CN107389081A - The intelligent navigation method and system of a kind of automatic driving vehicle - Google Patents
The intelligent navigation method and system of a kind of automatic driving vehicle Download PDFInfo
- Publication number
- CN107389081A CN107389081A CN201710577658.2A CN201710577658A CN107389081A CN 107389081 A CN107389081 A CN 107389081A CN 201710577658 A CN201710577658 A CN 201710577658A CN 107389081 A CN107389081 A CN 107389081A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- navigation
- guidance path
- road
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000004888 barrier function Effects 0.000 claims abstract description 62
- 238000004891 communication Methods 0.000 claims description 4
- 239000011800 void material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
The invention provides a kind of intelligent navigation method of automatic driving vehicle and system, by generating alternative navigation path according to the present position information and end point location information；Judge whether include barrier point in the alternative navigation path according to real-time road condition information；If comprising generating the first guidance path, and control the vehicle to be travelled according to first guidance path；When the distance between the current location of the user and the barrier point are less than default value, the barrier point whether still congestion is judged；If still congestion, the second guidance path is generated, and control vehicle to be travelled according to the second guidance path；If no longer congestion, the 3rd guidance path is generated, and control vehicle to be travelled according to the 3rd guidance path.Because a guidance path can be split as multiple guidance path by navigation server, so guidance path can timely be adjusted according to real-time road condition information, so that the guidance path of generation is more accurate.
Description
Technical field
The present invention relates to the intelligent navigation method and system in automobile navigation field, more particularly to a kind of automatic driving vehicle.
Technical field
With the development of location technology and mechanics of communication, it is increasingly common to carry out automobile navigation using navigation software.One
A little integrated mills occur using unmanned vehicle transport goods by control, start out now in the development of automobile
From dynamic driving condition, overcome that accident occurs in driver or driver is under frazzle and can not continue to drive, cause car
The defects of out of control.
Air navigation aid of the prior art is that user inputs origin information and endpoint information, and navigation software generation is a plurality of optional
Guidance path, be all labeled with total distance, the information such as duration that may be spent per bar navigation path, some navigation softwares can be with
The information such as the real-time road of guidance path are shown, select a certain bar navigation path to be navigated by user.
The path that user is intended to selection is most smoothly path, so when navigation software generates guidance path, user
Traffic information can be paid close attention to, the most short path of congestion distance can be typically chosen and be navigated, but traffic information may be sent out at any time
Changing, when path is long, accurately selection is more difficult for guidance path, therefore can not realize the navigation of optimal path.
The content of the invention
The invention provides a kind of intelligent navigation method of automatic driving vehicle, can provide a user more suitably nobody
Vehicle route guidance path.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of intelligent navigation method of automatic driving vehicle, wherein, methods described includes：
Navigation server obtains vehicle present position information and the end point location information travelled；
The navigation server generates alternative navigation path according to the present position information and end point location information；
The navigation server judges whether include barrier point, institute in the alternative navigation path according to real-time road condition information
It is the place currently to get congestion to state barrier point；
If comprising the navigation server is led according to the present position information and barrier point generation first
Bit path, and control instruction is sent, control the vehicle to be travelled according to first guidance path；
When the distance between the current location of the user and the barrier point are less than default value, the navigation Service
Whether still device judges barrier point congestion according to real-time road condition information；
If still congestion, the navigation server is believed according to the current location of the vehicle and the final position
Breath the second guidance path of generation, and control instruction is sent, control the vehicle to enter every trade according to second guidance path
Sail, second guidance path is without the barrier point；
If no longer congestion, current location and the final position of the navigation server according to the vehicle
Information generates the 3rd guidance path, and sends control instruction, controls the vehicle to be carried out according to the 3rd guidance path
Traveling, the 3rd guidance path pass through the barrier point.
The intelligent navigation method of described automatic driving vehicle, wherein, navigation server obtains the reality of traffic hub issue
Shi Lukuang or the vehicle flowrate for obtaining current barrier point, and the barrier point is judged according to the real-time road and the vehicle flowrate
Whether congestion.
The intelligent navigation method of described automatic driving vehicle, wherein, methods described also includes：
Vehicle obtains real-time road picture by camera, and real-time road picture is sent to navigation server；
The navigation server records according to the real-time road picture and updates traffic information.
The intelligent navigation method of described automatic driving vehicle, wherein, methods described also includes：
Communication connection is established between the automatic navigator of vehicle and the automatic navigator of other in-trips vehicles, and will be certainly
Body positional information is sent to other vehicles in predeterminable area by communicating to connect.
The intelligent navigation method of described automatic driving vehicle, wherein, methods described also includes：
Vehicle navigator receives the positional information of other in-trips vehicles, and by the positional information of other in-trips vehicles with
Itself travel speed and direction are combined, and are judged whether containing risk of collision, if containing risk of collision, are given a warning.
The intelligent navigation method of described automatic driving vehicle, wherein, methods described also includes：
The camera of vehicle obtains front road conditions picture, and identifies the driving car in the front road conditions picture
Road；According to itself travel speed and walking direction whether containing the risk for deviateing the driving lane, deviate risk if containing,
Give a warning.
The intelligent navigation method of described automatic driving vehicle, wherein, it is described to identify in the front road conditions picture
The method of driving lane also includes：
The Lane Mark of front road conditions picture is identified, and the void of vehicle front is simulated according to the Lane Mark
Intend track；
Obtain the angle between vehicle current driving speed and right ahead and virtual rail；
Vehicle front-wheel is calculated according to the goniometer between vehicle current driving speed, right ahead and virtual rail
Drive to the time T on virtual rail border；
If the time T is less than predetermined threshold value, give a warning.
The intelligent navigation method of described automatic driving vehicle, wherein, methods described also includes：
Navigation server identifies the straight trip in the first guidance path, the second guidance path or the 3rd guidance path respectively
Route and turning route, and control vehicle traveling straight trip route road when, road speed is in the first pre-set velocity；
And when controlling the road of vehicle traveling turning route, road speed is in the second pre-set velocity.
A kind of intelligent guidance system of automatic driving vehicle, wherein, including：Navigation server and vehicle；
The navigation server, obtain vehicle present position information for navigation server and travelled
End point location information；
According to the present position information and end point location information generation alternative navigation path；
Judge whether include barrier point in the alternative navigation path according to real-time road condition information, the barrier point is current
The place to get congestion；
If comprising generating the first guidance path according to the present position information and the barrier point, and send
Control instruction, the vehicle is controlled to be travelled according to first guidance path；
And be additionally operable to when the distance between the current location of the user and the barrier point are less than default value,
Whether still the navigation server judges barrier point congestion according to real-time road condition information；
If still congestion, according to the current location of the vehicle and the navigation of end point location information generation second
Path, and control instruction is sent, control the vehicle to be travelled according to second guidance path, second navigation
Path is without the barrier point；
If no longer congestion, led according to the current location of the vehicle and end point location information generation the 3rd
Bit path, and control instruction is sent, control the vehicle to be travelled according to the 3rd guidance path, the described 3rd leads
Bit path passes through the barrier point.
The intelligent guidance system of described automatic driving vehicle, wherein, the navigation server is additionally operable to, vehicle hair
The real-time road picture sent, and according to the real-time road frame updating traffic information.
The invention provides a kind of intelligent navigation method of automatic driving vehicle and system, and nothing is obtained by navigation server
People's vehicle present position information and the end point location information travelled, according to the present position information and terminal
Positional information generation alternative navigation path；Judge whether include obstacle in the alternative navigation path according to real-time road condition information
Point, the barrier point are the place currently to get congestion；If comprising the navigation server is according to the present position
Information and the barrier point generate the first guidance path, and send control instruction, control the vehicle according to described first
Guidance path is travelled；When the distance between the current location of the user and the barrier point are less than default value, institute
State navigation server and whether still barrier point congestion is judged according to real-time road condition information；If still congestion, the navigation
Server generates the second guidance path according to the current location of the vehicle and the end point location information, and sends control
Instruction, controls the vehicle to be travelled according to second guidance path, second guidance path is without described
Barrier point；If no longer congestion, current location and the final position of the navigation server according to the vehicle
Information generates the 3rd guidance path, and sends control instruction, controls the vehicle to be carried out according to the 3rd guidance path
Traveling, the 3rd guidance path pass through the barrier point.Due to navigation server guidance path can be split as it is more
Secondary guidance path, so guidance path can timely be adjusted according to real-time road condition information, so that the guidance path of generation
It is more accurate.
Brief description of the drawings
Fig. 1 is the invention discloses a kind of step flow chart of the intelligent navigation method of automatic driving vehicle.
Embodiment
In order that those skilled in the art is better understood from technical scheme, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
The invention provides a kind of intelligent navigation method of automatic driving vehicle, as described in Figure 1, methods described includes：
Step 101, navigation server obtain vehicle present position information and the final position travelled letter
Breath；The navigation server generates alternative navigation path according to the present position information and end point location information.
Navigation server gets the positional information that vehicle is currently located, and to be arrived at according to the vehicle of input
Destination, with reference to map, automatically generate alternative navigation path, the alternative navigation path is does not consider real-time road condition
Under, resulting optimal guidance path.
Step 102, the navigation server judge whether included in the alternative navigation path according to real-time road condition information
Barrier point, the barrier point are the place currently to get congestion.
Specifically, navigation server obtains the real-time road of traffic hub issue or obtains the wagon flow of current barrier point
Amount, and according to the real-time road and the vehicle flowrate judge the barrier point whether congestion.
In order to preferably get the relevant information of real-time road, vehicle obtains real-time road by camera and drawn
Face, and real-time road picture is sent to navigation server；The navigation server records simultaneously according to the real-time road picture
Update traffic information.
If step 103, given birth to according to the present position information and the barrier point comprising, the navigation server
Into the first guidance path, and control instruction is sent, control the vehicle to be travelled according to first guidance path.
Step 104, when the distance between the current location of the user and the barrier point are less than default value, it is described
Whether still navigation server judges barrier point congestion according to real-time road condition information.
The default value can be realized by self-defined or default setting.
When vehicle is close to each preset point, the traffic information of the preset point is obtained again, judges that currently this is preset
If whether point also in congestion status, performs step 105, otherwise performs step 106 also in congestion status.
Whether can be judged in congestion status by the vehicle flowrate in the scheduled time, in order to avoid passing through vehicle flowrate
Judgement there is error, it can also be combined with specific live picture, so as to realize more accurate judgement.
If step 105, still congestion, current location and the end of the navigation server according to the vehicle
Dot position information generates the second guidance path, and sends control instruction, controls the vehicle according to the described second navigation road
Footpath is travelled, and second guidance path is without the barrier point.
If step 106, no longer congestion, the navigation server is according to the current location of the vehicle and described
End point location information generates the 3rd guidance path, and sends control instruction, controls the vehicle according to the described 3rd navigation
Path is travelled, and the 3rd guidance path passes through the barrier point.
Methods described also includes：
Communication connection is established between the automatic navigator of vehicle and the automatic navigator of other in-trips vehicles, and will be certainly
Body positional information is sent to other vehicles in predeterminable area by communicating to connect.
Methods described also includes：
Vehicle navigator receives the positional information of other in-trips vehicles, and by the positional information of other in-trips vehicles with
Itself travel speed and direction are combined, and are judged whether containing risk of collision, if containing risk of collision, are given a warning.
Methods described also includes：
The camera of vehicle obtains front road conditions picture, and identifies the driving car in the front road conditions picture
Road；According to itself travel speed and walking direction whether containing the risk for deviateing the driving lane, deviate risk if containing,
Give a warning.
The method for identifying the driving lane in the front road conditions picture also includes：
The Lane Mark of front road conditions picture is identified, and the void of vehicle front is simulated according to the Lane Mark
Intend track；
Obtain the angle between vehicle current driving speed and right ahead and virtual rail；
Vehicle front-wheel is calculated according to the goniometer between vehicle current driving speed, right ahead and virtual rail
Drive to the time T on virtual rail border；
If the time T is less than predetermined threshold value, give a warning.
Methods described also includes：
Navigation server identifies the straight trip in the first guidance path, the second guidance path or the 3rd guidance path respectively
Route and turning route, and control vehicle traveling straight trip route road when, road speed is in the first pre-set velocity；
And when controlling the road of vehicle traveling turning route, road speed is in the second pre-set velocity.
Because the situation in section is different, therefore can be arrived at by controlling the speed of vehicle to obtain shorter time
Destination.
Illustrated below with concrete application embodiment of the present invention, clearer solution is done to method provided by the present invention
Analysis.
The step of concrete application embodiment of the present invention, is as follows：
H1, navigation server store local Jiang-Wu Road figure first；The Jiang-Wu Road figure comprises at least this nobody
The Zone Full of traveling needed for vehicle.
H2, navigation server receive the current location information that vehicle is oriented by d GPS locating module, and receive defeated
The vehicle entered the end point location information to be arrived at.
H3, navigation server generate alternative navigation path according to vehicle current location and end point location information；
H4, the navigation server judge whether include congestion in the alternative navigation path according to real-time road condition information
Point, the congestion points are the place currently to get congestion；If comprising execution step H5；
H5, the navigation server generate the first guidance path according to the starting point and the congestion points, with described in instruction
Optimal in-trips vehicles are travelled according to first guidance path；
H6, when the distance between the current location of the vehicle and the preset point are less than default value, it is described
Whether still navigation server judges congestion points congestion according to real-time road condition information；If still congestion, step H7 is performed,
Otherwise step H8 is performed；
H7, the navigation server are according to the current location of the vehicle and the navigation of end point location information generation second
Path, and control vehicle to be travelled according to second guidance path, second guidance path is gathered around without described
Stifled point；
H8, the navigation server are according to the current location of the vehicle and the navigation of end point location information generation the 3rd
Path, to indicate that the vehicle is travelled according to the 3rd guidance path, arrived at by the congestion points.
Vehicle in the process of moving, can also correct the travel direction of itself, avoid offset track, can also basis
The positional information of vehicle around is received, determines whether risk of collision, so as to be provided for the smooth traveling of vehicle
Ensure.
The present invention also discloses a kind of intelligent navigation system of automatic driving vehicle on the basis of above-mentioned intelligent navigation method
System, the system include：Navigation server and vehicle；
The navigation server, obtain vehicle present position information for navigation server and travelled
End point location information；
According to the present position information and end point location information generation alternative navigation path；
Judge whether include barrier point in the alternative navigation path according to real-time road condition information, the barrier point is current
The place to get congestion；
If comprising generating the first guidance path according to the present position information and the barrier point, and send
Control instruction, the vehicle is controlled to be travelled according to first guidance path；
And be additionally operable to when the distance between the current location of the user and the barrier point are less than default value,
Whether still the navigation server judges barrier point congestion according to real-time road condition information；
If still congestion, according to the current location of the vehicle and the navigation of end point location information generation second
Path, and control instruction is sent, control the vehicle to be travelled according to second guidance path, second navigation
Path is without the barrier point；
If no longer congestion, led according to the current location of the vehicle and end point location information generation the 3rd
Bit path, and control instruction is sent, control the vehicle to be travelled according to the 3rd guidance path, the described 3rd leads
Bit path passes through the barrier point.
The navigation server is additionally operable to, the real-time road picture that vehicle is sent, and is drawn according to the real-time road
Face updates traffic information.
The invention provides a kind of intelligent navigation method of automatic driving vehicle and system, and nothing is obtained by navigation server
People's vehicle present position information and the end point location information travelled, according to the present position information and terminal
Positional information generation alternative navigation path；Judge whether include obstacle in the alternative navigation path according to real-time road condition information
Point；If comprising the navigation server is according to the present position information and the first navigation of barrier point generation road
Footpath, and control the vehicle to be travelled according to first guidance path；When the user current location with it is described
When the distance between barrier point is less than default value, the navigation server judges that the barrier point is according to real-time road condition information
No still congestion；If still congestion, current location and the terminal position of the navigation server according to the vehicle
Confidence breath the second guidance path of generation, and controls the vehicle to be travelled according to second guidance path, and described the
Two guidance paths are without the barrier point；If no longer congestion, the navigation server is worked as according to the vehicle
Front position and the end point location information generate the 3rd guidance path, and control the vehicle according to the described 3rd navigation road
Footpath is travelled, and the 3rd guidance path passes through the barrier point.Because navigation server can tear a guidance path open
It is divided into multiple guidance path, so guidance path can timely be adjusted according to real-time road condition information, so that generation is led
Bit path is more accurate.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of intelligent navigation method of automatic driving vehicle, it is characterised in that methods described includes：
Navigation server obtains vehicle present position information and the end point location information travelled；
The navigation server generates alternative navigation path according to the present position information and end point location information；
The navigation server judges whether include barrier point, the barrier in the alternative navigation path according to real-time road condition information
Hinder the place a little currently to get congestion；
If comprising the navigation server is according to the present position information and the first navigation of barrier point generation road
Footpath, and control instruction is sent, control the vehicle to be travelled according to first guidance path；
When the distance between the current location of the user and the barrier point are less than default value, the navigation server root
Judge the barrier point whether still congestion according to real-time road condition information；
If still congestion, the navigation server is given birth to according to the current location of the vehicle and the end point location information
Into the second guidance path, and control instruction is sent, control the vehicle to be travelled according to second guidance path, institute
The second guidance path is stated without the barrier point；
If no longer congestion, current location and the end point location information of the navigation server according to the vehicle
The 3rd guidance path is generated, and sends control instruction, controls the vehicle to be travelled according to the 3rd guidance path,
3rd guidance path passes through the barrier point.
2. the intelligent navigation method of automatic driving vehicle according to claim 1, it is characterised in that navigation server obtains
The real-time road of traffic hub issue or the vehicle flowrate for obtaining current barrier point, and according to the real-time road and the wagon flow
Amount judge the barrier point whether congestion.
3. the intelligent navigation method of automatic driving vehicle according to claim 2, it is characterised in that methods described is also wrapped
Include：
Vehicle obtains real-time road picture by camera, and real-time road picture is sent to navigation server；
The navigation server records according to the real-time road picture and updates traffic information.
4. the intelligent navigation method of automatic driving vehicle according to claim 2, it is characterised in that methods described is also wrapped
Include：
Communication connection is established between the automatic navigator of vehicle and the automatic navigator of other in-trips vehicles, and by itself position
Confidence breath is sent to other vehicles in predeterminable area by communicating to connect.
5. the intelligent navigation method of automatic driving vehicle according to claim 4, it is characterised in that methods described is also wrapped
Include：
The vehicle navigator of vehicle receives the positional information of other in-trips vehicles, and by the positional information of other vehicles
It is combined, judges whether containing risk of collision with itself travel speed and direction, if containing risk of collision, gives a warning.
6. the intelligent navigation method of automatic driving vehicle according to claim 4, it is characterised in that methods described is also wrapped
Include：
The camera of vehicle obtains front road conditions picture, and identifies the driving lane in the front road conditions picture；Root
According to itself travel speed and walking direction whether containing the risk for deviateing the driving lane, if containing risk is deviateed, send
Warning.
7. the intelligent navigation method of automatic driving vehicle according to claim 6, it is characterised in that it is described identify it is described
The method of driving lane in the road conditions picture of front also includes：
The Lane Mark of front road conditions picture is identified, and the virtual rail of vehicle front is simulated according to the Lane Mark
Road；
Obtain the angle between vehicle current driving speed and right ahead and virtual rail；
Vehicle front-wheel traveling is calculated according to the goniometer between vehicle current driving speed, right ahead and virtual rail
To the time T on virtual rail border；
If the time T is less than predetermined threshold value, give a warning.
8. the intelligent navigation method of automatic driving vehicle according to claim 2, it is characterised in that methods described is also wrapped
Include：
Navigation server identifies the straight trip route in the first guidance path, the second guidance path or the 3rd guidance path respectively
With turning route, and control vehicle traveling straight trip route road when, road speed is in the first pre-set velocity；And
When controlling the road of vehicle traveling turning route, road speed is in the second pre-set velocity.
A kind of 9. intelligent guidance system of automatic driving vehicle, it is characterised in that including：Navigation server and vehicle；
The navigation server, vehicle present position information and the terminal travelled are obtained for navigation server
Positional information；
According to the present position information and end point location information generation alternative navigation path；
Judge barrier point whether is included in the alternative navigation path according to real-time road condition information, the barrier point occurs to be current
The place of congestion；
If comprising generating the first guidance path according to the present position information and the barrier point, and send control
Instruction, controls the vehicle to be travelled according to first guidance path；
And be additionally operable to when the distance between the current location of the user and the barrier point are less than default value, it is described
Whether still navigation server judges barrier point congestion according to real-time road condition information；
If still congestion, according to the current location of the vehicle and the second navigation of end point location information generation road
Footpath, and control instruction is sent, control the vehicle to be travelled according to second guidance path, the second navigation road
Footpath is without the barrier point；
If no longer congestion, according to the current location of the vehicle and the navigation road of end point location information generation the 3rd
Footpath, and control instruction is sent, control the vehicle to be travelled according to the 3rd guidance path, the 3rd navigation road
The barrier point is passed through in footpath.
10. the intelligent guidance system of automatic driving vehicle according to claim 9, it is characterised in that the navigation Service
Device is additionally operable to, and obtains the real-time road picture that vehicle is sent, and according to the real-time road frame updating traffic information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710577658.2A CN107389081A (en) | 2017-07-15 | 2017-07-15 | The intelligent navigation method and system of a kind of automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710577658.2A CN107389081A (en) | 2017-07-15 | 2017-07-15 | The intelligent navigation method and system of a kind of automatic driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107389081A true CN107389081A (en) | 2017-11-24 |
Family
ID=60340669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710577658.2A Pending CN107389081A (en) | 2017-07-15 | 2017-07-15 | The intelligent navigation method and system of a kind of automatic driving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107389081A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873905A (en) * | 2018-07-09 | 2018-11-23 | 深圳市易成自动驾驶技术有限公司 | Automatic driving vehicle control method, automatic driving vehicle and readable storage medium storing program for executing |
| CN108875998A (en) * | 2018-04-20 | 2018-11-23 | 北京智行者科技有限公司 | A kind of automatic driving vehicle method and system for planning |
| CN109211257A (en) * | 2018-08-31 | 2019-01-15 | 北京图森未来科技有限公司 | A kind of automatic driving car travel route method and system for planning |
| CN109631929A (en) * | 2019-02-20 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Heavy air navigation aid, device and storage medium based on blacklist |
| CN109829367A (en) * | 2018-12-24 | 2019-05-31 | 杨昌兵 | A kind of unmanned obstacle identification management system and method |
| CN109931937A (en) * | 2019-03-28 | 2019-06-25 | 北京经纬恒润科技有限公司 | High-precision navigation information simulation method and system |
| CN111076739A (en) * | 2020-03-25 | 2020-04-28 | 北京三快在线科技有限公司 | Path planning method and device |
| CN111326000A (en) * | 2018-12-14 | 2020-06-23 | 奥迪股份公司 | Traffic jam warning method, device, computer equipment and storage medium |
| CN111442781A (en) * | 2020-03-23 | 2020-07-24 | 上海博泰悦臻电子设备制造有限公司 | Navigation path generation system and method for restricted vehicle |
| CN112212876A (en) * | 2020-09-24 | 2021-01-12 | 南通路远科技信息有限公司 | Navigation routing method and device for unmanned traffic vehicle and vehicle |
| CN112277787A (en) * | 2019-07-23 | 2021-01-29 | 中车株洲电力机车研究所有限公司 | Virtual track self-adaptive lighting device and method of intelligent rail electric car |
| CN113029181A (en) * | 2021-04-09 | 2021-06-25 | 深圳市七曜智造科技有限公司 | Automobile navigation method, system, intelligent terminal and storage medium |
| CN113917924A (en) * | 2021-10-10 | 2022-01-11 | 安徽江淮汽车集团股份有限公司 | Intelligent driving navigation planning and control method and system |
| CN116279485A (en) * | 2023-03-28 | 2023-06-23 | 深圳市康士达科技有限公司 | Automatic lane changing method based on unmanned vehicle, control chip and electronic equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567907A (en) * | 2015-01-22 | 2015-04-29 | 四川汇源吉迅数码科技有限公司 | Method for real-time path planning based on dynamic feedback |
| CN106256606A (en) * | 2016-08-09 | 2016-12-28 | 浙江零跑科技有限公司 | A kind of lane departure warning method based on vehicle-mounted binocular camera |
-
2017
- 2017-07-15 CN CN201710577658.2A patent/CN107389081A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567907A (en) * | 2015-01-22 | 2015-04-29 | 四川汇源吉迅数码科技有限公司 | Method for real-time path planning based on dynamic feedback |
| CN106256606A (en) * | 2016-08-09 | 2016-12-28 | 浙江零跑科技有限公司 | A kind of lane departure warning method based on vehicle-mounted binocular camera |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108875998A (en) * | 2018-04-20 | 2018-11-23 | 北京智行者科技有限公司 | A kind of automatic driving vehicle method and system for planning |
| CN108873905A (en) * | 2018-07-09 | 2018-11-23 | 深圳市易成自动驾驶技术有限公司 | Automatic driving vehicle control method, automatic driving vehicle and readable storage medium storing program for executing |
| CN109211257A (en) * | 2018-08-31 | 2019-01-15 | 北京图森未来科技有限公司 | A kind of automatic driving car travel route method and system for planning |
| CN109211257B (en) * | 2018-08-31 | 2021-07-16 | 北京图森智途科技有限公司 | Unmanned vehicle driving route planning method and system |
| CN111326000A (en) * | 2018-12-14 | 2020-06-23 | 奥迪股份公司 | Traffic jam warning method, device, computer equipment and storage medium |
| CN111326000B (en) * | 2018-12-14 | 2022-09-30 | 奥迪股份公司 | Traffic jam warning method, device, computer equipment and storage medium |
| CN109829367A (en) * | 2018-12-24 | 2019-05-31 | 杨昌兵 | A kind of unmanned obstacle identification management system and method |
| CN109829367B (en) * | 2018-12-24 | 2023-04-28 | 杨昌兵 | Unmanned obstacle recognition management system and method |
| CN109631929B (en) * | 2019-02-20 | 2021-04-30 | 百度在线网络技术（北京）有限公司 | Re-navigation method and device based on blacklist and storage medium |
| CN109631929A (en) * | 2019-02-20 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Heavy air navigation aid, device and storage medium based on blacklist |
| US11687080B2 (en) | 2019-02-20 | 2023-06-27 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Blacklist-based re-navigation method and apparatus, and storage medium |
| CN109931937B (en) * | 2019-03-28 | 2021-10-15 | 北京经纬恒润科技股份有限公司 | High-precision navigation information simulation method and system |
| CN109931937A (en) * | 2019-03-28 | 2019-06-25 | 北京经纬恒润科技有限公司 | High-precision navigation information simulation method and system |
| CN112277787A (en) * | 2019-07-23 | 2021-01-29 | 中车株洲电力机车研究所有限公司 | Virtual track self-adaptive lighting device and method of intelligent rail electric car |
| CN111442781A (en) * | 2020-03-23 | 2020-07-24 | 上海博泰悦臻电子设备制造有限公司 | Navigation path generation system and method for restricted vehicle |
| CN111076739B (en) * | 2020-03-25 | 2020-07-03 | 北京三快在线科技有限公司 | Path planning method and device |
| CN111076739A (en) * | 2020-03-25 | 2020-04-28 | 北京三快在线科技有限公司 | Path planning method and device |
| CN112212876A (en) * | 2020-09-24 | 2021-01-12 | 南通路远科技信息有限公司 | Navigation routing method and device for unmanned traffic vehicle and vehicle |
| CN113029181A (en) * | 2021-04-09 | 2021-06-25 | 深圳市七曜智造科技有限公司 | Automobile navigation method, system, intelligent terminal and storage medium |
| CN113917924A (en) * | 2021-10-10 | 2022-01-11 | 安徽江淮汽车集团股份有限公司 | Intelligent driving navigation planning and control method and system |
| CN116279485A (en) * | 2023-03-28 | 2023-06-23 | 深圳市康士达科技有限公司 | Automatic lane changing method based on unmanned vehicle, control chip and electronic equipment |
| CN116279485B (en) * | 2023-03-28 | 2024-04-19 | 深圳市康士达科技有限公司 | Automatic lane changing method based on unmanned vehicle, control chip and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107389081A (en) | The intelligent navigation method and system of a kind of automatic driving vehicle | |
| CN106092121B (en) | Automobile navigation method and device | |
| JP6890757B2 (en) | Partially Observed Markov Decision Process Autonomous vehicle motion management including operating a model instance | |
| US11561107B2 (en) | Vehicle routing evaluation based on predicted network performance | |
| JP6897938B2 (en) | Vehicles Used to cross traffic networks and autonomous vehicles | |
| JP6969756B2 (en) | Operation management control of autonomous vehicles | |
| US11414130B2 (en) | Methods and systems for lane changes using a multi-corridor representation of local route regions | |
| US20210108936A1 (en) | Methods and systems for topological planning in autonomous driving | |
| AU2020211604A1 (en) | Operator assistance for autonomous vehicles | |
| CN112937607B (en) | Internet automatic driving system and method for scenic spot sightseeing vehicle | |
| WO2019112799A1 (en) | Improving safety of autonomous vehicles using a virtual augmented support environment | |
| CN108725585A (en) | The Trajectory Tracking Control method and device of vehicle autonomous parking | |
| KR20190030199A (en) | Supervision of vehicles | |
| CN107289960A (en) | A kind of method and system of share-car path navigation | |
| CN110422177A (en) | A kind of control method for vehicle, apparatus and system | |
| US20210009119A1 (en) | Method and control device for a system for the control of a motor vehicle | |
| JP7194867B2 (en) | Remote driving to secure autonomous vehicles | |
| CN111469847B (en) | Lane change path planning method and system | |
| US11685398B2 (en) | Lane based routing system for autonomous driving vehicles | |
| EP3885238B1 (en) | An incremental lateral control system using feedbacks for autonomous driving vehicles | |
| CN110515379A (en) | A kind of Vehicular automatic driving control system and its method | |
| JP2001301484A (en) | Device and method for supporting safety travel, and recording medium | |
| CN111256714A (en) | Path planning method and device and vehicle | |
| US20210284195A1 (en) | Obstacle prediction system for autonomous driving vehicles | |
| CN111433564A (en) | Travel control device, vehicle, and travel control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1242765 Country of ref document: HK |
|
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171124 |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: WD Ref document number: 1242765 Country of ref document: HK |