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1. WO2018161335 - METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE REENTERING AUTONOMOUS DRIVING MODE

Publication Number WO/2018/161335
Publication Date 13.09.2018
International Application No. PCT/CN2017/076239
International Filing Date 10.03.2017
IPC
B60K 31/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
31Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
G05D 1/00 2006.01
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
CPC
B60W 2050/0074
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
50Details 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
0062Adapting control system settings
007Switching between manual and automatic parameter input, and vice versa
0074Driver shifts control to the controller, e.g. by pressing a button
B60W 2050/0096
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
50Details 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
0062Adapting control system settings
0075Automatic parameter input, automatic initialising or calibrating means
0095Automatic control mode change
0096Control during transition between modes
B60W 2510/0657
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
2510Input parameters relating to a particular sub-units
06Combustion engines, Gas turbines
0657Engine torque
B60W 2520/10
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
2520Input parameters relating to overall vehicle dynamics
10Longitudinal speed
B60W 2520/105
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
2520Input parameters relating to overall vehicle dynamics
10Longitudinal speed
105Longitudinal acceleration
B60W 2540/10
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
2540Input parameters relating to occupants
10Accelerator pedal position
Applicants
  • BAIDU. COM TIMES TECHNOLOGY (BEIJING) CO., LTD. [CN]/[CN]
  • BAIDU USA LLC [US]/[US]
Inventors
  • LUO, Qi
  • KONG, Qi
  • ZHU, Fan
  • HU, Sen
  • YU, Xiang
  • ZHU, Zhenguang
  • PAN, Yuchang
  • HE, Jiarui
  • FAN, Haoyang
  • YANG, Guang
  • WANG, Jingao
Agents
  • INSIGHT INTELLECTUAL PROPERTY LIMITED
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE REENTERING AUTONOMOUS DRIVING MODE
(FR) PROCÉDÉ ET SYSTÈME DE COMMANDE DE VÉHICULE À CONDUITE AUTONOME ET DE RE-SAISIE DE MODE DE CONDUITE AUTONOME
Abstract
(EN)
When an ADV is detected to transition from a manual driving mode to an autonomous driving mode, a first pedal value corresponding to a speed of the ADV at a previous command cycle during which the ADV was operating in the manual driving mode is determined. A second pedal value is determined based on a target speed of the ADV at a current command cycle during which the ADV is operating in an autonomous driving mode. A pedal value represents a pedal percentage of a maximum pedal pressure or maximum pedal pressed distance of a throttle pedal or brake pedal from a neutral position. A speed command is generated and issued to the ADV based on the first pedal value and the second pedal value, such that the ADV runs in a similar acceleration before and after switching from the manual driving mode to the autonomous driving mode.
(FR)
Lorsqu'il est détecté qu'un véhicule à conduite autonome (VCA) passe d'un mode de conduite manuelle à un mode de conduite autonome, une première valeur de pédale correspondant à une vitesse du VCA lors d'un cycle de commande précédent pendant lequel le VCA a été utilisé dans le mode de conduite manuelle est déterminée. Une seconde valeur de pédale est déterminée sur la base d'une vitesse cible du VCA lors d'un cycle de commande actuel pendant lequel le VCA fonctionne dans un mode de conduite autonome. Une valeur de pédale représente un pourcentage de pédale d'une pression de pédale maximale ou d'une distance de pression de pédale maximale d'une pédale d'accélérateur ou d'une pédale de frein à partir d'une position neutre. Une commande de vitesse est générée et délivrée au VCA sur la base de la première valeur de pédale et de la seconde valeur de pédale, de telle sorte que le VCA applique une accélération similaire avant et après la commutation du mode de conduite manuelle au mode de conduite autonome.
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