CN107531285B - 用于辅助驾驶车辆的系统和方法 - Google Patents

用于辅助驾驶车辆的系统和方法 Download PDF

Info

Publication number
CN107531285B
CN107531285B CN201680025243.8A CN201680025243A CN107531285B CN 107531285 B CN107531285 B CN 107531285B CN 201680025243 A CN201680025243 A CN 201680025243A CN 107531285 B CN107531285 B CN 107531285B
Authority
CN
China
Prior art keywords
vehicle
speed
deviation
path
autonomous driving
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.)
Active
Application number
CN201680025243.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN107531285A (zh
Inventor
德尼·马尔尚
阿德里安·谢拉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Transport Co Ltd
Original Assignee
Siemens Mobility GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens Mobility GmbH filed Critical Siemens Mobility GmbH
Publication of CN107531285A publication Critical patent/CN107531285A/zh
Application granted granted Critical
Publication of CN107531285B publication Critical patent/CN107531285B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • 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
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to 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
    • 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
    • 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
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201680025243.8A 2015-09-25 2016-07-01 用于辅助驾驶车辆的系统和方法 Active CN107531285B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP15290244.1A EP3147180B1 (fr) 2015-09-25 2015-09-25 Système et méthode d'aide à la conduite pour véhicule
EP15290244.1 2015-09-25
PCT/EP2016/065566 WO2017050449A1 (fr) 2015-09-25 2016-07-01 Systeme et methode d'aide a la conduite pour vehicule

Publications (2)

Publication Number Publication Date
CN107531285A CN107531285A (zh) 2018-01-02
CN107531285B true CN107531285B (zh) 2020-09-08

Family

ID=54293183

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680025243.8A Active CN107531285B (zh) 2015-09-25 2016-07-01 用于辅助驾驶车辆的系统和方法

Country Status (7)

Country Link
EP (1) EP3147180B1 (https=)
JP (1) JP6407450B2 (https=)
CN (1) CN107531285B (https=)
BR (1) BR112018005688B1 (https=)
ES (1) ES2785212T3 (https=)
PT (1) PT3147180T (https=)
WO (1) WO2017050449A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10607293B2 (en) * 2015-10-30 2020-03-31 International Business Machines Corporation Automated insurance toggling for self-driving vehicles
US11142205B2 (en) * 2018-04-25 2021-10-12 Aptiv Technologies Limited System and method to notify operator of host-vehicle of takeover-event in another-vehicle
JP7089965B2 (ja) * 2018-07-11 2022-06-23 株式会社クボタ 作業車両
JP7131316B2 (ja) 2018-11-12 2022-09-06 トヨタ自動車株式会社 自動運転機器モジュール搭載構造、これを備えた自動運転電気自動車及び自動運転機器モジュールの冷却方法
JP7047729B2 (ja) * 2018-11-29 2022-04-05 トヨタ自動車株式会社 自動運転車両
DE102020110355A1 (de) * 2019-04-17 2020-10-22 Steering Solutions Ip Holding Corporation Anschlussklinge für header-baugruppe
CN115535077A (zh) * 2022-09-27 2022-12-30 嬴彻星创智能科技(上海)有限公司 自动驾驶接管时转向控制方法及装置

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10329575A (ja) * 1997-05-29 1998-12-15 Toyota Motor Corp 自動走行車両制御装置
US20020188404A1 (en) * 2001-06-12 2002-12-12 Yong-Won Jeon System for preventing lane deviation of vehicle and control method thereof
US20030168275A1 (en) * 2002-03-06 2003-09-11 Toyota Jidosha Kabushiki Kaisha Automatic steering apparatus for vehicle and control method of same
CN102067052A (zh) * 2008-06-20 2011-05-18 丰田自动车株式会社 驾驶辅助设备和驾驶辅助方法
CN102574542A (zh) * 2009-10-20 2012-07-11 本田技研工业株式会社 电动动力转向装置
CN102975768A (zh) * 2011-09-02 2013-03-20 通用汽车环球科技运作有限责任公司 用于自动车道对中期间的平滑转向超控过渡的系统和方法
US20130124041A1 (en) * 2010-02-18 2013-05-16 Florian Belser Method for assisting a driver of a vehicle during a driving maneuver
US20140032017A1 (en) * 2009-03-05 2014-01-30 Massachusetts Institute Of Technology Integrated framework for vehicle operator assistance based on a trajectory prediction and threat assessment
CN103818380A (zh) * 2009-05-13 2014-05-28 丰田自动车株式会社 驾驶辅助装置
CN104093615A (zh) * 2012-02-14 2014-10-08 罗伯特·博世有限公司 用于自动引导、尤其是停放机动车的方法以及驾驶员辅助装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3685388B2 (ja) * 2000-06-27 2005-08-17 三菱電機株式会社 車両の操舵制御装置
JP4737239B2 (ja) * 2008-06-20 2011-07-27 トヨタ自動車株式会社 運転支援装置

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10329575A (ja) * 1997-05-29 1998-12-15 Toyota Motor Corp 自動走行車両制御装置
US20020188404A1 (en) * 2001-06-12 2002-12-12 Yong-Won Jeon System for preventing lane deviation of vehicle and control method thereof
US20030168275A1 (en) * 2002-03-06 2003-09-11 Toyota Jidosha Kabushiki Kaisha Automatic steering apparatus for vehicle and control method of same
CN102067052A (zh) * 2008-06-20 2011-05-18 丰田自动车株式会社 驾驶辅助设备和驾驶辅助方法
US20140032017A1 (en) * 2009-03-05 2014-01-30 Massachusetts Institute Of Technology Integrated framework for vehicle operator assistance based on a trajectory prediction and threat assessment
CN103818380A (zh) * 2009-05-13 2014-05-28 丰田自动车株式会社 驾驶辅助装置
CN102574542A (zh) * 2009-10-20 2012-07-11 本田技研工业株式会社 电动动力转向装置
US20130124041A1 (en) * 2010-02-18 2013-05-16 Florian Belser Method for assisting a driver of a vehicle during a driving maneuver
CN102975768A (zh) * 2011-09-02 2013-03-20 通用汽车环球科技运作有限责任公司 用于自动车道对中期间的平滑转向超控过渡的系统和方法
CN104093615A (zh) * 2012-02-14 2014-10-08 罗伯特·博世有限公司 用于自动引导、尤其是停放机动车的方法以及驾驶员辅助装置

Also Published As

Publication number Publication date
EP3147180A1 (fr) 2017-03-29
JP6407450B2 (ja) 2018-10-17
WO2017050449A1 (fr) 2017-03-30
ES2785212T3 (es) 2020-10-06
CN107531285A (zh) 2018-01-02
BR112018005688A2 (https=) 2018-10-02
BR112018005688B1 (pt) 2023-04-18
PT3147180T (pt) 2020-04-02
JP2018511515A (ja) 2018-04-26
EP3147180B1 (fr) 2020-02-19

Similar Documents

Publication Publication Date Title
CN107531285B (zh) 用于辅助驾驶车辆的系统和方法
US12054149B2 (en) Vision-based follow the leader lateral controller
US10449999B2 (en) Method and device for adapting a steering wheel angle of a steering wheel and a wheel steering angle of a wheel steering system in a motor vehicle
JP6187090B2 (ja) 車両用運転制御装置及び車両用運転制御方法
CN107963126B (zh) 一种多轴转向车辆大曲率自动驾驶转向控制方法
CN108482370B (zh) 一种商用车车道保持系统及其控制策略设计
WO2018072647A1 (zh) 一种多轴转向车辆跟踪中央车道线转向控制方法及系统
CN109017793B (zh) 基于前后轴融合参考的自主停车导航及控制方法
RU2576553C1 (ru) Устройство управления рулением
US8712643B2 (en) Device for maneuvering a vehicle using maneuvering moves using at least one trajectory
US20150348418A1 (en) Driver Assistance System and Method for Assisting the Driver of a Motor Vehicle When Leaving a Determined Lane
US11220266B2 (en) Method for at least partially unblocking a field of view of a motor vehicle during lane changes
US11084486B2 (en) Method and system for handling conditions of a road on which a vehicle travels
CN112572397A (zh) 自动泊车控制方法、装置及控制器
CN108290608B (zh) 用于站台处泊靠操纵的辅助装置
CN105739495A (zh) 行车路径规划方法、装置和自动转向系统
CN110494903A (zh) 车辆控制装置和车辆控制方法
CN110446641A (zh) 车辆控制装置和车辆控制方法
JP2022512992A (ja) ステアリングおよび差動ブレーキングシステムの制御を含む障害物回避のための方法およびシステム
CN111655559B (zh) 用于控制机动车辆以越过低障碍物的系统和方法
US20220371585A1 (en) Customizable lane biasing for an automated vehicle
CN107428341A (zh) 用于适配车辆的车辆速度的方法和设备
JP7557327B2 (ja) 自動操舵制御装置
CN114572250A (zh) 一种自动驾驶通过交叉路口的方法及存储介质
US20220363257A1 (en) Lane biasing to indicate an intended movement of a vehicle

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
TA01 Transfer of patent application right

Effective date of registration: 20190606

Address after: French chastillon

Applicant after: Siemens Transport Co., Ltd.

Address before: France Denis

Applicant before: Siemens Ltd.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant