To provide a method and a system for performing acceleration and deceleration assist based on driving environment in motion control for an autonomous driving vehicle.SOLUTION: In response to a first control command originated from a driver of an autonomous driving vehicle (ADV), expected acceleration of the ADV in response to the ADV first control command is determined on the basis of current speed of the ADV under standard driving environment (e.g., a dry road, a flat road surface, normal tire pressure, and zero load). One of command calibration tables is selected based on the basis of current driving environment of the ADV at concerned timing. Search processing is performed in the selected command calibration table to obtain a second control command on the basis of the current speed and expected acceleration of the ADV. The second control command is then output to the ADV to control the ADV.EFFECT: The ADV realizes the same acceleration as when the ADV operates in the standard driving environment in the current driving environment.SELECTED DRAWING: Figure 8
【課題】自動運転車両の動作制御において、走行環境に基づく加速、減速支援を行う方法並びにシステムを提供する。【解決手段】自動走行車両(ADV)の運転者からの第1制御命令に応答し、ADVの標準運転環境(例えば、乾燥した道路、平坦な路面、正常なタイヤ圧力、ゼロ積載量)における現在の速度に基づいて、ADVのADV第1制御命令に応答する予想加速度を確定する。ADVの当該タイミングでの現在の運転環境に基づいて、命令キャリブレーションテーブル中の一つを選択する。選択した命令キャリブレーションテーブルで検索処理を実行して、ADVの現在の速度と予想加速度に基づいて第2制御命令を取得する。そして、ADVを制御するために前記第2制御命令を出力する。【効果】ADVは、現在の運転環境でADVが標準運転環境で運転するときの加速度と同じ加速度を実現する。【選択図】図8
VEHICLE ACCELERATION/BRAKE ASSIST SYSTEM BASED ON PREDETERMINED CALIBRATION TABLE FOR L2 AUTONOMOUS DRIVING
L2自動運転用の所定のキャリブレーションテーブルに基づく車両アクセル/ブレーキアシストシステム
2020-06-04
Patent
Electronic Resource
Japanese
PREDETERMINED CALIBRATION TABLE-BASED VEHICLE THROTTLE/BRAKE ASSIST SYSTEM FOR L2 AUTONOMOUS DRIVING
European Patent Office | 2020
|Predetermined calibration table-based vehicle throttle/brake assist system for L2 autonomous driving
European Patent Office | 2021
|European Patent Office | 2021
|European Patent Office | 2021
|PREDETERMINED CALIBRATION TABLE-BASED METHOD FOR OPERATING AN AUTONOMOUS DRIVING VEHICLE
European Patent Office | 2021
|