To provide a technology to determine a vehicle control value appropriately.SOLUTION: A vehicle control value determination device 10 for determining a vehicle control value in a prediction horizon a predetermined time from a starting end on the basis of a state quantity of a vehicle at the starting end and information on a shape of a road includes: a constant acceleration three steering model operation unit 11 for generating a constant acceleration three steering model of a vehicle motion consisting of a first step, a second step, and a third step assuming a movement at constant acceleration, determining a yaw angle and a curvature of the vehicle after the third step is finished on the basis of the shape of the road, and determining time-series data on a curvature change rate of the vehicle from the first step to the third step so as to satisfy the yaw angle and the curvature of the vehicle at the starting end, and the yaw angle and the curvature of the vehicle after the third step is finished; and a nonlinear optimization operation unit 12 for performing nonlinear optimization by using the time-series data on the curvature change rate acquired by the constant acceleration three steering model operation unit 11, and the constant acceleration as initial values.SELECTED DRAWING: Figure 3
【課題】車両制御値を適切に決定することができる技術を提供する。【解決手段】車両制御値決定装置10は、始端における車両の状態量と道路の形状に関する情報に基づいて、始端から所定時間後までの予測ホライズンにおける車両の制御値を決定する装置であって、一定加速度での移動を仮定した第1ステップ、第2ステップ、及び第3ステップからなる車両運動の等加速3操舵モデルを生成すると共に、第3ステップ終了後の車両のヨー角及び曲率を道路の形状に基づいて決定し、始端における車両のヨー角及び曲率と第3ステップ終了後の車両のヨー角及び曲率を満たすように、第1ステップから第3ステップにおける車両の曲率変化率の時系列データを決定する等加速3操舵モデル演算部11と、等加速3操舵モデル演算部11で求めた曲率変化率の時系列データと、一定加速度を初期値として用いて非線形最適化を行う非線形最適化演算部12とを備える。【選択図】図3
VEHICLE CONTROL VALUE DETERMINATION DEVICE, VEHICLE CONTROL VALUE DETERMINATION METHOD, AND PROGRAM
車両制御値決定装置、車両制御値決定方法、およびプログラム
21.11.2019
Patent
Elektronische Ressource
Japanisch
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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