CN102878999A - Method and device used for determining the most probable driving path of motor vehicle - Google Patents
Method and device used for determining the most probable driving path of motor vehicle Download PDFInfo
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- CN102878999A CN102878999A CN2012102367514A CN201210236751A CN102878999A CN 102878999 A CN102878999 A CN 102878999A CN 2012102367514 A CN2012102367514 A CN 2012102367514A CN 201210236751 A CN201210236751 A CN 201210236751A CN 102878999 A CN102878999 A CN 102878999A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
Abstract
The invention relates to a method and a device used for determining the most probable driving path of a motor vehicle. The method used for determining the most probable driving path of the motor vehicle comprises the steps of determining an initial probable driving path (MPP) on the condition of considering the driving probability data guided out a road map, and correcting the initial probable driving path on the condition of using additional data. According to the invention, a first module (6) establishes the initial MPP (10), and provides a 2D visual field based on the initial MPP (10), and a second module (7) provides the driving probability data guided out by the individual and/or non-individual driving behavior so far to correct the initial MPP (10). Therefore, a driver behavior module (7) and a visual field provider (6) are in decoupling on the function.
Description
Technical field
The present invention relates to a kind of method of the most probable driving path for determine motor vehicle by at least one module, wherein in the situation of the driving probability data of considering to be derived by road-map, determine initial may drive MPP(most probable path, path), and wherein use additional data in order to proofread and correct initial MPP.The present invention relates in addition a kind of device and a kind of computer program.
Background technology
Method according to type is for example known from DE 10 2,009 028 299 A1.In this known method, consider to affect the additional data of the device of current traffic condition in order to proofread and correct MPP, this device for example is other motor vehicle or traffic lights.
From the known a kind of method of DE 10 2,007 043 533 A1, wherein when the goal directed function is deactivated, check the visual field, position in traffic interference warning situation, and calculate and export at least one and replace route.This also known driving behavior according to stopping up highway section and experience come the visual field, position is proofreaied and correct.
In following driver assistance system ADAS(Senior Officer backup system stronger than present driver assistance system and that more independently intervene driving behavior) in central idea be, not only detect the near field of motor vehicle, but also consider information about preferential path profile based on the numerical map of high value and current vehicle position.For to the predictable distance adjustment cruise control system of the driver assistance system of this map-based-for example or the warning assistant that turns round-information about the path of prior existence is provided, need the analyzable electronics visual field.This analyzable electronics visual field can be envisioned for virtual sensor, its map datum based on digitizing street network, current position and about the driving directional information of automotive environment and provide.Be arranged on the module in the motor vehicle, namely the visual field provides device that this electronics visual field is provided; This module is constantly determined path in advance existence, that the motor vehicle expectation will be exercised for this reason.This path is called as MPP(most probable path).If the driver has selected route in navigator, then this route will be used as MPP.If navigation is not activated, then MPP determines by different heuristics.The attribute in the driver assistance function electron gain visual field, and this attribute analyzed, that is to say that MPP is embedded into the electronic video wild country and is transferred to other opertaing device, other opertaing device can be optimized the function based on prediction thus.Standardized method by Senior Officer's backup system interface specification (ADASIS) by name should define the interface between navigational system and the ADAS application, that is to say how the visual field that for example should define with ADASIS visual field form preferably sends to application by the CAN bus.The discussion of standardized method is all concentrated in the so-called ADASIS forum, and wherein European organization ERTICO is as the landman.How this standard is implemented in the CAN bus particularly, is used for especially also determining that the current information of corresponding CAN identifier can be at webpage
Www.ertico.comUpper acquisition.
The method of mentioning also is used in and replaces navigator and adopt the situation of special opertaing device that the cost optimization of device is provided as the visual field without operation interface.
Current navigational system map-based data are determined most probable driving path MPP, and its mode is the analysis of probability of turning, and described turning probability is determined by category of roads, turning angle, street number etc.But this is very coarse, because this is not corresponding with typical driving behavior.The reliability of MPP can be improved in the following manner, namely driver's behavior is up to the present analyzed and be used for the calculating of MPP.This causes " may the driving the path of improvement ".May drive the path by what improve, can different functions be optimized, for example to the specific aim control of the front car light that in the turning process, can correspondingly illuminate the intersection region.
But up to the present only in navigational system or provide and introduce driving behavior in the parts (visual field provides device) in the visual field.Therefore up to the present relatively more bothersome by considering that the driving behavior data of storing are improved the function of MPP, and with inflexible mode and the part relation that comprises at least one numerical map (if operation interface all no talk about).If the impersonal driving data that provided by group's server are used to improve MPP, then up to the present the consideration of these group's data is carried out in the visual field provides device equally.
Summary of the invention
Based on this background introduction of the present invention according to claim 1 method, according to claim 11 device and computer program according to claim 13.Other design of the present invention is by dependent claims and describe acquisition.
In the method that in claim 1 of the present invention, characterizes, outside the feature according to type, stipulate, the first module is set up initial MPP, and provide the 2D visual field (Horizont) based on initial MPP, and the second module provides the driving probability data of deriving from the driving behavior up to the present of at least one motor vehicle in order to proofread and correct initial MPP.Certainly in the driving behavior of motor vehicle, reflect respectively in case of necessity a plurality of drivers' driving behavior.Especially when the driving probability data of " individual " or motor vehicle uniqueness should be provided, can even provide the driving probability data of uniquenessization by simple measure, its mode is that only selected driver's driving behavior to be used as data basic.
Module by two separation, realized memory and driving behavior analytic function and the visual field provide device or with the space of numerical map on or decoupling on the function, thereby the possibility of improving MPP according to the present invention by introducing driving behavior no longer is limited to navigational system or the visual field provides device.According to the present invention, the second module for example can be the autonomous unit that other and the visual field provide the irrelevant opertaing device of device in navigational system or the motor vehicle.The first or second module or two modules can also be positioned at outside the motor vehicle, in sharing the group of common knowledge (namely in the traffic participant group based on server).For example, the first module, namely the visual field provides device can be arranged in group, and constantly obtains the current location of motor vehicle by the mode that transmits.
Usually, " road-map " according to the present invention not necessarily understood in the implication of complete numerical map; Exist the motor-driven probability of point by point definition with regard to it is enough.In addition, as used herein concept " the 2D visual field " also comprises overlapping, the i.e. three-dimensional driving path that arranges in case of necessity.
First embodiment of the invention, the second module provides individual's driving probability data, and its mode is the second module to for example from the visual field data of this motor vehicle prior analyzed mistake of the driving event of process on identical street section or offer the driving behavior data analysis of the second module in suitable mode.
According to another embodiment of the present invention, the second module provides impersonal driving probability data, and its mode is to collect the driving behavior data of a lot of motor vehicles (also having in case of necessity static motor vehicle) and send described driving behavior data to the second module that (in group or motor vehicle) arrange with for generation of driving probability data in group.
In order to realize that the best of MPP is proofreaied and correct, according to another embodiment of the present invention suggestion, except being used for proofreading and correct described MPP from also (this locality or centralized stores) individual being driven probability data impersonal driving probability data of group.Except by non-personal data the improvement on the path of indivedual driver's the unknowns, in this way, known driving path also can cause by personal data other improvement.In addition, can cover possible data protection request.Analyzing the realization of non-individual and individual's driving probability data can be undertaken by the first submodule that non-individual driving probability data is provided in the group, the second module and second submodule that provides the individual to drive probability data of the second module preferably are provided, and the second module both can be arranged in the group and also can be arranged in the motor vehicle.
According to the present invention, the driving behavior data can be used to proofread and correct initial MPP by different modes and method.
First embodiment of the invention, the first module sends the 2D visual field to second module, then this second module with the driving behavior data of collecting in advance and the driving probability data of therefrom deriving come for set up in the 2D visual field that receives through overcorrect may drive the path, and provide like this 2D visual field through overcorrect with further use.The second module itself belongs to the visual field thus provides device.But through may the driving the path and can only form in the scope in the 2D visual field that receives of overcorrect, what this can cause shortening where necessary may drive the path.
According to another embodiment of the present invention, the first module sends the 2D visual field to second module, then the second module will drive probability data be used for to the initial MPP that is included in the 2D visual field that receives proofread and correct and will be through overcorrect may drive the path echo-plex to the first module.Various possibilities have been opened from here on.In the another kind of simple design of this embodiment, the first module can be used for the path of may driving through overcorrect that receives to set up in the 2D visual field and may drive the path through overcorrect, and provide like this 2D visual field through overcorrect with further use, but may drive the path as cost take what shorten again in case of necessity.
Be fed back to being counted as in the particularly advantageous another kind of design of embodiment that the visual field provides device through the path of may driving of overcorrect therein, the first module will receive through overcorrect may drive the 2D visual field that coupling be used for is set up in the path, wherein in the 2D visual field of coupling, form have with respect to through overcorrect may drive prediction length that the path increases may drive the path.Then the first module provides the 2D visual field of such coupling with further use.Like this 2D visual field of coupling with respect to only through the 2D visual field of overcorrect because the prediction length of the increase that may drive the path that produces but a kind of obvious improvement.The 2D visual field that may drive path or coupling that produces can also further be improved iteratively according to another kind design, and its mode is that the first module sends the 2D visual field of coupling to again the second module and current may drive the path to be used for further proofreading and correct.
For fear of the very important transport process of bandwidth, advise according to another embodiment of the invention, the second module provides the driving probability data that relates to significant intersection coordinate and sends the first module to, and the first module driving probability data that will receive is used for setting up and may drives the path through overcorrect.Then based on this through overcorrect may drive the path, set up the 2D visual field in order further to use or to provide in order further proofreading and correct by the first module.
Description of drawings
The below is by the present invention of embodiment more detailed description.This:
Fig. 1 illustrates schematically visual based on the 2D visual field of initial MPP,
Fig. 2 is with the identical 2D visual field that illustrates according to Fig. 1, but have of the present invention through overcorrect may drive the path,
Fig. 3 illustrates the block diagram of motor vehicle navigation equipment as the example for the device of carrying out method of the present invention.
Embodiment
The street section of the MPP10 that visual the comprising of the data in the electronics visual field shown in Fig. 1 (in Fig. 1 and Fig. 2 as shown in the doublet with solid line and parallel dotted line) is initial, and comprise in case of necessity other (son) branch 11 that can be increased respectively additional data (speed that for example allows).If the visual field comprises as shown (son) branch/path 11 then is also referred to as two dimension (2D) visual field.The 2D visual field typically is formed, so that as can finding out among Fig. 1, possible path, especially MPP10 have the prediction length larger than impossible (branch line) path 11.
Navigational system is determined initial MPP10 and then produces the electronics 2D visual field that as shown in Figure 1, this electronics 2D visual field also comprises branch and the branch line path 11 of street network except initial MPP10.This 2D visual field is transmitted to independently software module in a plurality of embodiments of the present invention, this software module can or can also realize at the opertaing device that is arranged in group in navigational system, at other opertaing device that is arranged in motor vehicle.Group for example can be by particular automobile manufacturer the motor vehicle of participation consist of.The participant for example is connected with the group server by the direct dialing of internet or phone and registers.Typically applicable cases is that identification is stopped up: if a lot of participant notifies group's server " their long times are on the way ", then all participants of server notification exist obstruction dangerous.
The block diagram of Fig. 3 illustrates the navigator 1 shown in simplifying, and this navigator 1 comprises numerical map 2, locating device 3, operating means 4 and central controller 5.The first module 6, namely the device typical case is provided is software module by the Computer Processing of the central controller of navigational system 1 in the visual field, calculates initial MPP10 its vehicle position that provides from the map datum 2 that exists with by locating device 3 by algorithm given in advance.Then, the visual field provides device 6 to calculate the 2D visual field based on this MPP, as this 2D visual field for example among Fig. 1 by visual.The second module, be driving behavior parts 7, more properly preferably constituting equally in the embodiment situation with two submodules (driving behavior parts 7) with the visual field provides device 6 irrelevant software module, and provides suitable driving probability data to be used for proofreading and correct initial MPP10.Two modules 6 can interact according to different modes according to the present invention with 7, for example communication channel 8 can be set, be used for and send the second module 7 to by the 2D visual field that the visual field provides device 6 to set up, and feedback channel 9 is set, be used for and provide device 6 from 7 echo-plexs of the second module to the visual field through the path of may driving of overcorrect, wherein must guarantee interoperability.
The second module 7 that receives the initial 2D visual field can promote oneself, the data relevant with the driver in driving path of process come for analyzing and improving initial MPP10.The second module 7 for example is stored in the data that extract during the driving event of front from the electronics 2D visual field for this reason.These data store with suitable reference, thereby these data also can be assigned with again after a while.Can determine other turning probability for each crossroad of repeatedly crossing by these data.By the MPP that drives probability data and check that in the 2D visual field that receives turning probability-namely is initial, and the turning probability improved or individual.This for example can be undertaken by foundation working day and time series analysis turning frequency.
In the second module 7, can provide thus more accurate, through overcorrect may drive the path, and provide the initial 2D visual field according to the embodiment in this observation.Initial turning probability according to the initial MPP10 of Fig. 1 is proofreaied and correct in the initial 2D visual field.By altered turning probability may produce through overcorrect may drive path 12, referring to Fig. 2, this path of may driving through overcorrect enters in the sub-branch road 11 now.This cause in this embodiment relatively lacking through overcorrect may drive path 12 because sub-branch road 11 is forming unlike initial MPP10 in the 2D visual field widely.Therefore only being corrected in this embodiment to the second module 7 initial 2D visuals field given in advance, but not mated, that is to say, is not to rebulid matchingly with the path 12 of may driving through overcorrect.Be provided for module or driver assistance system according to the 2D visual field through overcorrect of Fig. 2 and further use being used for, especially by the new CAN-ID(identifier of ADASIS form), other system can come work based on the data of improving thus.
Especially may drive path 12 for fear of may shorten as shown in Figure 2, can will provide device 6 from 7 echo-plexs of the second module to the visual field based on the driving probability data of the analysis of driving behavior (being typically turning probability (namely through overcorrect may drive path 12)), the visual field provides device 6 that the 2D visual field of optimization can be provided by the driving probability data that improves thus.Can consider several different methods for this reason.
Need to specify for example feedback channel 9 of ADASIS form in order to guarantee interoperability.Feedback channel 9 for example transmits the turning probability of the study of reference position, namely only transmits through the positively related information in may driving of the overcorrect school with initial MPP path 12, and then described information is used for recomputating of the 2D visual field in suitable mode.The path 12 of may driving of improving for example provides with the ADASIS form by new CAN-ID.Then the path may be driven than being formed more longways shown in Fig. 2 in the new 2D visual field of the visual field turning probability that provides device 6 to provide to have coupling in this new 2D visual field.This trimming process can be carried out iteratively, that is to say, the 2D visual field new, coupling can provide device 6 to send again the second module 7 to by the visual field.If in the link of the new visual field, detect again the MPP deviation, then can repeat the method, until the visual field device 6 is provided may drive the path long enough, or the turning probability is enough accurate.
For fear of the very important alternative manner of above-described bandwidth, especially can in the situation that may drive the path of the large prediction length of needs, provide driving probability data by ADASIS form (feedback channel 9) with the specific significantly form of intersection coordinate by driving behavior parts 7, provide along the coordinate visual field, described intersection device 6 then can form through overcorrect may drive the path, for example by the route calculation algorithm between coordinate points.Therefore in this case, driving behavior module 7 need not the 2D visual field of in advance reception, namely what is called transmits " coarse " version of the driving probability data that relates to driving behavior " autonomous start (initial in Eigenregie) ", and this version for example only comprises the turning probability that relates to important intersection or fork.Then can in the other step in the embodiment as described above, obtain coupling along the probability that may drive on the 2D visual field that the path forms through overcorrect now, thereby cause the 2D visual field of mating.
Claims (13)
1. the method that may drive the path that is used for determining by at least one module motor vehicle, wherein in the situation of the driving probability data of considering to be derived by road-map, determine initial may drive path (MPP), and wherein initial may drive path (MPP) and use additional data in order to proofread and correct, it is characterized in that, the first module (6) is set up and initial may be driven path (10), and provide the 2D visual field based on the initial path (10) of may driving, and the second module (7) initial may be driven path (10) and the driving probability data of deriving from the driving behavior up to the present of at least one motor vehicle is provided in order to proofread and correct.
2. according to claim 1 method is characterized in that, described the second module (7) initial may be driven path (10) and the individual's who derives from the driving behavior up to the present of this motor vehicle driving probability data is provided in order to be proofreaied and correct.
3. according to claim 1 method, it is characterized in that, described the second module (7) initial may be driven path (10) and impersonal driving probability data is provided in order to be proofreaied and correct, and wherein said impersonal driving probability data is to derive from the driving behavior up to the present of this motor vehicle and/or at least one other motor vehicle.
According to claim 2 with 3 method, it is characterized in that, described the second module (7) initial may be driven path (10) and impersonal and individual driving probability data is provided in order to be proofreaied and correct, be arranged on preferably wherein that the first submodule in group, the second module (7) provides impersonal driving probability data outside this motor vehicle, and preferably be arranged on the driving probability data that the second submodule in this motor vehicle, the second module (7) provides the individual.
5. according to claim 1 to one of 4 method, it is characterized in that, described the first module (6) sends the 2D visual field to the second module (7), and this second module (7) with described driving probability data come for set up in the 2D visual field that receives through overcorrect may drive path (12), and provide like this 2D visual field through overcorrect with further use.
6. according to claim 1 to one of 4 method, it is characterized in that, described the first module (6) sends the 2D visual field to the second module (7), and the second module (7) will drive probability data be used for to initial may the driving that be included in the 2D visual field that receives proofread and correct in path (10) and will be through overcorrect may drive path (12) echo-plex to the first module (6).
7. according to claim 6 method, it is characterized in that, described the first module (6) will receive through overcorrect may drive path (12) be used for setting up in the 2D visual field through overcorrect may drive the path, and provide like this 2D visual field through overcorrect with further use.
8. according to claim 1 to one of 4 method, it is characterized in that, the second module (7) provides the driving probability data that relates to remarkable intersection coordinate and sends the first module (6) to, and the first module (6) driving probability data that will receive is used for setting up and may drives path (12) through overcorrect.
9. according to claim 6 or 8 method, it is characterized in that, the path (12) of may driving through overcorrect that the first module (6) will receive or that set up is used for setting up the 2D visual field of mating, wherein, in the 2D visual field of coupling, form have with respect to this through overcorrect may drive prediction length that path (12) increases may drive the path, and the first module (6) provides the 2D visual field of such coupling with further use.
10. according to claim 9 method is characterized in that, the first module (6) sends the 2D visual field of coupling to the second module (7) may drive the path to be used for further proofreading and correct according to claim 6 current.
11. a device, especially navigator (1) have at least one and are used for determining to drive the computing machine of path (10,12) according to the method for one of the claims.
12. device according to claim 11 is characterized in that, this device comprises the opertaing device of two separation, respectively one of two modules (6,7) is constituted software module in the computing machine separately of these two opertaing devices.
13. but the computer program with control signal that electronics reads, described control signal can interact to implement according to claim 1 the method to one of 10 with programmable computer system, especially navigator (1).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011078946.4 | 2011-07-11 | ||
| DE102011078946A DE102011078946A1 (en) | 2011-07-11 | 2011-07-11 | Method for determining most probable path of car by software modules, involves providing personal and impersonal driving probability data for correcting original path, where data is derived from previous driving behavior of vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102878999A true CN102878999A (en) | 2013-01-16 |
| CN102878999B CN102878999B (en) | 2017-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210236751.4A Active CN102878999B (en) | 2011-07-11 | 2012-07-10 | For the method and apparatus for the most probable driving path for determining motor vehicle |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN102878999B (en) |
| DE (1) | DE102011078946A1 (en) |
| FR (1) | FR2977934B1 (en) |
| IT (1) | ITMI20121047A1 (en) |
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| CN111486858A (en) * | 2019-01-28 | 2020-08-04 | 阿里巴巴集团控股有限公司 | Road network prediction tree construction method and device, electronic equipment and storage medium |
| CN111486857A (en) * | 2019-01-28 | 2020-08-04 | 阿里巴巴集团控股有限公司 | Road network prediction tree construction method and device, electronic equipment and storage medium |
| CN111486858B (en) * | 2019-01-28 | 2024-03-19 | 阿里巴巴集团控股有限公司 | Road network prediction tree construction method and device, electronic equipment and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| FR2977934A1 (en) | 2013-01-18 |
| DE102011078946A1 (en) | 2013-01-17 |
| FR2977934B1 (en) | 2019-06-28 |
| ITMI20121047A1 (en) | 2013-01-12 |
| CN102878999B (en) | 2017-10-10 |
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