To reduce control delay of a vehicle behavior.SOLUTION: In a vehicle behavior prediction method, a future travel plan of a vehicle is determined S10, an initial value of a candidate of controlled variables at a future time is determined S12, a vehicle behavior of a vehicle is predicted by inputting determined future travel plan and candidate of controlled variables into a prediction model obtained by modeling the vehicle behavior generated in the vehicle traveling along the future travel plan S13, cost is calculated by using a prescribed evaluation function based on the predicted vehicle behavior S14, and recalculation is performed until the candidate of the controlled variables is optimized S16.SELECTED DRAWING: Figure 6
【課題】車両挙動の制御遅れを軽減する。【解決手段】車両挙動予測方法では、将来の車両の走行計画を決定しS10、将来の時刻における制御量の候補の初期値を決定しS12、将来の走行計画に沿って走行する車両に発生する車両挙動をモデル化した予測モデルに、決定した将来の走行計画及び制御量の候補を入力することにより、車両の車両挙動を予測しS13、予測した車両挙動に基づいて所定の評価関数を用いてコストを算出しS14、制御量の候補が最適化されるまで再計算するS16。【選択図】図6
VEHICLE BEHAVIOR PREDICTION METHOD AND VEHICLE BEHAVIOR PREDICTION DEVICE
車両挙動予測方法及び車両挙動予測装置
2020-02-20
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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