METHOD OF CONTROLLING VEHICLE DRIVING CHARACTERISTICS

• Main Authors: SHIPITKO, Oleg Sergeevich, KIBALOV, Vladislav Igorevich
• Format: Patent
• Language: English; French; German
• Published: 14.08.2024
• Subjects: ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OFVEHICLES; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS; TRANSPORTING; VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES; VEHICLES IN GENERAL

The invention relates to methods of controlling the driving of highly automated vehicles (HAVs), which consists in that, while an HAV is driving, an on-board computer receives data from wheel encoders and from a steering wheel position sensor and the following are generated: a current state of the HAV and hypotheses about the position of the HAV, as well as a planned path, in the form of a desired trajectory on a map, and a digital map of obstacles. A future trajectory is predicted, the obtained trajectory is applied to each hypothesis about the position of the HAV, and each of the predicted trajectories is checked for the presence of collisions, wherein the probability of a collision with obstacles is estimated. On the basis of the data obtained, a safe driving speed is determined as the maximum permissible speed at which the probability of the HAV entering into a collision does not exceed a given threshold. The safe speed value obtained is sent to a speed control unit which sets control signals for the traction motor and the braking system.