AUTOMATIC AUTOMOBILE DRIVING ROBOT CONTROL METHOD

摘要

PURPOSE: To conduct driving similar to a driver by preparing tertiary base spline function between a plurality of speed specified points, and smoothing the variation of an acceleration actuating amount with target speed and target acceleration. ;CONSTITUTION: In order to find target speed between two speed specified points by using tertiary base spline function, tertiary function of time satisfying a specified condition on a speed specified point P₁ (t₁, y₁), P₂ (t₂, y₂), P₃ (t₃, y₃), and P₄ (t₄, y₄). Secondary function passing specified points P₁, P₂, P₃ is solved, and tertiary interpolation function is interpolated. Target acceleration and its variation rate before and after the speed specified point are continuous, and extra projections do not appear in a curve representing target acceleration. Speed is not continuous before and after the speed specified point, target speed is not decided, for example if the left specified point P₂ is passed, the right specified point P₃ becomes discontinuous. Therefore, target speed is straight interpolated between speed specified points, only target acceleration is prepared with base spline.;COPYRIGHT: (C)1996,JPO