Title:
PREDICTION CONTROL DEVICE AND METHOD
Document Type and Number:
WIPO Patent Application WO/2019/077971
Kind Code:
A1
Abstract:
Provided is a prediction control device with which it is possible to achieve both comfort during normal travel and quick movement during an emergency, as if a person is driving. A prediction control device for determining the operation amount applied to an actuator for automatic driving of a vehicle, wherein the prediction control device is characterized in being provided with: an operation command value generation unit for generating an operation amount with respect to the actuator and an operation amount candidate serving as a prediction value; an output prediction unit for outputting, using a state equation in which a movement model for a vehicle is represented as a numerical formula, a control amount candidate serving as a prediction value corresponding to the actuator output; an evaluation function computation unit for representing constraint conditions necessary for automatic driving of the vehicle as a plurality of functions and obtaining the total of the output of the functions regarding the constraint conditions; a situation degree detection unit for obtaining, from the situation surrounding the host vehicle during travel, a situation degree serving as a measure of whether to prioritize comfort or prioritize hazard avoidance; and a responsiveness adjustment unit for obtaining the next operation amount candidate from the situation degree from the situation degree detection unit, the operation command value generation unit generating the operation amount with respect to the actuator in accordance with the output of the evaluation function from the evaluation function computation unit, and the responsiveness adjustment unit adjusting the output of the evaluation function in accordance with the situation degree.
Inventors:
NAKAMURA TOSHIAKI (JP)
HIROTSU TEPPEI (JP)
HORIGUCHI TATSUYA (JP)
TOBA TADANOBU (JP)
SAKAMOTO HIDEYUKI (JP)
HIROTSU TEPPEI (JP)
HORIGUCHI TATSUYA (JP)
TOBA TADANOBU (JP)
SAKAMOTO HIDEYUKI (JP)
Application Number:
PCT/JP2018/036214
Publication Date:
April 25, 2019
Filing Date:
September 28, 2018
Export Citation:
Assignee:
HITACHI AUTOMOTIVE SYSTEMS LTD (JP)
International Classes:
B60W30/08; B60W50/06; G05B13/02
Domestic Patent References:
| WO2014118962A1 | 2014-08-07 |
Foreign References:
| JP2008143269A | 2008-06-26 | |||
| JP2004086289A | 2004-03-18 | |||
| JP2010202139A | 2010-09-16 |
Attorney, Agent or Firm:
TODA Yuji (JP)
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