There is provided a travel reference line determination system and an automatic driving system capable of determining a travel reference line of a vehicle appropriately even under conditions where information representing the track environment of the vehicle is hard to get. An ECU of an automatic driving system calculates a model y coordinate value ymw_i using a map in FIG. 4 (Step 12), calculates an estimated y coordinate value y_i using track environment data D_info (Step 11), calculates curvature C so that an error between the model y coordinate value ymw_i and the estimated y coordinate value y_i may be minimized (Step 18), calculates a travel trajectory Xf using the curvature C (Step 4), and executes automatic driving control using the travel trajectory Xf (Steps 31 to 33).
TRAVEL REFERENCE LINE DETERMINATION SYSTEM AND AUTOMATIC DRIVING SYSTEM
2019-07-25
Patent
Electronic Resource
English
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 / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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