This patent describes a method and a device for providing energy-optimal driving (ecodriving) of (semi)autonomous vehicle in presence of dynamically arising traffic situation dependent additional constraints (i.e other moving vehicles, traffic signs not known during initial planning step, etc.). The controlled vehicle is moving on an optimal speed trajectory (derived at least based on road gradient information) and approaching slowly the moving leading vehicle or the traffic sign not known during initial planning step. The proposed system generates an appropriate modified trajectory to overcome the newly arisen constraints and the decision whether to overtake or not (in case the constraint is a leading vehicle) aiming achieving global energy optimal motion. The trajectory and the decision are obtained based on previously derived optimal speed trajectory tree, cost-to-go map and leading vehicle motion prediction.
Predictive control system for autonomous driving vehicle
2018-07-25
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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