CN107839682B - 自动车辆安全停车地带的地图绘制系统 - Google Patents

自动车辆安全停车地带的地图绘制系统 Download PDF

Info

Publication number
CN107839682B
CN107839682B CN201710841191.8A CN201710841191A CN107839682B CN 107839682 B CN107839682 B CN 107839682B CN 201710841191 A CN201710841191 A CN 201710841191A CN 107839682 B CN107839682 B CN 107839682B
Authority
CN
China
Prior art keywords
vehicle
controller
safe parking
digital map
host
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
CN201710841191.8A
Other languages
English (en)
Other versions
CN107839682A (zh
Inventor
M·H·劳尔
R·J·萨伯
B·R·希伦布兰德
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.)
Aptiv Technologies Ltd
Original Assignee
Delphi Technologies Inc
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 Delphi Technologies Inc filed Critical Delphi Technologies Inc
Priority to CN202110302728.XA priority Critical patent/CN112977432A/zh
Publication of CN107839682A publication Critical patent/CN107839682A/zh
Application granted granted Critical
Publication of CN107839682B publication Critical patent/CN107839682B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • 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
    • B60W60/007—Emergency override
    • 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
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to accident or emergency, e.g. deceleration, tilt of 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • 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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • 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
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • 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
    • 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
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • 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
    • 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
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W2030/082—Vehicle operation after 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/227—Position in the 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/26—Incapacity
    • 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
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2302/00—Responses or measures related to driver conditions
    • B60Y2302/05—Leading to automatic stopping of the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Atmospheric Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Business, Economics & Management (AREA)
  • Game Theory and Decision Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

一种适于在自动车辆上使用的安全停车地带的地图绘制系统(10)包括数字地图(24)和控制器(34)。所述数字地图(24)指示适于主车辆(12)行驶的行驶路径(26)。所述数字地图(24)还指示接近于所述行驶路径(26)的安全停车地带(32)。所述控制器(34)与所述数字地图(24)通信。该控制器(34)配置为发生紧急情况(40)时将主车辆(12)导航到安全停车地带(32)中。

Description

自动车辆安全停车地带的地图绘制系统
技术领域
本公开通常涉及安全停车地带的地图绘制(mapping)系统，且更具体地涉及配置为当发生紧急情况时将主车辆导航到安全停车地带中的系统。
背景技术
当由于例如车辆中的医疗紧急状况或机械故障而需要车辆靠边停车或以其它方式停车时，情况出现。当自主车辆可能要求操作人员承担车辆的手动控制，但由于例如操作人员无法行动，操作人员缺乏操作车辆的技能而可能没有准备好接管控制或可能不能够接管控制时，情况也出现。
发明内容
根据一个实施例，提供了一种适于在自动车辆上使用的安全停车地带的地图绘制系统。该系统包括数字地图和控制器。该数字地图指示适于主车辆行驶的行驶路径。该数字地图还指示接近行驶路径的安全停车地带。控制器与数字地图通信。该控制器配置为发生紧急情况时将主车辆导航到安全停车地带中。
通过阅读优选实施例的下列详细描述并参考各个附图，进一步的特征和优点将更加显而易见，优选实施例只是作为非限制性示例给出。
附图说明
现在，将参考附图通过示例的方式来描述本发明，附图中：
图1是根据一个实施例的安全停车地带的地图绘制系统的示图；以及，
图2是根据一个实施例的图1的系统所遇到的交通场景。
具体实施方式
图1示出了适合于在自动车辆(例如主车辆12)上使用的安全停车地带的地图绘制系统10(下文称为系统10)的非限制性示例。本文中所呈现的一些示例通常涉及当主车辆12正以自动模式14(即，完全自主模式)操作时的实例，其中主车辆12的操作人员20可能仅指定目的地以便操作主车辆12。然而，预期的是，当主车辆12以手动模式16操作时，本文所呈现的教导是有用的，在手动模式下，自动化的程度或水平可能仅仅向通常控制主车辆12的驾驶、加速和刹车的操作人员20提供驾驶建议。例如，系统10可能仅仅在需要时帮助操作人员20以变道和/或避免与例如诸如其他车辆之类的物体22的干扰和/或碰撞。
该系统包括数字地图24，其可被存储在主车辆12上或存储在主车辆12中，或者可被远程存储“在云中”且通过诸如专用短距离通信(DSRC)之类的多种无线通信协议来访问，如将被本领域技术人员认识到的那样。数字地图24通常配置为或者用于指示适于主车辆12行驶的行驶路径26(图2)，例如车行道28。为了导航行驶路径26，系统10可以包括位置设备30，该位置设备是诸如能用于确定数字地图上主车辆12的位置或定位的全球定位系统接收器。可替代地，系统10可以使用诸如光学识别接近于主车辆12的景观的各个特征和/或与各个基础设施收发器进行DSRC通信之类的其他手段，来确定数字地图24上主车辆12的位置或定位。数字地图24可包括诸如车行道28的车道宽度和/或限速之类的有关车行道28的信息。
已认识到会出现如下情况，即行驶时需要或优先使得主车辆12应该停车，即，离开车行道28的行驶部分而靠边停车。然而，认识到，只停车同时仍然占用车行道28的车道通常将是不安全的。因此，本文中所描述的数字地图24是相对于先前示例的改进，因为数字地图24还指示接近(即，邻近或靠近)行驶路径26的安全停车地带32。正如本文使用的，安全停车地带32可以是但不限于车行道28的路肩36。安全停车地带32的替代示例包括但不限于出口匝道、休息区、停车场和具有平行停车点的侧街道。安全停车地带32通常可以以诸如如下的许多方式进行表征：足够大的以便停车而不产生相对于其他车辆的危险情况的地带或区域；不会增加交通堵塞的停车区域；将发生最小量的堵塞和危险的区域；不会阻碍至主车辆12的无线通信的区域；避免非法地带和非停车时间的车行道28侧边的安全停车区域；安全高速公路的中央车道和侧车道；以及足够大的以容纳主车辆12的公路的侧边或路肩区域。
该系统包括与数字地图24通信的控制器34。该控制器34可包括诸如微处理器或其他控制电路之类的处理器(未具体示出)，所述其他控制电路诸如是包括用于处理数据的专用集成电路(ASIC)的模拟控制电路和/或数字控制电路，正如对本领域技术人员而言应显而易见的。控制器34可包括存储器(未具体示出)，该存储器包括非易失性存储器，诸如用于存储一个或多个例程、阈值和所捕捉数据的电可擦可编程只读存储器(EEPROM)。该一个或多个例程可由处理器执行以实施用于确定相对于在行驶路径26上主车辆12的当前位置的安全停车地带32的位置的步骤。如果数字地图24是控制器34的部分或者位于控制器34内，则控制器34和数字地图24之间的通信可通过有线方式进行；或者如果数字地图24位于“云中”，则控制器34和数字地图24之间的通信可通过无线通信方式进行。
控制器34可配置为通常沿着行驶路径26导航主车辆12，且自动化程度确定控制器34采取何种步骤来导航主车辆12。例如，如果主车辆12正以自动模式14运行，则控制器34可以完全控制车辆控制38，使得操作人员20仅仅是主车辆的乘客且主车辆12的导航包括运行主车辆12的驾驶、加速和刹车的控制器34。然而，如果主车辆12正以手动模式16运行，则在目的地已指定的情况下，控制器34可以仅仅给与主车辆12的当前位置对应的地图的显示提供逐向(turn-by-turn)导航。
由于数字地图24包括有关一个或多个安全停车地带32实例的位置的信息，所以控制器34有利地配置为当紧急情况40发生时将主车辆12导航到安全停车地带32中。如本文中所用的，紧急情况40可以是但不限于：当操作人员20因遭受晕动病而需要主车辆12停止时的情况(操作人员状况)；当主车辆12遇到机械故障(例如，爆胎)应被修理而不是继续行驶时的情况(车辆状况)，或者主车辆12和物体22碰撞后从而主车辆12在继续行驶前应被检查(碰撞检测)。通过例如操作人员20发布诸如“靠边并停车”或“寻找安全地方停车”之类的口头指令，可以向控制器34报告或指示操作人员状况。
一旦紧急情况40被指示至控制器34或由控制器34检测到，控制器34就将主车辆12导航到安全停车地带32中。如果主车辆12正以自动模式14运行，则控制器34可以通过自主运行车辆控制38将主车辆导航到安全停车地带32中。如果主车辆12正以手动模式16运行，则控制器34可以在操作人员20可见的导航显示屏(未示出)上显示一个或多个安全停车地带32的实例的位置，和/或向操作人员20发布诸如“安全停车地带在两百米外的右侧”和/或“驶上路肩然后停车”之类的可听通知。
预期的是，当指定为安全停车地带32的实例的区域可能意外地被例如其他车辆、建筑设施或临时标记42(图2)占用时，情况可出现。为了确定安全停车地带32的实例可被主车辆所使用，系统10可包括诸如照相机、雷达单元、光雷达单元或任何它们的组合之类的图像设备44。控制器34可使用图像设备44以确定主车辆12将进入的安全停车地带32是否能被主车辆12所使用。例如，如果图像设备44检测到数字地图24指示的路肩36的一部分中的临时标记42的存在是安全停车地带32的实例或实例的一部分时，则控制器34可配置为寻找安全停车地带32的下一个实例，或者寻找安全停车地带32的什么部分是空置的(clear)，从而能被主车辆12使用。
控制器34可进一步配置为当安全停车地带32(或其一部分)不能使用(例如，已被占用)时更新数字地图24。例如，控制器34更新数字地图24以指定临时标记42所位于的路肩36的一部分作为非可用地带46。如果数字地图24存储“在云中”，则系统10可包括配置为向数字地图24发送有关非可用地带46的检测的地图更新50的收发器48。
还预期到，当主车辆12正以自动模式14运行时，但出于本领域技术人员所认识的很多原因中的任何一个，可建议、优选或必须将车辆操作改为手动模式16时，情况可出现。作为非限定性示例，如果数字地图24所提供的信息对于用于自动操作的传感器所观察的关于车行道的情况是不充分的，或者并不充分对应于用于自动操作的传感器所观察的关于车行道的情况，则将车辆操作改为手动模式16可能是谨慎的。然而，还预想到，当操作人员20不能承担主车辆12的控制时，情况可出现。作为非限定性示例，操作人员20可能睡着了，可能不在驾驶位上，或者以其他方式无法行动且不能承担主车辆12的控制。如此，控制器34可配置为当操作主车辆12的手动模式16不被推荐且操作人员不能承担主车辆12的控制时，继续以自动模式14操作仅足够长以将主车辆12导航(即，自主操作车辆控制38)到安全停车地带32中。
因此，提供了一种安全停车地带的地图绘制系统(系统10)、用于系统10的控制器34以及操作系统10的方法。系统10通过经由数字地图24提供关于接近或邻近主车辆12行驶的行驶路径26或车行道28的安全停车地带32的信息来提高安全性，从而使得如有必要主车辆12能快速定位且进入安全停车地带32的实例。
尽管已经根据本发明的优选实施例描述了本发明，但是并不限制于此，而是仅在所附的权利要求书所阐述的范围内为限。

Claims (2)

1.一种适于在自动车辆上使用的安全停车地带的地图绘制系统(10)，所述系统(10)包括：
数字地图(24)，其用于指示适于主车辆(12)行驶的行驶路径(26)，其中，所述数字地图(24)还包括与接近所述行驶路径(26)的安全停车地带(32)的一个或多个实例的位置有关的信息，其中所述安全停车地带(32)大到足以停车而不会产生相对于其他车辆的危险情况；
控制器(34)，其与所述数字地图(24)通信，所述控制器(34)配置为当所述主车辆(12)应当离开所述行驶路径(26)的行驶部分靠边停车时将所述主车辆(12)导航到所述安全停车地带(32)中；以及
图像设备(44)，所述图像设备(44)由所述控制器(34)使用，以确定所述安全停车地带(32)是否被占用，并且所述控制器(34)配置为当所述安全停车地带(32)被占用时更新所述数字地图(24)。
2.根据权利要求1所述的系统(10)，其特征在于，所述控制器(34)配置为当所述主车辆(12)的手动操作被推荐且操作人员(20)不能承担所述主车辆(12)的控制时将所述主车辆(12)导航到所述安全停车地带(32)中。
CN201710841191.8A 2016-09-19 2017-09-18 自动车辆安全停车地带的地图绘制系统 Active CN107839682B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110302728.XA CN112977432A (zh) 2016-09-19 2017-09-18 自动车辆安全停车地带的地图绘制系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/268,695 2016-09-19
US15/268,695 US9927810B1 (en) 2016-09-19 2016-09-19 Automated-vehicle safe-stop-zone mapping system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202110302728.XA Division CN112977432A (zh) 2016-09-19 2017-09-18 自动车辆安全停车地带的地图绘制系统

Publications (2)

Publication Number Publication Date
CN107839682A CN107839682A (zh) 2018-03-27
CN107839682B true CN107839682B (zh) 2021-04-06

Family

ID=59982232

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202110302728.XA Pending CN112977432A (zh) 2016-09-19 2017-09-18 自动车辆安全停车地带的地图绘制系统
CN201710841191.8A Active CN107839682B (zh) 2016-09-19 2017-09-18 自动车辆安全停车地带的地图绘制系统

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN202110302728.XA Pending CN112977432A (zh) 2016-09-19 2017-09-18 自动车辆安全停车地带的地图绘制系统

Country Status (3)

Country Link
US (1) US9927810B1 (zh)
EP (2) EP4216189A1 (zh)
CN (2) CN112977432A (zh)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10825340B1 (en) * 2017-11-17 2020-11-03 State Farm Mutual Automotive Insurance Company Autonomous vehicle maneuver system for emergency vehicles and non-standard traffic flow
EP3552901A3 (en) * 2018-04-11 2020-04-29 Hyundai Motor Company Apparatus and method for providing safety strategy in vehicle
US11009590B2 (en) * 2018-08-29 2021-05-18 Aptiv Technologies Limited Annotation of radar-profiles of objects
CN110874229A (zh) * 2018-08-30 2020-03-10 百度在线网络技术（北京）有限公司 自动驾驶汽车的地图升级方法、装置
KR20200129351A (ko) * 2019-05-08 2020-11-18 현대자동차주식회사 차량 및 그 제어방법
DE102019115330A1 (de) * 2019-06-06 2020-12-10 Valeo Schalter Und Sensoren Gmbh Echtzeit-Sicherheitspfaderzeugung für hochautomatisiertes Fahrzeugrückfallmanöver
US11410545B2 (en) * 2019-07-19 2022-08-09 Ford Global Technologies, Llc Dynamic vehicle perimeter definition and reporting
CN112486153A (zh) * 2019-08-21 2021-03-12 北京小马慧行科技有限公司 自动驾驶车辆的控制方法和装置、存储介质及电子装置
KR20210042188A (ko) * 2019-10-08 2021-04-19 현대자동차주식회사 차량 및 그 제어방법
CN110763244B (zh) * 2019-10-17 2022-06-14 浙江吉利汽车研究院有限公司 一种电子地图生成系统和方法
US10816993B1 (en) * 2019-11-23 2020-10-27 Ha Q Tran Smart vehicle
US11312298B2 (en) * 2020-01-30 2022-04-26 International Business Machines Corporation Modulating attention of responsible parties to predicted dangers of self-driving cars

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7085637B2 (en) * 1997-10-22 2006-08-01 Intelligent Technologies International, Inc. Method and system for controlling a vehicle
US6583734B2 (en) * 2001-07-18 2003-06-24 International Business Machines Corporation Enhanced vehicle hazard warning and safety features integrated with an onboard navigation system
US6943701B2 (en) * 2002-06-06 2005-09-13 Advanced American Enterprises, Llc Vehicular safety system and method
JP5013211B2 (ja) * 2008-08-21 2012-08-29 アイシン・エィ・ダブリュ株式会社 運転評価システム及び運転評価プログラム
US8392065B2 (en) * 2008-09-11 2013-03-05 Deere & Company Leader-follower semi-autonomous vehicle with operator on side
US8229618B2 (en) * 2008-09-11 2012-07-24 Deere & Company Leader-follower fully autonomous vehicle with operator on side
JP2010203983A (ja) * 2009-03-04 2010-09-16 Denso Corp ナビゲーションシステム
DE102011086241B4 (de) * 2011-11-14 2018-04-05 Robert Bosch Gmbh Verfahren zum sicheren Abstellen eines Fahrzeuges
US9467834B2 (en) * 2011-12-23 2016-10-11 Microsoft Technology Licensing, Llc Mobile device emergency service
US8874162B2 (en) * 2011-12-23 2014-10-28 Microsoft Corporation Mobile device safe driving
US8880272B1 (en) * 2012-03-16 2014-11-04 Google Inc. Approach for estimating the geometry of roads and lanes by using vehicle trajectories
DE102012008090A1 (de) * 2012-04-21 2013-10-24 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Nothalt eines Kraftfahrzeugs
CN102951089B (zh) * 2012-08-20 2015-04-01 上海工程技术大学 基于移动设备摄像头的车载导航及主动安全系统
US9141107B2 (en) * 2013-04-10 2015-09-22 Google Inc. Mapping active and inactive construction zones for autonomous driving
DE102013213171A1 (de) * 2013-07-04 2015-01-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs in einem automatisierten Fahrbetrieb
CN104442832A (zh) * 2014-11-18 2015-03-25 柳州市金旭节能科技有限公司 一种车辆安全停车方法
CN111016926B (zh) * 2014-12-12 2023-06-13 索尼公司 自动驾驶控制设备以及自动驾驶控制方法和程序

Also Published As

Publication number Publication date
EP4216189A1 (en) 2023-07-26
EP3296976A1 (en) 2018-03-21
CN112977432A (zh) 2021-06-18
US20180081358A1 (en) 2018-03-22
CN107839682A (zh) 2018-03-27
US9927810B1 (en) 2018-03-27

Similar Documents

Publication Publication Date Title
CN107839682B (zh) 自动车辆安全停车地带的地图绘制系统
CN109937389B (zh) 用于自动车辆的操作安全系统
CN107792068B (zh) 自动化车辆车道变换控制系统
US10025316B1 (en) Automated vehicle safe stop zone use notification system
CN107688894B (zh) 自动车辆操作者技能评估系统
CN108001457B (zh) 自动车辆传感器控制系统
CN112750333B (zh) 异常判定装置、车辆辅助系统、服务器
CN103010216B (zh) 用于操作车辆的装置和方法
US20170110010A1 (en) Method for analyzing a traffic situation in an area surrounding a vehicle
JP7166958B2 (ja) サーバ、車両支援システム
US11801859B2 (en) Driver assistance system
CN109863074B (zh) 用于运行交通工具的方法和用于实施该方法的控制设备
CN111284484A (zh) 用于使车辆至少部分地自动行驶的方法
CN110164182B (zh) 车辆感知数据收集系统和方法
US10967789B2 (en) Safe driving assistance device
JP2018021832A (ja) 車両走行制御装置および車両走行制御方法
CN109389834A (zh) 用于自动化车辆的交通堵塞避免系统
JP6867483B2 (ja) 車両制御装置
EP3379201A1 (en) Automated vehicle safe stop zone use notification system
CN108010385B (zh) 自动车辆十字交通检测系统
JP2009187413A (ja) 車載装置、車両走行支援システム
CN112550312A (zh) 操作驾驶员辅助系统的方法，控制驾驶员辅助系统的操作的控制装置及车辆
CN112660043A (zh) 当自主交通工具超出其操作设计域时控制自主交通工具
CN110120158B (zh) 交通控制系统
CN115675494A (zh) 车辆控制系统、车辆控制方法以及存储介质

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: 20181210

Address after: Babado J San Michaele

Applicant after: Amberford Technology Co., Ltd.

Address before: michigan

Applicant before: Delphi Automotive Systems LLC (US)

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