To provide a course control method for automated driving, which allows for driving in a condition where a curbstone on a road is detected by a measurement device such as LiDAR even when a GPS is not available and which can control with high accuracy a clearance between a curbstone and a bus when the bus is driven alongside a bus stop.SOLUTION: A course control method for automated driving includes a target route formulas that can conform to the landform at an actual place, detects a lateral deviation and an angle deviation to a target route from the shape of a curbstone such as a bus stop with a measurement device such as LiDAR, and calculates a steering angle for the target route depending on a vehicle model and thus allows a vehicle to travel along the target route and stop at a predetermined location.SELECTED DRAWING: Figure 3
【課題】GPSが使えない状況下でもLiDARなどの計測装置で道路縁石などを検出しての走行を可能にし、またバス停に横づけする縁石隙間の制御を高い精度で可能にする自動運転における進路制御方法を提供する。【解決手段】現地の地形に合わせることができる目標経路式等を持ち、LiDARなどの計測装置によって、バス停などの縁石形状から目標経路に対する横偏差と角度偏差を検出し、車両モデルによって目標経路に沿う舵角を算出して、目標経路に沿う走行、且つ定められた位置に停車することができる。【選択図】 図3
COURSE CONTROL METHOD FOR AUTOMATED DRIVING
自動運転における進路制御方法
2020-04-16
Patent
Electronic Resource
Japanese
European Patent Office | 2024
|European Patent Office | 2022
|Automated driving control apparatus and automated driving control method
European Patent Office | 2018
|AUTOMATED DRIVING CONTROL DEVICE, VEHICLE, AND AUTOMATED DRIVING CONTROL METHOD
European Patent Office | 2019
|Automated driving control device, vehicle, and automated driving control method
European Patent Office | 2021
|