EP-4737274-A1 - VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

Abstract

A vehicle control device is a vehicle control device including a steering controller configured to control steering of a vehicle on the basis of information of a plurality of trajectory points sequentially aligned in a two-dimensional coordinate system of the vehicle configuring a target trajectory along which the vehicle will travel in a future, the steering controller includes a polynomial calculating part that derives a trajectory used for causing the vehicle to travel along the target trajectory that has been fitted to a trajectory of a two-dimensional point sequence represented by the plurality of trajectory points by calculating a polynomial, and the polynomial includes a feedback term used for deriving the trajectory through feedback control based on at least a deviation from the target trajectory.

Inventors

• Toda, Kosuke
• GOTO, TAKERU

Assignees

• HONDA MOTOR CO., LTD.

Dates

Publication Date

20260506

Application Date

20251015

Claims (9)

1. A vehicle control device comprising a steering controller configured to control steering of a vehicle on the basis of information of a plurality of trajectory points sequentially aligned in a two-dimensional coordinate system of the vehicle configuring a target trajectory along which the vehicle will travel in a future, wherein the steering controller includes a polynomial calculating part that derives a trajectory used for causing the vehicle to travel along the target trajectory that has been fitted to a trajectory of a two-dimensional point sequence represented by the plurality of trajectory points by calculating a polynomial, and wherein the polynomial includes a feedback term used for deriving the trajectory through feedback control based on at least a deviation from the target trajectory.
2. The vehicle control device according to claim 1, wherein the feedback term includes a term of a quadratic function representing a curvature of the target trajectory.
3. The vehicle control device according to claim 1 or 2, wherein the feedback term further includes a term of a cubic or higher-order function representing the curvature of the target trajectory.
4. The vehicle control device according to any one of claims 1 to 3, wherein the polynomial further includes a feedforward term used for deriving the trajectory through feedforward control.
5. The vehicle control device according to any one of claims 1 to 4, wherein the polynomial includes a steering angle velocity suppression term used for deriving the trajectory by performing steering angle velocity suppression control suppressing a velocity of the vehicle at a time of traveling in the future in accordance with a steering angle at a time of previously performing control of the steering and a target speed represented by the target trajectory.
6. The vehicle control device according to any one of claims 1 to 5, wherein the polynomial includes a steering angle acceleration suppression term used for deriving the trajectory by performing steering angle acceleration suppression control suppressing an acceleration of the vehicle at the time of traveling in the future in accordance with a steering angle at the time of previously performing control of the steering and a target acceleration represented by the target trajectory.
7. The vehicle control device according to any one of claims 1 to 6, wherein the polynomial further includes a regularization term suppressing a term of a cubic or higher-order function of feedback control for the derived trajectory through regularization control.
8. A vehicle control method using a computer of a vehicle control device controlling steering of a vehicle on the basis of information of a plurality of trajectory points sequentially aligned in a two-dimensional coordinate system of the vehicle configuring a target trajectory along which the vehicle will travel in a future, the vehicle control method comprising: deriving a trajectory used for causing the vehicle to travel along the target trajectory that has been fitted to a trajectory of a two-dimensional point sequence represented by the plurality of trajectory points by calculating a polynomial, wherein the polynomial includes a feedback term used for deriving the trajectory through feedback control based on at least a deviation from the target trajectory.
9. A computer-readable non-transitory storage medium storing a program therein, the program causing a computer of a vehicle control device controlling steering of a vehicle on the basis of information of a plurality of trajectory points sequentially aligned in a two-dimensional coordinate system of a vehicle configuring a target trajectory along which the vehicle will travel in the future to: derive a trajectory used for causing the vehicle to travel along the target trajectory that has been fitted to a trajectory of a two-dimensional point sequence represented by the plurality of trajectory points by calculating a polynomial, wherein the polynomial includes a feedback term used for deriving the trajectory through feedback control based on at least a deviation from the target trajectory.

Description

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a vehicle control device, a vehicle control method, and a storage medium. Description of Related Art In recent years, practical implementation of automated driving that automatically controls traveling of a vehicle has been underway. Through research and development relating to this automated driving technology, efforts are being focused on further improving traffic safety and convenience. Conventionally, in vehicle control using automated driving, a technique relating to a vehicle control device that derives a trajectory along which a subject vehicle is traveling by performing fitting using arcs on a two-dimensional point sequence in the coordinate system of the subject vehicle that is given as a target trajectory for future traveling has been disclosed (see, for example, Japanese Unexamined Patent Application, First Publication No. 2022-108833). In this conventional technology, a starting point and an ending point of the two-dimensional point sequence to be referred to for deriving a trajectory are updated using an error between the arc and the trajectory as a reference. SUMMARY OF THE INVENTION Meanwhile, control of steering in a vehicle during automated driving, that is, fitting to a target trajectory along which the vehicle travels has a significant influence on ride comfort of the vehicle. For this reason, in the automated driving technology, it is more preferable to minimize the deviation of steering (a steering angle), that is, the vibration of the steering. However, in order to improve ride comfort of a vehicle by suppressing steering vibrations, precise control is necessary in the target trajectory fitting process. In fitting using arcs as in the conventional technology, there is a problem that the process for improving ride comfort of a vehicle becomes a factor causing an increase in the amount of calculation (the calculation cost becomes high), that is, a factor causing an increase in the processing load relating to automated driving. Furthermore, the increase in the processing load of fitting to a target trajectory is assumed to also affect the original steering control in automated driving. An aspect of the present invention provides a vehicle control device, a vehicle control method, and a storage medium capable of performing appropriate steering angle control suppressing vibrations of steering by using the fitting process with respect to a target trajectory. An aspect of the present invention improves ride comfort of a vehicle and thus provides more appropriate steering control and contributes to the development of sustainable transportation systems. A vehicle control device, a vehicle control method, and a storage medium according to the present invention employ the following configurations. (1) A vehicle control device according to one aspect of the present invention is a vehicle control device including a steering controller configured to control steering of a vehicle on the basis of information of a plurality of trajectory points sequentially aligned in a two-dimensional coordinate system of the vehicle configuring a target trajectory along which the vehicle will travel in a future, in which the steering controller includes a polynomial calculating part that derives a trajectory used for causing the vehicle to travel along the target trajectory that has been fitted to a trajectory of a two-dimensional point sequence represented by the plurality of trajectory points by calculating a polynomial, and the polynomial includes a feedback term used for deriving the trajectory through feedback control based on at least a deviation from the target trajectory.(2): In the aspect (1) described above, the feedback term includes a term of a quadratic function representing a curvature of the target trajectory.(3): In the aspect (1) or (2) described above, the feedback term further includes a term of a cubic or higher-order function representing the curvature of the target trajectory.(4): In any one of the aspects (1) to (3) described above, the polynomial further includes a feedforward term used for deriving the trajectory through feedforward control.(5): In any one of the aspects (1) to (4) described above, the polynomial includes a steering angle velocity suppression term used for deriving the trajectory by performing steering angle velocity suppression control suppressing a velocity of the vehicle at a time of traveling in the future in accordance with a steering angle at a time of previously performing control of the steering and a target speed represented by the target trajectory.(6): In any one of the aspects (1) to (5) described above, the polynomial includes a steering angle acceleration suppression term used for deriving the trajectory by performing steering angle acceleration suppression control suppressing an acceleration of the vehicle at the time of traveling in the future in accordance with a steering angl