| CPC B62D 6/002 (2013.01) | 7 Claims |
|
1. A driving control device comprising:
an acquiring section that acquires: a weight of a vehicle; a center-of-mass position of the vehicle; a longitudinal speed which is a speed of the vehicle in an advancing direction; a lateral speed which is a speed of the vehicle in a direction orthogonal to the advancing direction; a steering angle of the vehicle; a lateral deviation of the vehicle; an azimuth deviation which is a difference between an orientation of the vehicle at a position where the vehicle is travelling and a target orientation of the vehicle corresponding to the position; and a curvature of a road surface where the vehicle is travelling;
a generating section that generates a first vehicle model representing a relationship among the longitudinal speed, the lateral speed, the weight, the center-of-mass position, the steering angle, the lateral deviation, the azimuth deviation and the curvature;
an identifying section that estimates a noise included in the lateral deviation and the azimuth deviation that are acquired by the acquiring section, and identifies a corrected lateral deviation and a corrected azimuth deviation from which the noise is excluded, by inputting the steering angle and the curvature that are acquired by the acquiring section to a state space model corresponding to the first vehicle model corresponding to the longitudinal speed, the lateral speed, the weight and the center-of-mass position that are acquired by the acquiring section;
a calculating section that inputs the curvature that are acquired by the acquiring section, the corrected lateral deviation and the corrected azimuth deviation that are identified by the identifying section to an evaluation function corresponding to the first vehicle model corresponding to the longitudinal speed, the lateral speed, the weight and the center-of-mass position that are acquired by the acquiring section, and calculates a corrected steering angle for minimizing or maximizing an output value of the evaluation function; and
a travel control section that causes the vehicle to travel on a basis of the corrected steering angle, wherein,
the generating section derives a state space model of a discrete-time type from the first vehicle model after generating the first vehicle model of a continuous-time type including a vehicle plant model representing a movement of the vehicle and a route following model representing a track along which the vehicle has moved, and
the identifying section optimizes the weighting of the observation noise and the system noise included in the lateral deviation and the azimuth deviation that are acquired by the acquiring section—where one increases as the other decreases—by adjusting the innovation gain included in the state space model using the prior variance and the posterior variance of the state space model, and identifies, from the lateral deviation and the azimuth deviation, the corrected lateral deviation and the azimuth deviation from which the observation noise and the system noise are excluded.
|