METHOD FOR ADAPTIVE CONTROL OF MOVEMENT CHARACTERISTICS OF HIGHLY AUTOMATED VEHICLE DEPENDING ON LEVEL OF UNCERTAINTY IN ASSESSMENT OF SURROUNDING SITUATION Russian patent published in 2022 - IPC G01C21/34 G08G1/16 

FIELD: car industry.

SUBSTANCE: invention relates to methods for control of highly automated vehicles (hereinafter – HAV). The method consists in that, during HAV movement, data from wheel encoders and a steering wheel position sensor is sent to an onboard calculator, while the current HAV state and hypotheses on HAV position are formed, as well as a planned movement path in the form of a desired trajectory on a map and a digital map of obstacles. A safe movement speed is determined based on obtained data. For this purpose, a future trajectory is predicted, the resulting trajectory is applied to each hypothesis on HAV position. Next, each of predicted trajectories is checked for the presence of collisions with assessment of the probability of collision with obstacles. The safe speed is selected as the maximum permissible speed with the probability of collision, not exceeding a given threshold. The resulting value of the safe speed is directed to a speed control unit, by means of which control signals are sent to a traction engine and a brake system.

EFFECT: provision of HAV movement with a safe speed.

1 cl, 1 dwg