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1. (WO2018122808) COMFORT-BASED SELF-DRIVING PLANNING METHOD
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Pub. No.: WO/2018/122808 International Application No.: PCT/IB2017/058538
Publication Date: 05.07.2018 International Filing Date: 30.12.2017
IPC:
B60T 8/175 (2006.01) ,B60W 30/00 (2006.01) ,B60W 40/00 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
T
VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
8
Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17
Using electrical or electronic regulation means to control braking
175
Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
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
30
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
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
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
40
Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
Applicants:
杜豫川 DU, Yuchuan [CN/CN]; CN (GB)
同济大学 TONGJI UNIVERSITY [CN/CN]; 上海市曹安公路4800号 4800 Cao'an Road Shanghai, CN (CN)
许军 XU, Michael Jun [CN/FR]; FR (AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BE, BF, BG, BH, BJ, BN, BR, BW, BY, BZ, CA, CF, CG, CH, CI, CL, CM, CO, CR, CU, CY, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, FR, GA, GB, GD, GE, GH, GM, GN, GQ, GR, GT, GW, HN, HR, HU, ID, IE, IL, IN, IR, IS, IT, JO, JP, KE, KG, KH, KM, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LT, LU, LV, LY, MA, MC, MD, ME, MG, MK, ML, MN, MR, MT, MW, MX, MY, MZ, NA, NE, NG, NI, NL, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SI, SK, SL, SM, SN, ST, SV, SY, TD, TG, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW)
Inventors:
杜豫川 DU, Yuchuan; CN
李亦舜 LI, Yishun; CN
刘成龙 LIU, Chenglong; CN
Agent:
许军 XU, Michael Jun; CN
Priority Data:
PCT/IB2016/05810630.12.2016IB
Title (EN) COMFORT-BASED SELF-DRIVING PLANNING METHOD
(FR) PROCÉDÉ DE PLANIFICATION DE CONDUITE AUTONOME BASÉ SUR LE CONFORT
(ZH) 一种基于舒适度的自动驾驶行驶规划方法
Abstract:
(EN) A comfort-based self-driving planning method, including the steps of: a) establishing a relationship model of vibration road surface quality and driving comfort on the basis of a vehicle type; b) obtaining road ahead condition parameters, including abnormal condition information, road flatness and road surface anti-slide performance; c) obtaining the road ahead condition parameters, and adjusting a vehicle expected driving trajectory; d) respectively designing vehicle acceleration, deceleration and constant speed processes, and generating a speed change curve; e) optimising the speed change curve. By means of changeable road surface quality and vehicle vibration action mechanism analysis and image-based road surface anti-slide coefficient evaluation technology, a GIS and vehicle-road communication technology are used to acquire road condition parameters, and vehicle acceleration, deceleration and constant speed processes are respectively designed on the basis of changes in the parameters.
(FR) L'invention concerne un procédé de planification de conduite autonome basé sur le confort, comprenant les étapes consistant : a) à établir un modèle de relation de qualité de surface de route de vibration et de confort de conduite sur la base d'un type de véhicule ; b) à obtenir des paramètres d'état de route à venir, notamment des informations d'état anormal, une planéité de route et une performance anti-glissement de surface de route ; c) à obtenir les paramètres d'état de route à venir, et ajuster une trajectoire de conduite prévue de véhicule ; d) à concevoir respectivement des processus d'accélération, de décélération et de vitesse constante de véhicule, et générer une courbe de changement de vitesse ; e) à optimiser la courbe de changement de vitesse. Au moyen d'une analyse de qualité de surface de route changeante et d'un mécanisme d'action de vibration de véhicule et d'une technologie d'évaluation de coefficient anti-glissement de surface de route basée sur l'image, un GIS et une technologie de communication route-véhicule sont mis en œuvre pour acquérir des paramètres d'état de route, et des processus d'accélération, de décélération et de vitesse constante de véhicule sont respectivement conçus sur la base de changements dans les paramètres.
(ZH) 一种基于舒适度的自动驾驶行使规划方法,包含步骤:a)基于车型建立振动类路面质量与行使舒适度的关系模型, b)获取前方道路工况参数,含异常状况信息、道路平整度和路面抗滑性能;c)获取前方道路工况参数,调整车辆的预期行使轨迹;d)分别设计车辆的加速、减速与匀速过程,生成速度变化曲线;e)优化速变变化曲线。这样的方法通过解析变形类路面质量与车辆振动的作用机理和基于图像的路面抗滑系数评估技术,利用GIS与车路通讯技术获得道路工况参数,基于参数的变化情况,分别设计车辆的加速、减速和匀速过程。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Chinese (ZH)
Filing Language: Chinese (ZH)