CN104635736B - For the automated driving system and its method of driving behavior decision-making - Google Patents
For the automated driving system and its method of driving behavior decision-making Download PDFInfo
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Abstract
The present invention relates to a kind of automated driving system and its method for driving behavior decision-making, left-hand rotation is produced including processor, straight trip, right turn signal, and collect vehicle body movable signal and multiple objects movable signal, after vectorization, whether judgment object is dangerous objects, brought in corresponding equation according to judged result, produce dangerous objects weight and benign object weight, space right double recipe formula is substituted into again, calculate left-hand rotation, straight trip and the weight of right-hand rotation road area, and then calculate left-hand rotation, straight trip and the weight of right-hand rotation movable signal, weighting weight highest movable signal, if its weight is more than weight preset value, then progress signal is produced according to highest weighting road area direction, if its weight is less than weight preset value, brake signal is produced then.The present invention uses various judgment modes, produces safer mobile behavior and advances for vehicle.
Description
Technical field
The present invention relates to a kind of correlation technique of automatic Pilot driving, particularly relate to a kind of can determine whether optimal avoid-obstacle behavior
For the automated driving system and its method of driving behavior decision-making.
Background technology
In order to seek safer drive manner and road occupation environment more efficiently, Ge great depots actively throw always
Enter from dynamic auxiliary and drive or the exploitation of automated driving system, allow well vehicle that driver can be assisted automatically to carry out decision-making or and then be situated between
Enter to control vehicle, it is desirable to which just the angle of prevention is set about, and can reach the target for directly avoiding contingency.
General automated driving system obtains the situation of surrounding environment using perceptron, assists to drive operating and controlling vehicle or directly controls
Vehicle processed carries out colliding the generation evaded behavior, can effectively reduce risk of collision for avoiding.But current automatic Pilot decision-making party
Method is as described below, if there is an object in front, general automatic Pilot decision logic is only judged using following 2 points：1. finding can
Traveling space, automated driving system can be advanced towards wheeled space；2. wheeled space is not found, automated driving system produces wrong
Letter information, represents that front has no wheeled space by mistake, and expression can not be advanced.But due to the data judging according only to wheeled space
Security is excessively dogmatic, and basis for estimation is excessively narrow, and after more likely causing, the computation complexity of path calculation module increases,
Therefore it is quite dangerous using this determination methods.
In view of this, present invention disappearance then for above-mentioned prior art, propose it is a kind of with barrier avoiding function for driving
Sail the automated driving system and its method of behaviour decision making, with effectively overcome it is above-mentioned this problems such as.
The content of the invention
Present invention is primarily targeted at a kind of automated driving system and its method for driving behavior decision-making is provided, its
Using various judgment modes, to improve the security of driving behavior, while reducing the complexity of path computing, can produce safer
Mobile behavior for vehicle according to advance.
Another object of the present invention is to a kind of automated driving system and its method for driving behavior decision-making is provided, its
The all objects vectorization that road is detected, to calculate the safe sex determination of object, gives safety right according to risk of collision height
Weight, and then inference path space security, give space safety weight, so that decision-making left-hand rotation, right-hand rotation, forward, brake etc. are driven
Sail behavior.
It is that, up to above-mentioned purpose, the invention provides a kind of method for driving behavior decision-making, step includes passing through first
One processor produces a left rotaring signal, a straight trip signal and a right turn signal, and collects a vehicle body by a detection means
The object movable signal of one vehicle body movable signal and multiple objects；Vehicle body movable signal and multiple objects are moved by processor
Signal is respectively converted into a vehicle body motion-vector and multiple objects motion-vector；Processor is according to vehicle body motion-vector and many
Individual object motion-vector judges whether each object is dangerous objects, if judgment object is dangerous objects, using all objects
A dangerous objects weight is produced with the ratio of vehicle body collision time with the summation and dangerous objects of the collision time of vehicle body, if sentencing
Disconnected object is benign object, then the distance using benign object with vehicle body produces a benign object weight；Next locate
Reason device defines the left-hand rotation road area of left rotaring signal, keep straight on the straight road region of signal and the right-hand rotation roadway area of right turn signal
Domain, and according to be intended to by the dangerous objects weight of the road area and benign object weight judge respectively left-hand rotation road area,
Straight road region and the weight of right-hand rotation road area；Processor passes through left-hand rotation road area, straight road region and the right side
The weight for turning road area produces a left rotaring signal weight, a straight trip signal weight and a right turn signal weight；Processor is picked
Weight highest signal in left rotaring signal weight, straight trip signal weight and right turn signal weight is taken, to judge weight highest
Whether the weight of signal is more than a weight preset value, if so, then produces a progress signal according to weight highest sense；If
It is no, then produce a brake signal.
In addition, the present invention also provides a kind of automated driving system for driving behavior decision-making, including a processor, at this
Reason device is electrically connected with an object detecting apparatus, a vehicle body movable signal capture device and a storage device, and processor is used to produce
A raw left rotaring signal, a straight trip signal and a right turn signal, and capture the vehicle body captured by vehicle body movable signal capture device
Multiple objects movable signal produced by movable signal and object detecting apparatus, be respectively converted into a vehicle body motion-vector and
Multiple objects motion-vector, whether foundation vehicle body motion-vector and multiple objects motion-vector judgment object are danger to processor again
Dangerous object, if dangerous objects then capture dangerous objects weight equation in storage device to calculate a dangerous objects weight,
If benign object then captures benign object weight equation in storage device to calculate a benign object weight；Place
Dangerous objects weight or benign object weight are substituted into space by the space right double recipe formula in reason device also fechtable storage device
Weight equation, to calculate left-hand rotation road area, the straight road region of straight trip signal and the letter of turning right of left rotaring signal respectively
Number right-hand rotation road area weight, processor also captures signal weight equation, by left-hand rotation road area, straight road region
And right-hand rotation road area weight substitute into signal weight equation with produce a left rotaring signal weight, one straight trip signal weight with
And a right turn signal weight, processor capture left-hand rotation road area, straight road region and right-hand rotation road area in weight most
High signal, if the weight of weight highest signal is more than a weight preset value, produces one according to weight highest sense
Progress signal, makes a vehicle advance, if the weight of weight highest signal is less than a weight preset value, produces a brake letter
Number, make vehicle halt.
Below by specific embodiment elaborate, when be easier to understand the purpose of the present invention, technology contents, feature and its
The effect reached.
Description of the drawings
Automated driving system block diagrams of the Fig. 1 for the embodiment of the present invention；
Path decision method flow diagrams of the Fig. 2 for the embodiment of the present invention；
Progress signal schematic diagrames of the Fig. 3 for the generation pre-selection of the embodiment of the present invention；
Decision-making progress signal schematic diagrames of the Fig. 4 for the embodiment of the present invention.
Description of reference numerals：1- is used for the automated driving system of driving behavior decision-making；10- object detecting apparatus；12- vehicle bodies
Movable signal capture device；14- storage devices；16- processors；18- objects；18 '-object；18 "-object；20- vehicles；
32- left-hand rotation road areas；32 '-left-hand rotation road area；34- straight roads region；36- right-hand rotation road areas；A- left rotaring signals；
B- straight trip signals；C- right turn signals.
Specific embodiment
Fig. 1 is refer to, the automatic DAS (Driver Assistant System) 1 of the present embodiment is may be disposed on a vehicle, wherein for driving
The automated driving system 1 for sailing behaviour decision making includes detection means, and the present embodiment citing detection means is an object detecting apparatus 10
And a vehicle body movable signal capture device 12, object detecting apparatus 10 capture the movable signal of the object beyond vehicle,
To produce multiple objects movable signal；Vehicle body movable signal capture device 12 then captures the movable signal of vehicle, to produce
One vehicle body movable signal；One storage device 14 store a dangerous objects decisive equation formula, a dangerous objects weight equation, one
Benign object weight equation, a space right double recipe formula and a signal weight equation；One processor 16 is electrically connected with
Above-mentioned object detecting apparatus 10, vehicle body movable signal capture device 12 and storage device 14, to receive multiple objects movement letter
Number, vehicle body movable signal, and capture storage device 14 in dangerous objects decisive equation formula, dangerous objects weight equation,
Benign object weight equation, space right double recipe formula and signal weight equation, by by the movable signal of object with
And after object movable signal vectorization, bring dangerous objects decisive equation formula into, and bring dangerous objects weight equation into according to demand
A travel path is produced in formula, benign object weight equation, space right double recipe formula and signal weight equation, with
Advance according to optimal advance route for vehicle.
Next Fig. 1 to Fig. 3 is refer to, to illustrate how the above-mentioned automated driving system for driving behavior decision-making of collocation
1 come judge produce a safety driving behavior, with aid in vehicle Yian complete path advance.Initially enter step S10, processor
After 16 produce a left rotaring signal a, an a straight trip signal b and right turn signal c, vehicle is detected by object detecting apparatus 10
The object movable signal of the multiple objects 18,18 ', 18 around 20 ", and by the detecting of vehicle body movable signal capture device 12 certainly
One vehicle body movable signal of body vehicle 20.Next enter step S12, processor 16 receives vehicle body movable signal and multiple
During object movable signal, vehicle body movable signal is converted to into vehicle body motion-vector respectively, and multiple objects movable signal is turned
It is changed to multiple objects motion-vector.Then such as step S14, processor 16 captures dangerous objects decisive equation in storage device 14
Formula, judges each object 18,18 ', 18 one by one " whether it is dangerous objects, its judgment mode is by vehicle body motion-vector and many
Individual object motion-vector is substituted in dangerous objects decisive equation formula, and dangerous objects decisive equation formula (1) are as follows：
The wherein OUFor dangerous objects；For vehicle body motion-vector；For object motion-vector；δ is one apart from preset value.
WhereinTo judge vehicle 20 with object 18,18 ', 18 " it is whether parallel, 0 is represented if parallel, if not parallel
Shi Ze is not equal to 0；To judge vehicle 20 and object 18,18 ', 18 " whether it is equidirectional or reverse, if
Vehicle 20 and object 18,18 ', 18 are represented more than 0 " advanced with equidirectional, represent if less than 0 vehicle 20 with
Object 18,18 ', 18 " is advanced with reverse direction, it is possible to can be collided；To judge vehicle 20 and object
18th, distance 18 ', 18 " whether less than one apart from preset value, represent if less than preset value vehicle 20 and object 18,
18 ', 18 " distance gets too close to, and has the possibility for producing collision.Therefore work asWhen represent vehicle 20 and object
18th, it is 18 ', 18 " not parallel, when orThough when represent vehicle 20 and object 18,18 ', 18 "
It is parallel, but vehicle 20 and object 18,18 ', 18 " advanced in the way of reverse mutually, or work asThough when represent vehicle 20 with object 18,18 ', 18 " parallel but vehicle 20 with
The distance between object 18,18 ', 18 " is less than one apart from preset value, if objects in front, can be with following distance apart from preset value
To set, if left or right object, can be set with a track distance apart from preset value, as long as one of them above-mentioned
Condition set up, that is, represent object 18,18 ', 18 " be dangerous objects, this implementation example judge dangerous objects for object 18 ', 18 "；
Judge dangerous objects 18 ', 18 " after by enter step S16, processor 16 capture storage device 14 in dangerous objects weight side
Formula calculate dangerous objects 18 ', 18 " weight, dangerous objects weight equation (2) are as follows：
Wherein WUFor dangerous objects 18 ' or 18 " weight；CUFor dangerous objects 18 ' or 18 " with the collision time of vehicle；
CUFor multiple objects 18,18 ', 18 " with the summation of 20 collision time of vehicle.Processor 16 using all objects 18,18 ',
The collision time or danger of the 18 " summation with the collision time of vehicle 20, and dangerous objects 18 ' and vehicle 20
The ratio of the collision time of body 18 " and vehicle 20 produce dangerous objects 18 ', 18 " weight.
If but in step S14, when processor 16 judges that the condition of dangerous objects decisive equation formula (1) is all false, table
Show that object 18 is benign object, the present embodiment citing object 18 is benign object, when judgment object 18 is benign object
Step S18 is then entered, the benign object weight of benign object 18 is calculated, processor 16 captures the non-danger in storage device 14
Dangerous object weight equation, produces benign object weight using distance of the benign object 18 with vehicle 20 is produced, its
Middle benign object weight equation (3) is expressed as：
WN=μ | μ ∝ d (3)；
Wherein WNFor the weight of benign object；D is the distance of benign object and vehicle body, and μ is according to the normal of d generations
Number, μ are proportional with d.In general the numerical value of benign object weight can be also bigger than the numerical value of dangerous objects weight.
Next as shown in step S20, and while coordinate with reference to Fig. 4, by step S16 calculate dangerous objects 18 ',
18 " dangerous objects weight, and after step S18 calculates the benign object weight of benign object 18, processor 16
According to left rotaring signal a define multiple left-hand rotation road areas 32, according to straight trip signal b define multiple straight road regions 34 and
Multiple right-hand rotation road areas 36 are defined according to right turn signal c, processor 16 captures the space right double recipe journey in storage device 14
Formula judges the weight of each left-hand rotation road area 32, straight road region 34 and right-hand rotation road area 36, wherein space weight
Equation (4) is expressed as：
WRFor the weight of road area, WOFor dangerous objects weight or benign object weight, the present embodiment includes danger
Body weight and benign object weight；DOFor the distance of the central point and object of road area；For a constant and DOBe directly proportional pass
System.The weight of each road area captures left-hand rotation road area 32, straight road region 34 respectively via processor 16 and turns right
Among road area 36, be intended to the object 18,18 ', 18 closest to road area by road area " weight, and add one
According to each left-hand rotation road area 32, straight road region 34 and 36 central point of right-hand rotation road area and object 18,18 ', 18 "
The numerical value of a proportional relation produced by distance relation.By taking multiple left-hand rotation road areas 32 as an example, wherein for passing through is calculated first
Objects system in the object of left-hand rotation road area 32 ' closest to central point is benign object 18, therefore captures benign object 18
Benign object weight, and plus the constant of left-hand rotation road area 32 ' and object 18Calculate left-hand rotation road area 32 '
Weight, ensuing left-hand rotation road area 32 calculate all that the rest may be inferred, therefore not repeated description, certainly, if being intended to calculate acquisition straight trip
The dangerous objects weight of dangerous objects 18 ' is captured during road area 34, and plus 34 central point of straight road region and object 18 '
ConstantCalculate the weight in straight road region 34, ensuing straight road region 34 calculates all that the rest may be inferred, therefore not
Repeated description, right-hand rotation road area weight then capture dangerous objects 18 " dangerous objects weight, and add right-hand rotation road area 36
With object 18 " constantThe weight of right-hand rotation road area 36 is calculated, ensuing right-hand rotation road area 36 is calculated all according to this
Analogize, therefore not repeated description.
Next step S22 is entered, processor 16 captures the signal weight equation in storage device 14, and according to left-hand rotation
Each left-hand rotation road area 32 that signal a passes through, each straight road region 34 and right turn signal c that the signal b that keeps straight on passes through
The weight of each right-hand rotation road area 36 for passing through, produces a left rotaring signal weight, straight trip signal weight and right turn signal respectively
Weight, signal weight equation (5) are as follows：
Bi=minWR(5)；
Wherein WRFor road area weight, BiFor signal weight, the present embodiment citing weight containing left rotaring signal, straight trip signal
Weight and right turn signal weight, its basis for estimation are in straight according to left rotaring signal a in left-hand rotation road area 32, straight trip signal b
The weight of the row road area 34 and right turn signal c minimum road area of weight in right-hand rotation road area 36 is used as the signal
Weight calculation, by taking multiple left-hand rotation road areas 32,32 ' as an example, due to object 18 of the object 18 for straight trip forward, if vehicle
20 when being intended to advance according to left rotaring signal a, when advancing to left-hand rotation road area 32 ', may collide with object 18, therefore left changing lane
Road region 32 ' is judged as most unsafe point in each and every one left changing lane road regions 32 many, so using most unsafe left-hand rotation road
32 ' conduct of region represents left rotaring signal weight, because its behavior safety is whether the whole path of observation is all safe, therefore with most dangerous
Road area 32 ' represents global behavior security.
Next step S24 is entered, compares left rotaring signal weight, straight trip signal weight and right turn signal weight, to take
Weight highest signal is obtained, the present embodiment illustrates left rotaring signal a for weight highest signal, and processor 16 judges that left rotaring signal is weighed
Whether weight is more than a weight preset value, if then entering step S26 then produces a progress signal according to left-hand rotation road sense, makes
Vehicle 20 advances according to left rotaring signal a；If left rotaring signal weight is less than a weight preset value, produce as shown in step S28
A raw brake signal, so that a vehicle 20 stops.
In sum, the present invention can use various judgment modes, can produce safer mobile behavior for vehicle according to
Advance, judgment mode is all objects vectorization for detecting road, to calculate the safe sex determination of object, according to risk of collision
Height gives safe weight, and then calculates path space security, gives space safety weight, turn left, turn right for decision-making,
The driving behaviors such as forward, brake, can effectively improve the security of driving, while the complexity of path computing can be reduced.
The foregoing is only presently preferred embodiments of the present invention, not for limit the present invention enforcement scope.Therefore i.e.
Impartial change or modification carried out by all features and spirit according to described in scope of the invention as claimed, all should be included in the present invention's
In protection domain.
Claims (10)
1. a kind of method for driving behavior decision-making, it is characterised in that comprise the following steps：
One left rotaring signal, a straight trip signal and a right turn signal are produced by a processor, and is collected by a detection means
The one vehicle body movable signal and the multiple objects movable signal of multiple objects of one vehicle body；
By the processor by the vehicle body movable signal and the plurality of object movable signal be respectively converted into a vehicle body movement to
Amount and multiple objects motion-vector；
According to the vehicle body motion-vector and the plurality of object motion-vector, the processor judges whether each object is danger
Body or benign object, and a dangerous objects weight or a benign object weight are produced according to judged result；
The processor defines the left-hand rotation road area of the left rotaring signal, the straight road region of the straight trip signal and the right side respectively
The right-hand rotation road area of rotaring signal, and according to the dangerous objects weight being intended to by the road area or the benign object weight
Judge the weight of the left-hand rotation road area, the straight road region and the right-hand rotation road area；And
A left rotaring signal weight, a straight trip signal weight and a right turn signal weight are produced, in wherein acquisition weight highest
Whether signal, judge the weight of the weight highest signal more than a weight preset value：
If so, then a progress signal is produced according to the weight highest sense；And
If it is not, then producing a brake signal.
2. the method for driving behavior decision-making is used for as claimed in claim 1, wherein sentencing by a dangerous objects decisive equation formula
Whether the disconnected object is dangerous objects, and the dangerous objects decisive equation formula is expressed as：
The wherein OUFor dangerous objects；ShouldFor the vehicle body motion-vector；ShouldFor the object motion-vector；The δ is that a distance is pre-
If value.
3. the method for driving behavior decision-making is used for as claimed in claim 1, wherein non-in one dangerous objects weight of generation or one
During dangerous objects weight, if judging, the object is the dangerous objects, using touching for all the plurality of objects and the vehicle body
The summation of time is hit, and the dangerous objects produce the dangerous objects weight, the danger with the ratio of the collision time of the vehicle body
Object weight is produced by a dangerous objects weight equation, and the dangerous objects weight equation is expressed as：
The wherein WUFor the dangerous objects weight；The CUFor the dangerous objects and the collision time of the vehicle body；The CtFor the plurality of thing
The summation of the collision time of body and the vehicle body；If the object is benign object, using the benign object and the vehicle body
Distance produces the benign object weight, and the benign object weight is produced by a benign object weight equation, and this is non-
Dangerous objects weight is expressed as：
WN=μ | μ ∝ d；
The wherein WNFor the benign object weight；The d is the distance of the benign object and vehicle body, and the μ is to be produced according to d
Constant, the μ and d are proportional.
4. the method for driving behavior decision-making is used for as claimed in claim 1, wherein according to the dangerous objects weight or the non-danger
Dangerous object weight judges that the weight of the left-hand rotation road area, the straight road region and the right-hand rotation road area is to pass through
Between weight equation judge that the space right double recipe formula is expressed as：
The wherein WRFor the weight of road area, the WOFor the object weight；The DOFor the central point and the object of the road area
Distance；ShouldFor a constant and DOIt is proportional.
5. the method for driving behavior decision-making is used for as claimed in claim 1, wherein producing the left rotaring signal weighted value, the straight trip
The process of signal weight value and the right turn signal weight is by the left-hand rotation road area, the straight road region and the right-hand rotation
The weight of road area substitutes into a signal weight equation, with produce the left rotaring signal weight, the straight trip signal weight respectively with
And the right turn signal weight, the signal weight equation is expressed as：
Bi=minWR；
The wherein BiFor the signal weight, the WRFor the road area weight.
6. a kind of automated driving system for driving behavior decision-making, it is characterised in that include：
One object detecting apparatus, produce multiple objects movable signal；
One vehicle body movable signal capture device, for capturing a vehicle body movable signal；
One storage device, one dangerous objects decisive equation formula of storage, a dangerous objects weight equation, a benign object weight
Equation and a space right double recipe formula；And
One processor, is electrically connected with the object detecting apparatus, the vehicle body movable signal capture device and the storage device, at this
Reason device is used to producing a left rotaring signal, an a straight trip signal and right turn signal, and captures the vehicle body movable signal and this is more
Individual object movable signal, to be respectively converted into a vehicle body motion-vector and multiple objects motion-vector, according to the vehicle body movement to
Amount and the plurality of object motion-vector judge that whether each object is dangerous objects or benign object, and calculate a danger
Dangerous object weight or a benign object weight；The processor captures the space right double recipe formula, by the dangerous objects weight or
The benign object weight substitutes into the space right double recipe formula, and to calculate the left-hand rotation road area of the left rotaring signal respectively, this is straight
The straight road region of row signal and the weight of the right-hand rotation road area of the right turn signal, and produce a left rotaring signal weight,
An one straight trip signal weight and right turn signal weight, the processor capture the left-hand rotation road area, the straight road region with
And weight highest signal in the right-hand rotation road area, if the weight of the weight highest signal is more than a weight preset value, according to
The weight highest sense produces a progress signal, makes a vehicle advance, if the weight of the weight highest signal is less than
One weight preset value, then produce a brake signal, makes the vehicle halt.
7. the automated driving system of driving behavior decision-making is used for as claimed in claim 6, wherein judging by a dangerous objects
Equation judges whether the object is dangerous objects, and the dangerous objects decisive equation formula is expressed as：
The wherein OUFor dangerous objects；ShouldFor the vehicle body motion-vector；ShouldFor the object motion-vector；The δ is that a distance is pre-
If value.
8. the automated driving system of driving behavior decision-making is used for as claimed in claim 6, wherein producing dangerous objects power
During weight or a benign object weight, if judging, the object is the dangerous objects, using all the plurality of objects with should
The summation of the collision time of vehicle body, and the dangerous objects and the ratio of the collision time of the vehicle body, produce the dangerous objects and weigh
Weight, the dangerous objects weight are produced by a dangerous objects weight equation, and the dangerous objects weight equation is expressed as：
The wherein WUFor the dangerous objects weight；The CUFor the dangerous objects and the collision time of the vehicle body；The CtFor the plurality of thing
The summation of the collision time of body and the vehicle body；If the object is benign object, using the benign object and the vehicle body
Distance produces the benign object weight, and the benign object weight is produced by a benign object weight equation, and this is non-
Dangerous objects weight is expressed as：
WN=μ | μ ∝ d；
The wherein WNFor the benign object weight；The d is the distance of the benign object and vehicle body；The μ is to be produced according to d
Constant, the μ numerical value are proportional with d.
9. the automated driving system of driving behavior decision-making is used for as claimed in claim 6, wherein according to the dangerous objects weight
Or the benign object weight judges that the weight of the left-hand rotation road area, the straight road region and the right-hand rotation road area is
By one, the space right double recipe formula judges, the space right double recipe formula is expressed as：
The wherein WRFor road area weight, the WOFor the object weight；The DOFor the central point and the object of the road area
Distance；ShouldFor a constant and DOIt is proportional.
10. the automated driving system of driving behavior decision-making is used for as claimed in claim 6, and the wherein storage device is also stored
One signal weight equation, the processor capture the signal weight equation, and by the left-hand rotation road area, the straight road area
The weight of domain and the right-hand rotation road area substitutes into the signal weight equation to produce the left rotaring signal weight, the straight trip respectively
Signal weight and the right turn signal weight, the signal weight equation are expressed as：
Bi=minWR；
The wherein BiFor the signal weight, the WRFor the road area weight.
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| WO2019000391A1 (en) * | 2017-06-30 | 2019-01-03 | 华为技术有限公司 | Vehicle control method, device, and apparatus |
| CN109849919B (en) * | 2017-11-30 | 2020-09-11 | 财团法人车辆研究测试中心 | Safety warning system and method for automatic driving takeover |
| CN109901446B (en) | 2017-12-08 | 2020-07-07 | 广州汽车集团股份有限公司 | Intersection passage control method, device and system |
| CN109677402A (en) * | 2018-11-13 | 2019-04-26 | 顺丰科技有限公司 | The security protection system and method for automatic Pilot tool |
| TWI665609B (en) * | 2018-11-14 | 2019-07-11 | 財團法人工業技術研究院 | Household activity recognition system and method thereof |
| CN109753065B (en) * | 2018-12-29 | 2022-06-17 | 百度在线网络技术（北京）有限公司 | Environment modeling capability evaluation method and system for automatic driving vehicle |
| CN109815555B (en) * | 2018-12-29 | 2023-04-18 | 百度在线网络技术（北京）有限公司 | Environment modeling capability evaluation method and system for automatic driving vehicle |
| CN111813099B (en) * | 2019-03-25 | 2024-03-05 | 广州汽车集团股份有限公司 | Driving control method and device for unmanned vehicle, computer equipment and vehicle |
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