CN105059287A - 一种车道保持方法和装置 - Google Patents
一种车道保持方法和装置 Download PDFInfo
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- CN105059287A CN105059287A CN201510465986.4A CN201510465986A CN105059287A CN 105059287 A CN105059287 A CN 105059287A CN 201510465986 A CN201510465986 A CN 201510465986A CN 105059287 A CN105059287 A CN 105059287A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000001105 regulatory effect Effects 0.000 claims abstract description 45
- 230000002708 enhancing effect Effects 0.000 claims description 35
- 230000001276 controlling effect Effects 0.000 claims description 4
- 230000002787 reinforcement Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 9
- 238000005728 strengthening Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 241000206761 Bacillariophyta Species 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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CN201510465986.4A CN105059287B (zh) | 2015-07-31 | 2015-07-31 | 一种车道保持方法和装置 |
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CN201510465986.4A CN105059287B (zh) | 2015-07-31 | 2015-07-31 | 一种车道保持方法和装置 |
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CN105059287A true CN105059287A (zh) | 2015-11-18 |
CN105059287B CN105059287B (zh) | 2017-09-12 |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105730443A (zh) * | 2016-04-08 | 2016-07-06 | 奇瑞汽车股份有限公司 | 车辆变道控制方法及系统 |
CN105824314A (zh) * | 2016-03-17 | 2016-08-03 | 奇瑞汽车股份有限公司 | 一种车道保持控制方法 |
CN105843221A (zh) * | 2016-03-09 | 2016-08-10 | 乐卡汽车智能科技(北京)有限公司 | 车道保持方法及雷达、车道保持系统 |
CN106828495A (zh) * | 2017-02-16 | 2017-06-13 | 奇瑞汽车股份有限公司 | 一种控制车辆行驶的方法及装置 |
CN108009587A (zh) * | 2017-12-01 | 2018-05-08 | 驭势科技(北京)有限公司 | 一种基于强化学习和规则确定驾驶策略的方法与设备 |
CN109076761A (zh) * | 2018-08-08 | 2018-12-25 | 安徽省现代农业装备产业技术研究院有限公司 | 一种基于遥感图像变量施肥方法 |
CN110525421A (zh) * | 2019-09-23 | 2019-12-03 | 苏州智加科技有限公司 | 一种用于具有挂车的车辆的车道保持强化学习方法及系统 |
CN110654384A (zh) * | 2019-11-04 | 2020-01-07 | 湖南大学 | 一种基于深度强化学习的车道保持控制算法及系统 |
CN111216723A (zh) * | 2018-11-26 | 2020-06-02 | 广州汽车集团股份有限公司 | 车辆的行驶控制方法、装置和存储介质 |
CN112572433A (zh) * | 2020-12-24 | 2021-03-30 | 奇瑞汽车股份有限公司 | 车道保持的控制方法、装置及计算机存储介质 |
US11192583B2 (en) * | 2018-10-08 | 2021-12-07 | Hyundai Motor Company | Vehicle and controlling method thereof |
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WO2007023103A1 (de) * | 2005-08-23 | 2007-03-01 | Siemens Aktiengesellschaft | System für spurverlassenswarnung und/oder spurhaltefunktion |
EP1840000A2 (en) * | 2006-03-29 | 2007-10-03 | Fuji Jukogyo Kabushiki Kaisha | Lane keeping assistance equipment for automotive vehicles |
EP1950115A2 (en) * | 2007-01-26 | 2008-07-30 | Delphi Technologies, Inc. | Systems, methods, and computer program products for lane change detection and handling of lane keeping torque |
CN102076541A (zh) * | 2008-06-20 | 2011-05-25 | 通用汽车环球科技运作公司 | 用于自动车道居中和车道变换控制系统的路径生成算法 |
US20110125369A1 (en) * | 2009-11-10 | 2011-05-26 | Electronics And Telecommunications Research Institute | Apparatus for keeping a traffic lane and preventing lane-deviation for a vehicle and method thereof |
CN102616241A (zh) * | 2012-03-28 | 2012-08-01 | 周圣砚 | 基于车道线模型检测方法和在线学习方法的车道偏离报警系统 |
KR20120092795A (ko) * | 2011-02-14 | 2012-08-22 | 주식회사 만도 | 차선유지제어 방법 및 그 시스템 |
CN102815299A (zh) * | 2011-06-09 | 2012-12-12 | 通用汽车环球科技运作有限责任公司 | 通过用于车道定中/保持的车道标记识别的车道感测 |
CN103328298A (zh) * | 2010-10-26 | 2013-09-25 | 罗伯特·博世有限公司 | 用于确定用于车辆的横向调节的横向调节器参数化的方法与装置 |
-
2015
- 2015-07-31 CN CN201510465986.4A patent/CN105059287B/zh active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007023103A1 (de) * | 2005-08-23 | 2007-03-01 | Siemens Aktiengesellschaft | System für spurverlassenswarnung und/oder spurhaltefunktion |
EP1840000A2 (en) * | 2006-03-29 | 2007-10-03 | Fuji Jukogyo Kabushiki Kaisha | Lane keeping assistance equipment for automotive vehicles |
EP1950115A2 (en) * | 2007-01-26 | 2008-07-30 | Delphi Technologies, Inc. | Systems, methods, and computer program products for lane change detection and handling of lane keeping torque |
CN102076541A (zh) * | 2008-06-20 | 2011-05-25 | 通用汽车环球科技运作公司 | 用于自动车道居中和车道变换控制系统的路径生成算法 |
US20110125369A1 (en) * | 2009-11-10 | 2011-05-26 | Electronics And Telecommunications Research Institute | Apparatus for keeping a traffic lane and preventing lane-deviation for a vehicle and method thereof |
CN103328298A (zh) * | 2010-10-26 | 2013-09-25 | 罗伯特·博世有限公司 | 用于确定用于车辆的横向调节的横向调节器参数化的方法与装置 |
KR20120092795A (ko) * | 2011-02-14 | 2012-08-22 | 주식회사 만도 | 차선유지제어 방법 및 그 시스템 |
CN102815299A (zh) * | 2011-06-09 | 2012-12-12 | 通用汽车环球科技运作有限责任公司 | 通过用于车道定中/保持的车道标记识别的车道感测 |
CN102616241A (zh) * | 2012-03-28 | 2012-08-01 | 周圣砚 | 基于车道线模型检测方法和在线学习方法的车道偏离报警系统 |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105843221B (zh) * | 2016-03-09 | 2019-04-12 | 法法汽车(中国)有限公司 | 车道保持方法及雷达、车道保持系统 |
CN105843221A (zh) * | 2016-03-09 | 2016-08-10 | 乐卡汽车智能科技(北京)有限公司 | 车道保持方法及雷达、车道保持系统 |
CN105824314A (zh) * | 2016-03-17 | 2016-08-03 | 奇瑞汽车股份有限公司 | 一种车道保持控制方法 |
CN105730443A (zh) * | 2016-04-08 | 2016-07-06 | 奇瑞汽车股份有限公司 | 车辆变道控制方法及系统 |
CN105730443B (zh) * | 2016-04-08 | 2019-01-01 | 奇瑞汽车股份有限公司 | 车辆变道控制方法及系统 |
CN106828495A (zh) * | 2017-02-16 | 2017-06-13 | 奇瑞汽车股份有限公司 | 一种控制车辆行驶的方法及装置 |
CN106828495B (zh) * | 2017-02-16 | 2019-05-07 | 奇瑞汽车股份有限公司 | 一种控制车辆行驶的方法及装置 |
CN108009587A (zh) * | 2017-12-01 | 2018-05-08 | 驭势科技(北京)有限公司 | 一种基于强化学习和规则确定驾驶策略的方法与设备 |
CN108009587B (zh) * | 2017-12-01 | 2021-04-16 | 驭势科技(北京)有限公司 | 一种基于强化学习和规则确定驾驶策略的方法与设备 |
CN109076761A (zh) * | 2018-08-08 | 2018-12-25 | 安徽省现代农业装备产业技术研究院有限公司 | 一种基于遥感图像变量施肥方法 |
CN109076761B (zh) * | 2018-08-08 | 2021-01-08 | 安徽省现代农业装备产业技术研究院有限公司 | 一种基于遥感图像变量施肥方法 |
US11192583B2 (en) * | 2018-10-08 | 2021-12-07 | Hyundai Motor Company | Vehicle and controlling method thereof |
CN111216723A (zh) * | 2018-11-26 | 2020-06-02 | 广州汽车集团股份有限公司 | 车辆的行驶控制方法、装置和存储介质 |
CN111216723B (zh) * | 2018-11-26 | 2021-04-16 | 广州汽车集团股份有限公司 | 车辆的行驶控制方法、装置和存储介质 |
CN110525421A (zh) * | 2019-09-23 | 2019-12-03 | 苏州智加科技有限公司 | 一种用于具有挂车的车辆的车道保持强化学习方法及系统 |
CN110525421B (zh) * | 2019-09-23 | 2020-07-10 | 苏州智加科技有限公司 | 一种用于具有挂车的车辆的车道保持强化学习方法及系统 |
CN110654384A (zh) * | 2019-11-04 | 2020-01-07 | 湖南大学 | 一种基于深度强化学习的车道保持控制算法及系统 |
CN112572433A (zh) * | 2020-12-24 | 2021-03-30 | 奇瑞汽车股份有限公司 | 车道保持的控制方法、装置及计算机存储介质 |
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Effective date of registration: 20220218 Address after: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241006 Changchun Road, Wuhu economic and Technological Development Zone, Wuhu, Anhui, 8 Patentee before: CHERY AUTOMOBILE Co.,Ltd. |
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Effective date of registration: 20240412 Address after: 241000 10th Floor, Block B1, Wanjiang Wealth Plaza, Guandou Street, Jiujiang District, Wuhu City, Anhui Province Patentee after: Dazhuo Intelligent Technology Co.,Ltd. Country or region after: China Patentee after: Dazhuo Quxing Intelligent Technology (Shanghai) Co.,Ltd. Address before: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee before: Wuhu Sambalion auto technology Co.,Ltd. Country or region before: China |