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    MOTOR-VEHICLE TRAJECTORY PLANNING AND CONTROL TO CAUSE AUTOMATED MOTOR-VEHICLES TO PERFORM LOW-SPEED MANOEUVRES IN AUTOMATED DRIVING
    1.
    发明申请
    MOTOR-VEHICLE TRAJECTORY PLANNING AND CONTROL TO CAUSE AUTOMATED MOTOR-VEHICLES TO PERFORM LOW-SPEED MANOEUVRES IN AUTOMATED DRIVING 有权

    公开(公告)号：US20220169247A1

    公开(公告)日：2022-06-02

    申请号：US17442379

    申请日：2020-10-23

    Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI

    Inventor： Giulio BORRELLO ,  Enrico RAFFONE ,  Claudio REI ,  Massimo FOSSANETTI

    IPC: B60W30/14 ,  B60W30/12 ,  B60W30/06 ,  B60W40/072 ,  B60W60/00 ,  B60W10/20 ,  B60W10/18

    Abstract: An automotive electronic dynamics control system for a motor-vehicle equipped with and automotive automated driving system designed to cause the motor-vehicle to perform low-speed manoeuvres in automated driving.
    The automotive automated driving system comprises an automotive sensory system designed to detect motor-vehicle-related quantities, and automotive actuators comprising an Electric Power Steering, a Braking System, and a Powertrain.
    The electronic dynamics control system is designed to implement a Driving Path Planner designed to: receive data representative of static obstacles in the surroundings of the motor-vehicle and representing static space constraints to the motion of the motor-vehicle, and compute, based on the received data, a planned driving path for the motor-vehicle during a low-speed manoeuvre performed in automated driving. The electronic dynamics control system is further designed to implement a Model Predictive Control (MPC)-based Trajectory Planner and Controller designed to: receive from the Driving Path Planner data representative of the planned driving path and from the automotive sensory system data representative of positions and orientations of the motor-vehicle and of dynamic obstacles in the surroundings of the motor-vehicle and representing dynamic space constraints to the motion of the motor-vehicle, and compute, based on the received data, a planned lateral trajectory and a planned longitudinal trajectory for the motor-vehicle during the low-speed manoeuvre performed in automated driving. The electronic dynamics control system is further designed to implement a Motion Controller designed to: receive from the Trajectory Planner and Controller data representative of the planned lateral and longitudinal trajectories, and compute commands for the Electric Power Steering based on the planned lateral trajectory, and for the Braking System and the Powertrain based on the planned longitudinal trajectory. The Driving Path Planner is designed to compute the planned driving path as a planned driving corridor within which the motor-vehicle may be driven and made up of a series of driving path segments each with a length and an orientation referenced in an inertial reference frame.
    The MPC-based Trajectory Planner and Controller comprises: an MPC-based Lateral Trajectory Planner and Controller designed to compute the planned lateral trajectory as a series of steering requests referenced in a motor-vehicle reference frame; and an MPC-based Longitudinal Trajectory Planner and Controller designed to compute the planned longitudinal trajectory as a series of longitudinal acceleration requests. The Lateral Trajectory Planner and Controller is further designed to compute the planned lateral trajectory based on a linearized Lateral Trajectory Model which exhibits a singularity whenever the relative orientation of a couple of successive driving path segments of the planned driving path is equal to or higher than a given amount.
    The Lateral Trajectory Planner and Controller is further designed to dynamically modify relative orientation of the motor-vehicle reference frame with respect to the inertial reference frame along the planned driving path so as to result in the relative orientations of all of the couples of successive driving path segments of the planned driving path being lower than the given amount.

    Automotive Preventive Electronic Stability Control
    4.
    发明申请
    Automotive Preventive Electronic Stability Control 审中-公开

    公开(公告)号：US20200156638A1

    公开(公告)日：2020-05-21

    申请号：US16688414

    申请日：2019-11-19

    Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI

    Inventor： Claudio REI ,  Enrico RAFFONE ,  Massimo FOSSANETTI

    IPC: B60W30/14 ,  B60W40/072

    Abstract: An automotive electronic preventive active safety system designed to improve driving stability of a motor-vehicle and to: receive data indicative of a current position of the motor-vehicle, and of roads and their characteristics comprising a road curvature, and of potential driving routes of the motor-vehicle from a current position up to an electronic horizon thereof; identify the most driving-safety-critical road bend along the driving route of the motor-vehicle; backwards compute, from the most driving-safety-critical road bend and up to the current position of the motor-vehicle, a driving speed profile that the motor-vehicle should follow from its current position up to the identified most driving-safety-critical road bend to result in the latter being driven through at a driving speed that satisfies a driving safety criterion; compare the current and backwards-computed speeds of the motor-vehicle in the current position thereof; and, if the current speed of the motor-vehicle in its current position is greater than or equal to the backwards computed speed of the motor-vehicle in its current position, cause the motor-vehicle to decelerate to such an extent as to result in the most driving-safety-critical road bend being driven through at a driving speed that satisfies the driving safety criterion.

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