Vehicle Speed Command Smoothing Without Tolerance Data
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Solution Overview
Problem
Existing vehicle speed command generation methods require information on tolerance limits, which are not available in all driver's aid systems, limiting their ability to generate smooth vehicle speed commands for automated driving operation apparatuses.
Innovation Solution
A vehicle speed command generation device that delays the original vehicle speed command by different times to create reference, first-out, and delayed vehicle speed commands, which are then corrected to produce a smooth vehicle speed command, allowing for serial processing without relying on tolerance information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the original vehicle speed command is inputted directly to the automated driving operation apparatus, then the vehicle speed command follows the predetermined standard waveform, but sudden acceleration/deceleration occurs at points where the slope discontinuously changes, resulting in unnatural operation
Solution Approach 1:
The patent applies preliminary action by generating a smoothed vehicle speed command in advance before it is input to the automated driving operation apparatus. The smoothing process pre-processes the original command to eliminate discontinuous slope changes, so that when the command is executed, the vehicle operates naturally without sudden acceleration or deceleration events.
2Ease of operation
If moderating is applied to the original vehicle speed command to generate a smooth command within the tolerance range, then operation close to human is realized, but advance batch processing and adjustment of weighting function values are required, taking a long time before testing starts
Solution Approach 1:
The patent applies self-service by enabling the vehicle speed command generation device to automatically generate smoothed commands using only the original vehicle speed command as input. The system performs self-adjustment through internal processing without requiring external tolerance information or manual weighting function adjustments, thereby eliminating time-consuming preparation steps while maintaining natural operation characteristics.
3Ease of operation
If the vehicle speed command is smoothed by calculating a correction curve and weighted average, then sudden acceleration/deceleration is suppressed, but it requires information on tolerance limits which is not available in all driver's aid systems
Solution Approach 1:
The patent applies the taking out principle by extracting only the essential original vehicle speed command from the driver's aid system and eliminating the requirement for tolerance information. The smoothing process is achieved through operations that use solely the original command signal, making the system compatible with any driver's aid system regardless of whether it provides tolerance data.
4Ease of manufacture
If advance batch processing is used to generate smooth vehicle speed commands, then processing can be done offline, but it requires complex adjustment of weighting functions and cannot be performed by simple serial processing
Solution Approach 1:
The patent replaces the complex mechanical-like process of batch processing with weighting functions with a streamlined computational approach using simple serial processing. The invention substitutes the elaborate batch processing mechanism with a sequential algorithm that achieves the same smoothing effect through straightforward operations performed in real-time, eliminating the need for complex adjustment procedures.
Data Source
AI summary
This vehicle speed command generation device 1 generates a target vehicle speed command to be used by a vehicle speed control device. The vehicle speed command generation device 1 comprises: a shift processing unit 12 that receives an original vehicle speed command and generates each of a reference vehicle speed command in which the original vehicle speed command is delayed by a reference delay time, a first-out vehicle speed command in which the original vehicle speed command is delayed by a first-out delay time that is shorter than the reference delay time, and a delayed vehicle speed command in which the original vehicle speed command is delayed by a second delay time that is longer than the reference delay time; and a correction processing unit 16 that generates a target vehicle speed command by using the first-out vehicle speed command and the delayed vehicle speed command.