speed is quickly matched to the setpoint speed, there is a risk of oscillations with a very large amplification factor in connection with time delays.
- the device is set up to carry out the training of the model and the adaptation of the acceleration controller multiple times in order to iteratively converge on an optimal gain factor. For example, by choosing the appropriate frequency for training the model and adjusting the acceleration controller, the optimum can be found with little computing power.
- the acceleration controller is set up to determine the setpoint acceleration from the product of the amplification factor and the difference between the setpoint speed and the actual speed.
- the device is set up to store the information in a ring memory, with a capacity of the ring memory being limited to storing the information of at most 5000 time steps.
- a ring memory stores data continuously for a certain period of time and overwrites it again after a specified time has elapsed in order to free up the storage space for new data.
- the time difference between two magazines is at most 20 ms, so that the ring memory can store information from an interval of 100 s at most.
- the device is set up to train the model by optimizing a first weighting factor and a second weighting factor in such a way that a prediction error of the model is minimized.
- the first weighting factor and the second weighting factor are optimized using a Levenberg-Marquardt algorithm.
- the invention is based on the finding that the Levenberg-Marquardt algorithm converges very quickly in this problem compared to other optimization algorithms, which, in conjunction with other measures, means that the invention can be used in a motor vehicle (i.e. “online” compared to an “offline “ training in a data center).
- the first weighting factor specifies an influence of the at least one stored actual speed on the prediction. In particular, if the at least one stored actual speed includes more than exactly one actual speed, several first
- weighting factors are used. For example, a separate first weighting factor can be used for each of the multiple actual speeds.
- the second weighting factor specifies an influence of the at least one stored setpoint acceleration on the prediction. Especially if the at least one stored target acceleration includes more than exactly one target acceleration, multiple second weighting factors can be used. For example, a separate second weighting factor can be used for each of the multiple setpoint accelerations.
- the device is set up to adapt the amplification factor by the device being set up to predict a state of the motor vehicle as a function of the second subset, the model and the acceleration controller.
- the condition of the motor vehicle is, in particular, a description of the actual dynamics of the motor vehicle and/or a description of control or target specifications for systems of the motor vehicle that will affect the dynamics of the motor vehicle in the future.
- the state of the motor vehicle includes a target acceleration of the motor vehicle for the current time step, an actual speed of the motor vehicle for the current time step and a target speed of the motor vehicle for the current time step.
- the state of the motor vehicle can also include an actual speed for at least one past time step and/or a setpoint acceleration for at least one past time step.
- the state of the motor vehicle can only be partially described in the present embodiment of the invention, for example by at least one actual speed of the motor vehicle, at least one target speed of the motor vehicle and/or at least one target acceleration of the motor vehicle.
- the device is set up to adapt the amplification factor in such a way that a controller quality measure related to the state of the motor vehicle is minimized.
- the controller quality measure describes in particular a control deviation and/or a measure of passenger comfort.
- the amplification factor is adjusted using a Levenberg-Marquardt algorithm.
- the invention is based on the knowledge that the Levenberg-Marquardt algorithm in this
- the state of the motor vehicle includes in particular at least one actual speed of the motor vehicle and/or at least one target acceleration of the motor vehicle and/or at least one target speed of the motor vehicle in a time step. For example, using the model, starting from a
- the device is set up to store the information in a ring memory, with a capacity of the ring memory being limited to storing the information of at most 5000 time steps, to train the model by using a first weighting factor and a second weighting factor with a Levenberg Marquardt algorithm be optimized so that a prediction error of the model is minimized, wherein the first weighting factor specifies an influence of the at least one stored actual speed on the prediction, and wherein the second weighting factor specifies an influence of the at least one stored setpoint acceleration on the prediction, and the Adjust the gain factor by predicting a state of the motor vehicle as a function of the second subset, the model and the acceleration controller, and to optimize the gain factor with a Levenberg-Marquardt algorithm in such a way that a controller quality measure related to the state of the motor vehicle is minimized.
- the device includes an acceleration prediction unit, the acceleration prediction unit being set up to determine a correction acceleration as a function of the setpoint speed, and the model being set up to additionally calculate the future actual speed as a function of the correction acceleration predict.
- the acceleration prediction unit includes in particular a pre-control in order to compensate for the working time or working time of the device.
- the model is set up to predict the future actual speed as a function of the sum of the correction acceleration and the target acceleration.
- the device is set up to automatically determine the acceleration prediction unit as the product of an inversion of a transfer function of the model and a causality factor.
- the causality factor is a delay operator.
- causality factor is necessary to obtain a causal system as an acceleration prediction unit.
- a causal system is in particular a physically realizable system. This means that the output value of the system depends only on the current and past input values, but not on future input values. To put it graphically, an effect occurs at the earliest at the time of the cause, but no earlier.
- the model's transfer function is a transformed operator representation of the model's system equation, which makes it possible to solve difference equations by algebraic transformations.
- the inversion of the model's transfer function describes the dynamics that generate the control signal from a target signal that, when entered into the original system, causes its output to follow the target signal.
- the device includes a reference filter, the reference filter being set up to determine a filtered target speed as a function of the target speed, and the acceleration controller being set up at least as a function of the filtered target speed of the motor vehicle specify a target acceleration for the motor vehicle.
- the reference filter is set up to specify the filtered setpoint speed as a function of the setpoint speed without a time delay due to the working time or working time of the device.
- the device is set up to automatically determine the reference filter.
- the device is set up to determine a transfer function of the reference filter from a product of a transfer function of the acceleration prediction unit and a transfer function of the model.
- the device is set up to automatically determine the acceleration prediction unit.
- the transfer function of the acceleration prediction unit is a transformed operator representation of the system equation of the acceleration prediction unit.
- FIG. 1 shows a device according to the invention for predicting a future actual speed ZIG of a motor vehicle.
- the device includes a low-pass filter LP, the low-pass filter LP being set up to filter a signal GS that is characteristic of a target speed of the motor vehicle and to provide it as a target speed SG of the motor vehicle.
- the invention is based on the finding that high-frequency components of the target speed of the Motor vehicle characteristic signal GS would lead to high deflections of the acceleration prediction unit FF. These are prevented by using the low-pass filter LP.
- the device also includes an acceleration controller BR, the acceleration controller BR being set up to specify a target acceleration SB for the motor vehicle in a time step at least as a function of the actual speed IG of the motor vehicle.
- the acceleration controller BR is also set up to specify the target acceleration SB for the motor vehicle as a function of a target speed SG of the motor vehicle and a gain factor VF.
- the device also includes a model MU, with the model MU being set up at least as a function of to predict the future actual speed ZIG from the target acceleration SB.
- the model MU is also set up to additionally predict the future actual speed ZIG as a function of the actual speed IG.
- the device includes an acceleration prediction unit FF, the acceleration prediction unit FF being set up to determine a correction acceleration KB as a function of the setpoint speed SG.
- the model MU is set up to additionally predict the future actual speed ZIG as a function of the correction acceleration KB.
- the device is set up to automatically determine the acceleration prediction unit FF as the product of an inversion of a transfer function of the model MU and a causality factor.
- the device also includes a reference filter RF, the reference filter RF being set up to determine a filtered target speed GSG as a function of the target speed SG, and the acceleration controller BR being set up at least as a function of the filtered target speed GSG of the motor vehicle specify a target acceleration SB for the motor vehicle.
- the device is set up to automatically determine the reference filter RF as the product of a transfer function of the acceleration prediction unit FF and a transfer function of the model MU.
- FIG. 2 shows a device according to the invention for adapting a gain factor VF of an acceleration controller BR for a motor vehicle.
- the acceleration controller BR is set up to specify a target acceleration SB for the motor vehicle in a time step as a function of a target speed SG of the motor vehicle, an actual speed IG of the motor vehicle and the gain factor VF.
- the acceleration controller BR is set up to determine the setpoint acceleration SB from the product of the amplification factor VF and the difference between the setpoint speed SG and the actual speed IG.
- the device is set up to store the setpoint speed SG, the actual speed IG and the setpoint acceleration SB specified as a function of this as information for at least two time steps. In particular, the device is set up, the information in a
- a capacity of the ring memory RS is limited to storing the information of a maximum of 5000 time steps.
- the device is set up, a first subset of ET
- the device is set up to train the model MU by optimizing a first and weighting factor and a second weighting factor in such a way that a prediction error of the model MU is minimized, with the first weighting factor having an influence of the at least one stored actual speed IG on the Prediction specifies, and wherein the second weighting factor specifies an influence of the at least one stored setpoint acceleration SB on the prediction.
- the device is set up to select a second subset ZT of the information and to adapt the amplification factor VF as a function of the second subset ZT, the model MU and the acceleration controller BR, for example by using an optimization means CU.
- the device is set up to adjust the gain factor VF by the device being set up to predict a state of the motor vehicle as a function of the second subset ZT, the model MU and the acceleration controller BR, and to adjust the gain factor VF in such a way that a State of the motor vehicle-related controller quality measure is minimized.
- the state of the motor vehicle includes at least one actual speed IG of the motor vehicle and/or at least one setpoint acceleration SB of the motor vehicle in a time step.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Feedback Control In General (AREA)
Abstract
Description
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/277,458 US20240123999A1 (en) | 2021-03-17 | 2022-02-03 | Predicting a Future Actual Speed of a Motor Vehicle |
CN202280013313.3A CN116848028A (zh) | 2021-03-17 | 2022-02-03 | 机动车辆的未来实际速度的预测 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102021106515.1A DE102021106515A1 (de) | 2021-03-17 | 2021-03-17 | Prädizieren einer zukünftigen Ist-Geschwindigkeit eines Kraftfahrzeugs |
DE102021106515.1 | 2021-03-17 |
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WO2022194443A1 true WO2022194443A1 (de) | 2022-09-22 |
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PCT/EP2022/052611 WO2022194443A1 (de) | 2021-03-17 | 2022-02-03 | Prädizieren einer zukünftigen ist-geschwindigkeit eines kraftfahrzeugs |
Country Status (4)
Country | Link |
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US (1) | US20240123999A1 (de) |
CN (1) | CN116848028A (de) |
DE (1) | DE102021106515A1 (de) |
WO (1) | WO2022194443A1 (de) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012213321A1 (de) * | 2012-07-30 | 2014-01-30 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
FR3023816A1 (fr) * | 2014-07-17 | 2016-01-22 | Renault Sas | Procede de filtrage passe bas de l'acceleration longitudinale avec controle du retard |
DE102018213471A1 (de) * | 2018-08-10 | 2020-02-13 | Bayerische Motoren Werke Aktiengesellschaft | Begrenzen eines Soll-Werts für eine Steuergröße eines Fahrerassistenzsystems |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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DE19632337C2 (de) | 1996-08-10 | 2000-12-14 | Daimler Chrysler Ag | Verfahren und Einrichtung zur Regelung der Längsdynamik eines Kraftfahrzeuges |
AT520320B1 (de) | 2017-09-26 | 2019-03-15 | Avl List Gmbh | Verfahren und eine Vorrichtung zum Erzeugen eines dynamischen Geschwindigkeitsprofils eines Kraftfahrzeugs |
DE102020201921A1 (de) | 2020-02-17 | 2021-08-19 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Fahrerassistenzsystem zur Regelung der Geschwindigkeit einer Längsbewegung eines Fahrzeugs |
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2021
- 2021-03-17 DE DE102021106515.1A patent/DE102021106515A1/de active Pending
-
2022
- 2022-02-03 WO PCT/EP2022/052611 patent/WO2022194443A1/de active Application Filing
- 2022-02-03 CN CN202280013313.3A patent/CN116848028A/zh active Pending
- 2022-02-03 US US18/277,458 patent/US20240123999A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012213321A1 (de) * | 2012-07-30 | 2014-01-30 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
FR3023816A1 (fr) * | 2014-07-17 | 2016-01-22 | Renault Sas | Procede de filtrage passe bas de l'acceleration longitudinale avec controle du retard |
DE102018213471A1 (de) * | 2018-08-10 | 2020-02-13 | Bayerische Motoren Werke Aktiengesellschaft | Begrenzen eines Soll-Werts für eine Steuergröße eines Fahrerassistenzsystems |
Also Published As
Publication number | Publication date |
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DE102021106515A1 (de) | 2022-09-22 |
CN116848028A (zh) | 2023-10-03 |
US20240123999A1 (en) | 2024-04-18 |
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