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Adaptive control method and system in a terrestrial vehicle for tracking a route, particularly in an autonomous driving scenario

一种自动驾驶、车辆的技术，应用在控制/调节系统、车辆位置/路线/高度控制、二维的位置/航道控制等方向，能够解决不允许考虑参考轨迹演变横向控制等问题

Active Publication Date: 2019-07-19
FAB ITAL MAGNETI MARELLI SPA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] In any case, the algorithms in the state of the art do not allow to take into account the evolution of the reference trajectory to optimize the lateral control of the vehicle over time

Method used

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  • Adaptive control method and system in a terrestrial vehicle for tracking a route, particularly in an autonomous driving scenario
  • Adaptive control method and system in a terrestrial vehicle for tracking a route, particularly in an autonomous driving scenario
  • Adaptive control method and system in a terrestrial vehicle for tracking a route, particularly in an autonomous driving scenario

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Experimental program
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specific Embodiment approach

[0031] figure 2 A graph is shown illustrating a lateral control strategy of a vehicle V, eg an autonomous vehicle, which follows a curved trajectory T in a predetermined route at a distance therefrom.

[0032] A vehicle V is represented by its center of mass B between the front steering wheels (shown as FW) and the rear wheels (shown as RW).

[0033] In the figure, h indicates the vehicle's local look-ahead direction as a dotted line, and Δψ indicates the angle between the vehicle's local look-ahead direction h and the local direction ψ of the trajectory T at the point of the trajectory closest to the vehicle's center of mass. The current steering angle of the vehicle (the front wheels FW of the vehicle) relative to the local look-ahead direction h of the vehicle is denoted as δ w , and the vehicle's velocity vector is shown applied to the center of mass B with module v and oriented at an angle β relative to the vehicle's local look-ahead direction.

[0034] Along the local...

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Abstract

A method is described for the control of the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario,comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of thevehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead errorover time.

Description

technical field [0001] The present invention relates generally to assisted driving systems for ground vehicles, and in particular onboard systems, and to methods for assisting ground vehicles, especially in assisted driving or autonomous driving scenarios following a predetermined trajectory. [0002] More specifically, the invention relates to a method and a system for lateral motion control of ground vehicles according to the preambles of claims 1 and 10, respectively. Background technique [0003] In recent years, progress has been made in equipping ground vehicles (hereafter simply referred to as "vehicles") with active vehicle driver assistance systems that have contributed to significantly improving road safety. [0004] The challenge ahead is to design autonomous vehicles and make them operate safely in congested road environments with other vehicles, whether autonomous or driven by a human driver. [0005] The operation of an autonomous vehicle is usually jointly co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B62D15/00
CPCG05D1/0212B62D15/025B60W10/20B60W30/10B60W40/13B60W2040/1315
Inventor M·焦雷利M·科尔诺F·罗塞洛S·M·萨瓦雷西
Owner FAB ITAL MAGNETI MARELLI SPA