To provide a convoy travel tracking control method and device which suppress a value of lateral deviation occurring upon turning as a result of use of a path following control law in convoy travel tracking control which requires maintaining of an inter-vehicle distance.SOLUTION: This is attributable to use of azimuth deviation from a proceeding vehicle as a value of azimuth deviation in a control law. Providing azimuth deviation with a correction term in accordance with a turn curvature radius so that a path following control law works effectively while maintaining an inter-vehicle distance makes it possible to suppress lateral deviation in travelling with a minimum curvature radius of a highway main line. Moreover, more generally, velocity yaw angular velocity and position azimuth of the proceeding vehicle at a time point at which the proceeding vehicle has passed before a distance corresponding to the inter-vehicle distance are transmitted to the following vehicle, and the following vehicle is caused to trace a locus of the proceeding vehicle based on the path following control law to follow the proceeding vehicle.SELECTED DRAWING: Figure 1
【課題】車間距離維持を必要とする隊列走行追従制御に於いて、path following制御則を用いると旋回時に横偏差が発生する。この横偏差値を抑制する隊列走行追従制御方法及び装置を提供する。【解決手段】これは制御則に於ける方位角偏差の値として先行車との方位角偏差を用いていることに起因する。車間距離を維持しながらpath following制御則が有効に働くように、方位角偏差に旋回曲率半径に応じた補正項を設けることにより高速道路本線の最小曲率半径での走行に於いても横偏差を抑えることが出来る。又より汎用的には、先行車が車間距離相当の距離前に通過した時点の先行車の速度ヨー角速度及び位置方位角を追従車に送信し追従車をpath following制御則により先行車の軌跡をなぞらせ先行車に追従させる。【選択図】図1
CONVOY TRAVEL TRACKING CONTROL METHOD AND DEVICE
隊列走行追従制御方法及び装置
2019-08-01
Patent
Elektronische Ressource
Japanisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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