Manoeuver generation for automated driving

• US 9,469,296 B2
• Filed: 09/05/2014
• Issued: 10/18/2016
• Est. Priority Date: 09/12/2013
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Nilsson, Julia, Ali, Mohammad
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/478,664
• Publication Number:
  US 20150073663A1
• Time in Patent Office: 774 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

A method and arrangement are described for manoeuvre generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) further including one or more advanced driver assistance systems. A collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) is determined repeatedly, with a fix time interval, for allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane utilizing model predictive control and quadratic program formulation. A control scheme where the structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints is utilized. Manoeuvre generation is performed through solving the quadratic program. The one or more advanced driver assistance systems are controlled to perform the generated manoeuvre.

Claims

1. An arrangement for maneuver generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) comprising one or more advanced driver assistance systems, the arrangement comprising:

a controller configured to repeatedly determine a collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane of a road utilizing model predictive control formulated as a quadratic program;

a communications interface for providing communication between the controller and the one or more advanced driver assistance systems;

the controller further being configured to utilize a control scheme where a structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints;

the controller further being configured to perform the maneuver generation through solution of the quadratic program,

the controller further being configured to control the one or more advanced driver assistance systems to perform the generated maneuver.

2. The arrangement according to claim 1 wherein the controller is configured to determine the collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) through solving an optimization problem minimizing a path performance index subject to dynamics of the host vehicle (e), convenience/comfort constraints and safety constraints.

3. The arrangement according to claim 2, wherein the controller is configured to use a set of difference equations to model the host vehicle (e) dynamics relative to surrounding vehicles (i) in a road aligned coordinate frame.

4. The arrangement according to claim 2, wherein the controller is configured to use a set of convenience/comfort constraints for determination of convenient and smooth trajectories for longitudinal and lateral movement of the host vehicle (e).

5. The arrangement according to claim 1, wherein the controller is configured to use a set of collision constraints to ensure the host vehicle (e) is restricted to stay outside safety critical regions, which set includes one or more of a requirement that the vehicle stays on the road, forward collision constraints, and rear collision constraints.

6. The arrangement according to claim 1 wherein the one or more advanced driver assistance systems, comprises at least one of an adaptive cruise control and a lane keeping aid system, including actuators and sensors associated therewith.

9. The arrangement according to claim 2 wherein the controller is configured to use a set of difference equations to model the host vehicle (e) dynamics relative to surrounding vehicles (i) in a road aligned coordinate frame, the set of difference equations comprising:

Δ

x_ik=Δ

x<sub>ik−

1</sub>+v_ish−

v<sub>xk−

1</sub>h;

y_k=y<sub>k−

1</sub>+v_ykh;

v_xk=v<sub>xk−

1</sub>+a_xkh; and

v_yk=v<sub>yk−

1</sub>+a_ykh;

wherein,

Δ

x_ik is a longitudinal distance between a surrounding vehicle i and the host vehicle e at a time instance k;

Δ

x<sub>ik−

1</sub> is a longitudinal distance between the surrounding vehicle i and the host vehicle e at a previous time instance k−

1;

v_is is a longitudinal velocity of the surrounding vehicle i at the instance k;

h is a sampling time;

v<sub>xk−

1</sub> is a longitudinal velocity of the host vehicle e at the previous instance k −

1;

y_k is a lateral position of the host vehicle e at the time instance k;

y<sub>k−

1</sub> is a lateral position of the host vehicle e at the time instance k−

1;

v_yk is a lateral position of the host vehicle e at the previous instance k;

v_xk is a longitudinal velocity of the host vehicle e at the instance k;

v<sub>ik−

1</sub> is a longitudinal velocity of the host vehicle e at the previous instance k −

1;

a_xk is a longitudinal acceleration of the host vehicle e at the instance k;

v_yk is a lateral velocity of the host vehicle e at the instance k;

v<sub>yk−

1</sub> is a lateral velocity of the host vehicle e at the previous instance k −

1; and

a_yk is a lateral acceleration of the host vehicle e at the sampling instance k.

10. The arrangement according to claim 2 wherein the controller is configured to use a set of convenience/comfort constraints for determination of convenient and smooth trajectories for longitudinal and lateral movement of the host vehicle (e), the set of convenience/comfort constraints comprising:

(a) 0≦

v_xk≦

v_ref, wherein v_xk is a longitudinal velocity of the host vehicle e at a specific time instance k, and v_ref is a specified reference longitudinal velocity;

(b) v_ymin≦

v_yk≦

v_ymax, wherein v_yk is a lateral velocity of the host vehicle e at the instance k, v_ymin is a minimum lateral velocity, and v_ymax is a maximum lateral velocity;

(c) a_xmin≦

a_xk≦

a_xmax, wherein a_xk is a longitudinal acceleration of the host vehicle e at the instance k, a_xmin is a minimum longitudinal acceleration, and a_xmax is a maximum longitudinal acceleration;

(d) a_ymin≦

a_yk≦

a_ymax, wherein a_yk is a lateral acceleration of the host vehicle e at the instance k, a_ymin is a minimum lateral acceleration, and a_ymax is a maximum lateral acceleration;

(e) Δ

a_xmin≦

Δ

a_xk≦

Δ

a_xmax, wherein Δ

a_xk is a difference between a longitudinal acceleration of the host vehicle e at the instance k and a longitudinal acceleration of the host vehicle e at a previous time instance k−

1, Δ

a_xmin is a minimum longitudinal acceleration difference, and Δ

a_xmax is a maximum longitudinal acceleration difference; and

(f) Δ

a_ymin≦

Δ

a_yk≦

Δ

a_ymax, wherein Δ

a_yk is a difference between a lateral acceleration of the host vehicle e at the instance k and a lateral acceleration of the host vehicle e at the previous time instance k−

1, Δ

a_ymin is a minimum lateral acceleration difference, and Δ

a_ymax is a maximum lateral acceleration difference.

11. The arrangement according to claim 1 wherein the controller is configured to use a set of collision constraints to ensure the host vehicle (e) is restricted to stay outside safety critical regions, which set includes one or more of:

a requirement that the vehicle stays on the road formulated as y_min≦

y_k≦

y_max, wherein y_k is a lateral position of the host vehicle e at a specific time instance k, y_min is a minimum lateral position, and y_max is a maximum lateral position;

forward collision constraints

7. An arrangement for maneuver generation for automated driving of a vehicle on a one-way road, the arrangement comprising:

a host vehicle (e) comprising one or more advanced driver assistance systems;

a controller configure to repeatedly determine a collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane of a road utilizing model predictive control formulated as a quadratic program;

a communications interface for providing communication between the controller and the one or more advanced driver assistance systems;

the controller further being configured to utilize a control scheme where a structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints;

the controller further being configured to perform the maneuver generation through solution of the quadratic program,

the controller further being configured to control the one or more advanced driver assistance systems to perform the generated maneuver.

8. A method for maneuver generation for automated driving on a one-way road of a host vehicle (e) comprising one or more advanced driver assistance systems and a controller, the method comprising:

repeatedly determining, by the controller, a collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane utilizing model predictive control formulated as a quadratic program;

utilizing, by the controller, a control scheme where the structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints;

performing the maneuver generation through the controller solving the quadratic program; and

controlling the one or more advanced driver assistance systems to perform the generated maneuver.