To perform path generation equivalent to an expert driver by adding, to a conventional transition curve, correction based on analytical thinking for taking acceleration and deceleration into consideration.SOLUTION: When velocity V advancing a transition curve length becomes small, or a time t(V=s/t) required for advancing a unit transition curve length s becomes large, a curvature κ is changed to an enlarging direction. On the other hand, when the velocity V advancing the transition curve length becomes large, or the time t(V=s/t) required for advancing the unit transition curve length s becomes small, the curvature κ is changed to a reducing direction.SELECTED DRAWING: Figure 13
【課題】従来の緩和曲線に、加減速を考慮するための解析的な考え方に基づく修正を加え、エキスパートドライバと同等な経路生成を行う。【解決手段】緩和曲線長を進む速度Vが小さくなるか、単位緩和曲線長s進むのに要する時間t(V=s/t)が大きくなると、曲率κを大きい方向に変化させ、緩和曲線長を進む速度Vが大きくなるか、単位緩和曲線長s進むのに要する時間t(V=s/t)が小さくなると、曲率κを大きい方向に変化させる。【選択図】図13
TRAVEL TRACK DESIGN METHOD AND VEHICLE MOTION CONTROL DEVICE
走行軌道設計方法及び車両運動制御装置
2019-10-31
Patent
Electronic Resource
Japanese
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 |
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