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CN-116803793-B - Driving control device and driving control method

CN116803793BCN 116803793 BCN116803793 BCN 116803793BCN-116803793-B

Abstract

The driving control apparatus 10 includes a generation section 122 that generates a vehicle model indicating a relationship between a weight, a center of gravity position, a speed, a steering angle, a lateral deviation, a potential angle deviation, and a curvature of the vehicle for a predetermined control period, and a calculation section 123 that calculates, as an optimal steering angle, a steering angle that minimizes or maximizes an output value of an evaluation function including an estimated lateral deviation, an estimated azimuth angle deviation, a steering angle, and a variation amount of the steering angle with respect to an immediately preceding control period calculated based on the vehicle model. The calculation portion 123 makes the coefficient of the term corresponding to the variation amount after the initial period has elapsed from when the vehicle is started smaller than the weighting coefficient of the term corresponding to the variation amount from when the vehicle is started until a predetermined initial period has elapsed.

Inventors

  • Haruki motoya

Assignees

  • 五十铃自动车株式会社

Dates

Publication Date
20260508
Application Date
20230316
Priority Date
20220323

Claims (13)

  1. 1. A driving control apparatus comprising: An acquisition section that acquires a weight of a vehicle, a position of a center of gravity of the vehicle, a speed of the vehicle, a steering angle of the vehicle, a lateral deviation of the vehicle, an azimuth deviation of the vehicle, and a curvature of a road surface on which the vehicle travels; A generation section that generates a vehicle model indicating a relationship among the weight, the center of gravity position, the speed, the steering angle, the lateral deviation, the azimuth deviation, and the curvature at a predetermined control period, and A calculation portion that calculates, as an optimal steering angle, a steering angle that minimizes or maximizes an output value of an evaluation function including an estimated lateral deviation, an estimated azimuth deviation, the steering angle, and a variation amount of the steering angle with respect to the immediately preceding control period calculated based on the vehicle model, Wherein the calculation portion makes a weighting coefficient of an item corresponding to the variation amount after an initial period has elapsed from when the vehicle is started smaller than the weighting coefficient of the item corresponding to the variation amount from when the vehicle is started until a predetermined initial period has elapsed.
  2. 2. The driving control device according to claim 1, wherein, The calculation portion makes a weighting coefficient of a term corresponding to the steering angle after the initial period has elapsed since the start of the vehicle smaller than the weighting coefficient of the term corresponding to the steering angle until a predetermined initial period has elapsed since the start of the vehicle.
  3. 3. The driving control device according to claim 1 or 2, wherein, The calculation section changes the weighting coefficient of the term corresponding to the variation amount during a predetermined transition period from when the initial period passes.
  4. 4. The driving control device according to claim 3, wherein, The calculation section determines the transition period based on the magnitude of the difference between the weighting coefficient before the change and the weighting coefficient after the change.
  5. 5. The driving control device according to claim 1 or 2, wherein, The calculation portion makes a weighting coefficient of a term corresponding to the estimated lateral deviation after the initial period has elapsed since the start of the vehicle larger than the weighting coefficient of the term corresponding to the estimated lateral deviation until a predetermined initial period has elapsed.
  6. 6. The driving control device according to claim 1 or 2, wherein, The calculation portion makes a weighting coefficient of a term corresponding to the estimated azimuth deviation after the initial period has elapsed since the start of the vehicle larger than the weighting coefficient of the term corresponding to the estimated azimuth deviation until a predetermined initial period has elapsed.
  7. 7. The drive control apparatus according to claim 1 or 2, wherein The calculation section determines at least one weighting coefficient of one or more items of the evaluation function by referring to a storage section that stores the type of the vehicle in association with the weighting coefficient of one or more items of the evaluation function.
  8. 8. The driving control device according to claim 1 or 2, wherein, When a mode that prioritizes good feeling over the ability to follow a target trajectory immediately after the vehicle starts is selected, the calculation portion makes a weighting coefficient of an item related to the steering angle input to the evaluation function larger until the initial period elapses, as compared to a case where a mode that prioritizes the ability to follow a target trajectory immediately after the vehicle starts is selected.
  9. 9. The driving control device according to claim 1 or 2, wherein, The calculation section performs an optimization calculation for minimizing the output value of the evaluation function shown in the following equation, Satisfy delta min ≤δ[k+k t ]≤δ max Δδ min ≤Δδ[k+k t ]≤Δδ max Where p denotes a prediction level, e z denotes an estimated lateral deviation, e θ denotes an estimated azimuth deviation, δ denotes a steering angle input, Δδ denotes a difference between the steering angle input and the steering angle input of the immediately preceding control cycle, the "max" and "min" as subscripts of each input variable and output variable are an upper limit value and a lower limit value of a signal, and Q 1 、Q 2 、R 1 and R 2 are weighting coefficients.
  10. 10. The driving control device according to claim 9, wherein, When a mode that prioritizes good feeling over the ability to follow a target trajectory immediately after the vehicle starts is selected, the calculation portion makes the weighting coefficient R 1 and the weighting coefficient R 2 in the evaluation function larger until the initial period elapses than in the case where a mode that prioritizes the ability to follow a target trajectory immediately after the vehicle starts is selected.
  11. 11. The driving control apparatus according to claim 9, wherein In the case where the lateral deviation and the azimuth deviation are preferentially converged to 0, the calculation section sets at least one of the weighting coefficient Q 1 and the weighting coefficient Q 2 to be larger or sets at least one of the weighting coefficient R 1 and the weighting coefficient R 2 to be smaller than the case where the lateral deviation and the azimuth deviation are not preferentially converged to 0.
  12. 12. The driving control apparatus according to claim 9, wherein When the amount of change in the steering angle is preferentially reduced, the calculation portion sets the weighting coefficient R 2 to be larger than when the amount of change in the steering angle is not preferentially reduced.
  13. 13. A driving control method executed by a computer, comprising: acquiring a weight of a vehicle, a position of a center of gravity of the vehicle, a speed of the vehicle, a steering angle of the vehicle, a lateral deviation of the vehicle, an azimuthal deviation of the vehicle, and a curvature of a road surface on which the vehicle is traveling; Generating a vehicle model indicating a relationship among the weight, the center of gravity position, the speed, the steering angle, the lateral deviation, the azimuthal deviation, and the curvature at a predetermined control period, and Calculating as an optimal steering angle a steering angle that minimizes or maximizes an output value of an evaluation function including an estimated lateral deviation, an estimated azimuth deviation, the steering angle, and a variation amount of the steering angle with respect to the immediately preceding control period calculated based on the vehicle model, Wherein the calculation includes making a weighting coefficient of an item corresponding to the variation amount after an initial period has elapsed from when the vehicle is started smaller than the weighting coefficient of the item corresponding to the variation amount from when the vehicle is started until a predetermined initial period has elapsed.

Description

Driving control device and driving control method Technical Field The present invention relates to a driving control apparatus and a driving control method. Background Conventionally, a travel control system that causes a vehicle to travel along a target trajectory is known. Japanese patent No. 4297123 discloses a trip control system that determines the curvature of a target trajectory based on the speed of a vehicle. Disclosure of Invention Problems to be solved by the invention The conventional travel control system calculates a steering angle at which the vehicle travels along the target trajectory by using a vehicle model in which the weight and the center of gravity position of the vehicle are input in advance as fixed values. However, when the number of passengers or the load weight of the vehicle is changed, the weight and the center of gravity position of the vehicle are different from those of the vehicle input as fixed values in the vehicle model. As a result, since the travel control system cannot calculate the steering angle for traveling along the target trajectory with high accuracy, there is a problem in that the vehicle may not be able to travel along the target trajectory. In order to drive the vehicle along the target trajectory, it is conceivable to drive the vehicle at a steering angle that minimizes or maximizes the output value of an evaluation function including an estimated lateral deviation, an estimated azimuth deviation, a steering angle, and a variation from the steering angle calculated based on the vehicle model. However, when attempting to travel along the target locus, the steering angle varies greatly immediately after the vehicle starts to move, and there is a problem in that the driver feel (i.e., travel comfort) becomes poor. The present invention has been made in view of the above circumstances, and an object of the present invention is to make a vehicle travel along a target trajectory and to improve a driver's feeling at the time of starting the vehicle. Means for solving the problems The driving control apparatus according to the first aspect of the invention includes an acquisition portion that acquires a weight of a vehicle, a center of gravity position of the vehicle, a speed of the vehicle, a steering angle of the vehicle, a lateral deviation of the vehicle, an azimuthal deviation of the vehicle, and a curvature of a road surface on which the vehicle runs, a generation portion that generates a vehicle model indicating a relationship between the weight, the center of gravity position, the speed, the steering angle, the lateral deviation, the azimuthal deviation, and the curvature at a predetermined control period, and a calculation portion that calculates, as an optimal steering angle, a steering angle that minimizes or maximizes an output value of an evaluation function including an estimated lateral deviation, an estimated azimuthal deviation, a steering angle, and a variation of the steering angle calculated based on the vehicle model with respect to an immediately preceding control period. The calculation unit makes the weighting coefficient of the term corresponding to the variation amount after the lapse of the initial period from when the vehicle is started smaller than the weighting coefficient of the term corresponding to the variation amount until the lapse of the predetermined initial period from when the vehicle is started. The calculation portion may make the weighting coefficient of the term corresponding to the steering angle after the initial period has elapsed from when the vehicle is started smaller than the weighting coefficient of the term corresponding to the steering angle from when the vehicle is started until a predetermined initial period has elapsed. The calculation section may change the weighting coefficient of the term corresponding to the variation amount during a predetermined transition period from when the initial period passes. The calculation section may determine the transition period based on the magnitude of the difference between the weighting coefficient before the change and the weighting coefficient after the change. The calculation portion may make the weighting coefficient of the term corresponding to the estimated lateral deviation after the initial period has elapsed since the start of the vehicle larger than the weighting coefficient of the term corresponding to the estimated lateral deviation until a predetermined initial period has elapsed. The calculation portion may make the weighting coefficient of the term corresponding to the estimated azimuth deviation after the initial period has elapsed since the start of the vehicle larger than the weighting coefficient of the term corresponding to the estimated azimuth deviation until a predetermined initial period has elapsed. The calculation section may determine at least one weighting coefficient of one or more items of the evaluation function by referring to a storage s