Driving aid control apparatus
AssigneeDenso Corporation
InventorHirotaka Tokoro
Life of this patent
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Abstract
An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory (La) by transmitting a control command value (δ) to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a setpoint trajectory setter is configured to set the setpoint trajectory (La) of the mobile object. A control command value calculator is configured to calculate the control command value (δ) based on an integrated value (δI) of a lateral error that is an error between a position of the mobile object and the setpoint trajectory. The control command value calculator is further configured to decrease the integrated value (δI) with decreasing a curvature (ρ) of a road on which the mobile object is traveling.
Claims14
An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory, the apparatus comprising:
- a central processing unit configured to:
- set the setpoint trajectory of the mobile object;
- calculate an integrated value of a lateral error, the lateral error being an error between a current position of the mobile object and the setpoint trajectory;
- determine a decremental gain changeable by a curvature of the a that the mobile object is traveling on;
- calculate a final integrated value by multiplying the integrated value of the lateral error by the decremental gain;
- and
- calculate, using the final integrated value, a control command value used for controlling a yaw moment of the mobile object;
- and
- a memory configured to store a program which is performed by the central processing unit, wherein
- the central processing unit is configured to reset the integrated value in response to the curvature of the road being equal to or less than a first curvature, and determine the decremental gain such that the decremental gain decreases as the curvature of the road decreases in response to the curvature of the road being less than a second curvature which is greater than the first curvature.
A method for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory, the method comprising:
- setting the setpoint trajectory of the mobile object;
- calculating an integrated value of a lateral error, the lateral error being an error between a current position of the mobile object and the setpoint trajectory;
- determining a decremental gain changeable by a curvature of a road that the mobile object is traveling on;
- calculating a final integrated value by multiplying the integrated value of the lateral error by the decremental gain;
- and
- calculating a control command value using the final integrated value, the control command value used for controlling a yaw moment of the mobile object,
- wherein
- the integrated value is reset in response to the curvature of the road being equal to or less than a first curvature, and
- the decremental gain is determined such that the decremental gain decreases as the curvature of the road decreases in response to the curvature of the road being less than a second curvature which is greater than the first curvature.
Dependencies are inferred from the claim text.