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    CONTROL SYSTEM OF VEHICLE, METHOD FOR CONTROLLING VEHICLE, AND NON-TRANSITORY COMPUTER READABLE MEMORY
    7.
    发明公开
    CONTROL SYSTEM OF VEHICLE, METHOD FOR CONTROLLING VEHICLE, AND NON-TRANSITORY COMPUTER READABLE MEMORY 审中-公开

    公开(公告)号：EP3610345A1

    公开(公告)日：2020-02-19

    申请号：EP18836540.7

    申请日：2018-12-05

    申请人： Mitsubishi Electric Corporation

    发明人： DI CAIRANO, Stefano ,  BERNTORP, Karl ,  AHN, Heejin ,  KAJINAMI, Jun ,  UEDA, Shunichi

    IPC分类号： G05D1/02 ,  G01C21/00 ,  G08G1/00

    摘要： Controlling a vehicle by producing a sequence of intermediate goals that includes specific goals, additional specific goals and optional goals, from a travel route for a prediction horizon. Testing a feasibility of each intermediate goal (IG), using a first model of motion of the vehicle and a first model of motion of the traffic, by the IG being achieved by satisfying traffic conditions and motion capabilities of the vehicle, after achieving the IG, a next goal of the specific goals and the additional specific goals can also be achieved. Compute a trajectory for each feasible IG, using a second model of motion of the vehicle and a second model of motion of the traffic, and compare each computed trajectory according to a numerical value determined by a cost function and determine satisfaction of constraints on the movement of the vehicle and the vehicle interaction with the road and the traffic.

    METHOD AND SYSTEM FOR CONTROLLING A VEHICLE
    8.
    发明公开
    METHOD AND SYSTEM FOR CONTROLLING A VEHICLE 审中-公开

    公开(公告)号：EP3484755A1

    公开(公告)日：2019-05-22

    申请号：EP17754207.3

    申请日：2017-07-06

    申请人： Mitsubishi Electric Corporation

    发明人： BERNTORP, Karl ,  DI CAIRANO, Stefano

    IPC分类号： B60T8/172

    摘要： A method jointly estimates a state of a vehicle including a velocity and a heading rate of the vehicle and a state of stiffness of tires of the vehicle including at least one parameter defining an interaction of at least one tire of the vehicle with a road on which the vehicle is traveling. The method uses the motion and measurement models that include a combination of deterministic component independent from the state of stiffness and probabilistic components dependent on the state of stiffness. The method represents the state of stiffness with a set of particles. Each particle includes a mean and a variance of the state of stiffness defining a feasible space of the parameters of the state of stiffness. The method updates iteratively the mean and the variance of at least some particles using a difference between an estimated state of stiffness estimated using the motion model of the vehicle including the state of stiffness with parameters sampled on the feasible space of the particle and the measured state of stiffness determined according to the measurement model using measurements of the state of the vehicle. The method outputs a mean and a variance of the state of stiffness determined as a function of the updated mean and the updated variance in at least one particle.