CN107368068A - 用于自动车辆的脱险路径规划系统 - Google Patents
用于自动车辆的脱险路径规划系统 Download PDFInfo
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- CN107368068A CN107368068A CN201710334186.8A CN201710334186A CN107368068A CN 107368068 A CN107368068 A CN 107368068A CN 201710334186 A CN201710334186 A CN 201710334186A CN 107368068 A CN107368068 A CN 107368068A
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- 238000013439 planning Methods 0.000 title claims abstract description 86
- 230000004044 response Effects 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 abstract description 22
- 238000000034 method Methods 0.000 description 7
- 230000015654 memory Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000012508 change request Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0033—Detecting longitudinal speed or acceleration of target vehicle
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B60W2420/408—
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/10—Number of lanes
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
Abstract
Description
Claims (3)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/154,192 | 2016-05-13 | ||
US15/154,192 US9910440B2 (en) | 2016-05-13 | 2016-05-13 | Escape-path-planning system for an automated vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107368068A true CN107368068A (zh) | 2017-11-21 |
CN107368068B CN107368068B (zh) | 2020-10-30 |
Family
ID=58800619
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710334186.8A Active CN107368068B (zh) | 2016-05-13 | 2017-05-12 | 用于自动车辆的脱险路径规划系统 |
Country Status (3)
Country | Link |
---|---|
US (1) | US9910440B2 (zh) |
EP (1) | EP3243718B1 (zh) |
CN (1) | CN107368068B (zh) |
Cited By (2)
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CN109814544A (zh) * | 2017-11-22 | 2019-05-28 | 通用汽车环球科技运作有限责任公司 | 用于在自主车辆中操纵绕过障碍物的系统和方法 |
CN110497909A (zh) * | 2019-07-17 | 2019-11-26 | 百度在线网络技术(北京)有限公司 | 应用于车辆的碰撞检测和避免方法及装置 |
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US11092446B2 (en) | 2016-06-14 | 2021-08-17 | Motional Ad Llc | Route planning for an autonomous vehicle |
US10309792B2 (en) | 2016-06-14 | 2019-06-04 | nuTonomy Inc. | Route planning for an autonomous vehicle |
US10126136B2 (en) | 2016-06-14 | 2018-11-13 | nuTonomy Inc. | Route planning for an autonomous vehicle |
JP6714714B2 (ja) * | 2016-10-18 | 2020-06-24 | 本田技研工業株式会社 | 車両制御装置 |
US10331129B2 (en) | 2016-10-20 | 2019-06-25 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
US10473470B2 (en) | 2016-10-20 | 2019-11-12 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
US10857994B2 (en) | 2016-10-20 | 2020-12-08 | Motional Ad Llc | Identifying a stopping place for an autonomous vehicle |
US10681513B2 (en) | 2016-10-20 | 2020-06-09 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
BR112019016278A2 (pt) | 2017-02-10 | 2020-04-07 | Nissan North America, Inc. | monitoramento de bloqueio de gerenciamento operacional de veículo autônomo |
CN110431037B (zh) | 2017-02-10 | 2022-11-29 | 日产北美公司 | 包括运用部分可观察马尔可夫决策过程模型示例的自主车辆操作管理 |
US10518770B2 (en) * | 2017-03-14 | 2019-12-31 | Uatc, Llc | Hierarchical motion planning for autonomous vehicles |
WO2019043831A1 (ja) * | 2017-08-30 | 2019-03-07 | 日産自動車株式会社 | 運転支援車両の位置誤差補正方法及び位置誤差補正装置 |
JP2019057242A (ja) * | 2017-09-22 | 2019-04-11 | 株式会社Subaru | 車両用警報システム |
US11702070B2 (en) | 2017-10-31 | 2023-07-18 | Nissan North America, Inc. | Autonomous vehicle operation with explicit occlusion reasoning |
US11027751B2 (en) * | 2017-10-31 | 2021-06-08 | Nissan North America, Inc. | Reinforcement and model learning for vehicle operation |
US10618519B2 (en) * | 2017-11-06 | 2020-04-14 | Uatc Llc | Systems and methods for autonomous vehicle lane change control |
JP6881244B2 (ja) * | 2017-11-06 | 2021-06-02 | トヨタ自動車株式会社 | 自動運転装置 |
BR112020010209B1 (pt) | 2017-11-30 | 2023-12-05 | Nissan North America, Inc. | Métodos para uso na travessia de uma rede de transporte de veículos e veículo autônomo |
WO2020204871A1 (en) | 2017-12-22 | 2020-10-08 | Nissan North America, Inc. | Shared autonomous vehicle operational management |
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US11120688B2 (en) | 2018-06-29 | 2021-09-14 | Nissan North America, Inc. | Orientation-adjust actions for autonomous vehicle operational management |
KR102598940B1 (ko) * | 2018-09-21 | 2023-11-07 | 르노 에스.아.에스. | 차량 제어 방법 및 차량 제어 장치 |
US20200114898A1 (en) * | 2018-10-16 | 2020-04-16 | Aptiv Technologies Limited | Vehicle lane-bias system and method |
CN109991977B (zh) * | 2019-03-04 | 2022-04-29 | 斯坦德机器人(深圳)有限公司 | 机器人的路径规划方法及装置 |
JP7156238B2 (ja) * | 2019-10-15 | 2022-10-19 | トヨタ自動車株式会社 | 車両制御システム |
US11635758B2 (en) | 2019-11-26 | 2023-04-25 | Nissan North America, Inc. | Risk aware executor with action set recommendations |
US11899454B2 (en) | 2019-11-26 | 2024-02-13 | Nissan North America, Inc. | Objective-based reasoning in autonomous vehicle decision-making |
US11613269B2 (en) | 2019-12-23 | 2023-03-28 | Nissan North America, Inc. | Learning safety and human-centered constraints in autonomous vehicles |
US11300957B2 (en) | 2019-12-26 | 2022-04-12 | Nissan North America, Inc. | Multiple objective explanation and control interface design |
US11714971B2 (en) | 2020-01-31 | 2023-08-01 | Nissan North America, Inc. | Explainability of autonomous vehicle decision making |
US11577746B2 (en) | 2020-01-31 | 2023-02-14 | Nissan North America, Inc. | Explainability of autonomous vehicle decision making |
CN111443709B (zh) * | 2020-03-09 | 2023-08-29 | 北京百度网讯科技有限公司 | 车辆变道路线规划方法、装置、终端和存储介质 |
US11782438B2 (en) | 2020-03-17 | 2023-10-10 | Nissan North America, Inc. | Apparatus and method for post-processing a decision-making model of an autonomous vehicle using multivariate data |
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Publication number | Priority date | Publication date | Assignee | Title |
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CN109814544A (zh) * | 2017-11-22 | 2019-05-28 | 通用汽车环球科技运作有限责任公司 | 用于在自主车辆中操纵绕过障碍物的系统和方法 |
CN109814544B (zh) * | 2017-11-22 | 2022-04-15 | 通用汽车环球科技运作有限责任公司 | 用于在自主车辆中操纵绕过障碍物的系统和方法 |
CN110497909A (zh) * | 2019-07-17 | 2019-11-26 | 百度在线网络技术(北京)有限公司 | 应用于车辆的碰撞检测和避免方法及装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3243718B1 (en) | 2020-09-23 |
CN107368068B (zh) | 2020-10-30 |
US20170329338A1 (en) | 2017-11-16 |
EP3243718A1 (en) | 2017-11-15 |
US9910440B2 (en) | 2018-03-06 |
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