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1. EP3377953 - ADAPTIVE CONTROL METHOD AND SYSTEM IN A TERRESTRIAL VEHICLE FOR TRACKING A ROUTE, PARTICULARLY IN AN AUTONOMOUS DRIVING SCENARIO

Office
European Patent Office
Application Number 17805262
Application Date 31.10.2017
Publication Number 3377953
Publication Date 26.09.2018
Publication Kind B1
IPC
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
B62D 15/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators
CPC
B62D 15/025
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
G05D 1/0212
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
G05D 2201/0213
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0213Road vehicle, e.g. car or truck
B60W 10/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
10Conjoint control of vehicle sub-units of different type or different function
20including control of steering systems
B60W 30/10
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
10Path keeping
B60W 40/13
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
40Estimation or calculation of ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
12related to parameters of the vehicle itself ; , e.g. tyre models
13Load or weight
Applicants MARELLI EUROPE SPA
Inventors GIORELLI MICHELE
CORNO MATTEO
ROSELLI FEDERICO
SAVARESI SERGIO MATTEO
Designated States
Title
(DE) ADAPTIVES STEUERUNGSVERFAHREN UND SYSTEM IN EINEM TERRESTRISCHEN FAHRZEUG ZUR VERFOLGUNG EINER ROUTE, INSBESONDERE IN EINEM AUTONOMEN FAHRSZENARIO
(EN) ADAPTIVE CONTROL METHOD AND SYSTEM IN A TERRESTRIAL VEHICLE FOR TRACKING A ROUTE, PARTICULARLY IN AN AUTONOMOUS DRIVING SCENARIO
(FR) PROCÉDÉ ET SYSTÈME DE COMMANDE ADAPTATIVE DANS UN VÉHICULE TERRESTRE POUR SUIVRE UN ITINÉRAIRE EN PARTICULIER DANS UN SCÉNARIO DE CONDUITE AUTONOME
Abstract
(EN)
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 the vehicle 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 error over time.

(FR)
Cette invention concerne un procédé de commande du mouvement latéral d'un véhicule terrestre conçu pour suivre une trajectoire prédéterminée, en particulier dans un scénario de conduite assistée ou de conduite autonome, comprenant : la détermination d'un décalage latéral du centre de gravité du véhicule par rapport à la trajectoire prédéterminée ; la détermination d'une erreur d'anticipation définie en tant que distance d'une position d'anticipation virtuelle du centre de gravité du véhicule par rapport à la trajectoire prédéterminée ; et la commande de l'angle de braquage du véhicule de façon à réduire également au minimum le décalage latéral et la première dérivée de ladite erreur d'anticipation dans le temps.