MOVABLE BODY CONTROL SYSTEM AND MOVABLE BODY CONTROL METHOD

To provide a technique capable of stably controlling a movable body even if optimization processing has not been normally performed.SOLUTION: A movable body control system performs the travel control of a movable body. The movable body control system includes a control device including a processor a...

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Hauptverfasser:	IWAZAKI NORITSUGU, OSADA YUJI, HIRATE YOSUKE, SHIBAIKE YUSHI, AMAMI SHO, WATANABE YOSHINORI, OKAMOTO YUKI, SUMINAKA MAKOTO, NAKAMURA NORIMICHI, INOUE TAKESHI, FUTAGAMI KOSUKE, FUKUDA HIROKI, KOSHIRO TAKAHIRO, SHIBATA YOHEI
Format:	Patent
Sprache:	eng ; jpn
Schlagworte:	CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES PERFORMING OPERATIONS PHYSICS ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT SIGNALLING TRAFFIC CONTROL SYSTEMS TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	To provide a technique capable of stably controlling a movable body even if optimization processing has not been normally performed.SOLUTION: A movable body control system performs the travel control of a movable body. The movable body control system includes a control device including a processor and a storage unit in which a program capable of being executed by the processor is stored. When a program for the travel control is executed by the processor, the processor generates a travel plan including a target control value for the movable body on the basis of a target trajectory showing a trajectory to be traveled by the movable body. The target control value includes: a first target control value calculated through optimization processing for the travel plan; and a second target control value calculated without through the optimization processing. If the optimization processing has been normally performed, a control command value for an actuator of the movable body is calculated on the basis of the first target control value, otherwise the control command value is calculated on the basis of the second target control value.SELECTED DRAWING: Figure 7 【課題】最適化処理が正常に行われなかった場合でも、安定して移動体の制御を行うことのできる技術を提供する。【解決手段】移動体の走行制御を行う移動体制御システムであり、移動体制御システムは、プロセッサと、プロセッサで実行可能なプログラムが格納された記憶装置と、を含む制御装置を備える。走行制御用のプログラムがプロセッサで実行された場合、プロセッサは、移動体が走行すべき軌道を示す目標軌道に基づいて、移動体の目標制御値を含む走行計画を生成し、目標制御値は、走行計画に対する最適化処理を経て算出された第１目標制御値と、最適化処理を経ずに算出された第２目標制御値と、を含み、最適化処理が正常に行われた場合、第１目標制御値に基づいて移動体のアクチュエータの制御指令値を計算し、そうでない場合、第２目標制御値に基づいて制御指令値を計算する。【選択図】図７