CN107924191B - 用于自动驾驶车辆的控制系统 - Google Patents
用于自动驾驶车辆的控制系统 Download PDFInfo
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- CN107924191B CN107924191B CN201680049672.9A CN201680049672A CN107924191B CN 107924191 B CN107924191 B CN 107924191B CN 201680049672 A CN201680049672 A CN 201680049672A CN 107924191 B CN107924191 B CN 107924191B
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Images
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, 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
- 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
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/005—Electro-mechanical devices, e.g. switched
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- 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
-
- 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
- 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
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- 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
- B60W2540/215—Selection or confirmation of options
-
- 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
- B60W2556/00—Input parameters relating to data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
Abstract
Description
Claims (7)
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562212577P | 2015-08-31 | 2015-08-31 | |
US62/212,577 | 2015-08-31 | ||
US15/252,152 US10099705B2 (en) | 2015-08-31 | 2016-08-30 | Control system for autonomous-capable vehicles |
US15/252,152 | 2016-08-30 | ||
PCT/US2016/049736 WO2017040689A1 (en) | 2015-08-31 | 2016-08-31 | Control system for autonomous-capable vehicles |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107924191A CN107924191A (zh) | 2018-04-17 |
CN107924191B true CN107924191B (zh) | 2020-02-14 |
Family
ID=58097391
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201680049672.9A Active CN107924191B (zh) | 2015-08-31 | 2016-08-31 | 用于自动驾驶车辆的控制系统 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10099705B2 (zh) |
EP (2) | EP3344507B1 (zh) |
JP (1) | JP7012006B2 (zh) |
KR (1) | KR102380973B1 (zh) |
CN (1) | CN107924191B (zh) |
WO (1) | WO2017040689A1 (zh) |
Families Citing this family (24)
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GB2554897A (en) * | 2016-10-12 | 2018-04-18 | Ford Global Tech Llc | Method and system for controlling an autonomous vehicle |
JP6920112B2 (ja) * | 2017-06-15 | 2021-08-18 | 株式会社デンソーテン | 運転支援装置および運転支援方法 |
US10343698B2 (en) * | 2017-06-27 | 2019-07-09 | Uber Technologies, Inc. | Disabling onboard input devices in an autonomous vehicle |
US10543853B2 (en) | 2017-07-05 | 2020-01-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for providing collaborative control of a vehicle |
US10163017B2 (en) * | 2017-09-01 | 2018-12-25 | GM Global Technology Operations LLC | Systems and methods for vehicle signal light detection |
US11104330B2 (en) * | 2017-11-15 | 2021-08-31 | Autonomous Stuff, LLC | Systems and method for controlling a vehicle |
US11067676B2 (en) * | 2018-01-08 | 2021-07-20 | Uatc, Llc | Lidar intensity calibration |
US10549738B2 (en) | 2018-02-22 | 2020-02-04 | Ford Global Technologies, Llc | Vehicle brake operation |
JP6929810B2 (ja) * | 2018-03-02 | 2021-09-01 | 本田技研工業株式会社 | 車両制御装置 |
US10717420B2 (en) | 2018-03-12 | 2020-07-21 | Ford Global Technologies, Llc | Vehicle brake operation |
DE112019001421T5 (de) | 2018-03-20 | 2021-02-18 | Mobileye Vision Technologies Ltd. | Systeme und verfahren zum navigieren eines fahrzeugs |
JP7091789B2 (ja) | 2018-04-04 | 2022-06-28 | 株式会社ジェイテクト | ステアリング装置 |
CN108974004B (zh) * | 2018-08-09 | 2020-08-07 | 北京智行者科技有限公司 | 一种动力系统控制方法 |
EP3842304A3 (en) | 2018-08-14 | 2021-09-15 | Mobileye Vision Technologies Ltd. | Systems and methods for navigating with safe distances |
US10807605B2 (en) * | 2018-12-19 | 2020-10-20 | Waymo Llc | Systems and methods for detecting and dynamically mitigating driver fatigue |
US11292487B2 (en) * | 2019-04-11 | 2022-04-05 | GM Global Technology Operations LLC | Methods and systems for controlling automated driving features of a vehicle |
JP7238641B2 (ja) * | 2019-06-28 | 2023-03-14 | トヨタ自動車株式会社 | 車両起動機構 |
JP6937856B2 (ja) * | 2020-02-13 | 2021-09-22 | 本田技研工業株式会社 | 運転支援装置および車両 |
US20220063678A1 (en) * | 2020-08-27 | 2022-03-03 | Waymo Llc | Mode management for autonomous vehicles |
US11995991B2 (en) | 2020-12-22 | 2024-05-28 | Stack Av Co. | Shared control for vehicles travelling in formation |
CN112855914B (zh) * | 2021-01-04 | 2022-05-17 | 重庆长安汽车股份有限公司 | 一种车辆加减速执行机构切换控制方法、装置及存储介质 |
US20220289248A1 (en) * | 2021-03-15 | 2022-09-15 | Ford Global Technologies, Llc | Vehicle autonomous mode operating parameters |
US11353890B1 (en) * | 2021-06-16 | 2022-06-07 | Beta Air, Llc | Electrical vertical take-off and landing aircraft having reversionary flight control and method of use |
US11999386B2 (en) * | 2022-01-31 | 2024-06-04 | Stack Av Co. | User interfaces for autonomy state control and alerts |
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CN1907750A (zh) * | 2005-08-05 | 2007-02-07 | 日产自动车株式会社 | 车辆驾驶辅助系统和车辆驾驶辅助方法 |
CN102233877A (zh) * | 2010-03-30 | 2011-11-09 | 通用汽车环球科技运作有限责任公司 | 确保有限能力自动驾驶车辆的运行的方法和系统 |
CN102632885A (zh) * | 2011-02-10 | 2012-08-15 | 福特全球技术公司 | 用于控制车辆限制模式的装置 |
CN104477113A (zh) * | 2014-12-22 | 2015-04-01 | 联想(北京)有限公司 | 控制方法、系统及汽车 |
CN104554258A (zh) * | 2013-10-28 | 2015-04-29 | 通用汽车环球科技运作有限责任公司 | 采用虚拟势场技术的避让转向操作的路径规划 |
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-
2016
- 2016-08-30 US US15/252,152 patent/US10099705B2/en active Active
- 2016-08-31 WO PCT/US2016/049736 patent/WO2017040689A1/en active Application Filing
- 2016-08-31 CN CN201680049672.9A patent/CN107924191B/zh active Active
- 2016-08-31 JP JP2018509875A patent/JP7012006B2/ja active Active
- 2016-08-31 EP EP16842925.6A patent/EP3344507B1/en active Active
- 2016-08-31 KR KR1020187009172A patent/KR102380973B1/ko active IP Right Grant
- 2016-08-31 EP EP21167711.7A patent/EP3865964B1/en active Active
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US5964680A (en) * | 1997-04-26 | 1999-10-12 | Luk Getriebe-Systeme Gmbh | Power train for a motor vehicle |
CN1907750A (zh) * | 2005-08-05 | 2007-02-07 | 日产自动车株式会社 | 车辆驾驶辅助系统和车辆驾驶辅助方法 |
CN102233877A (zh) * | 2010-03-30 | 2011-11-09 | 通用汽车环球科技运作有限责任公司 | 确保有限能力自动驾驶车辆的运行的方法和系统 |
CN102632885A (zh) * | 2011-02-10 | 2012-08-15 | 福特全球技术公司 | 用于控制车辆限制模式的装置 |
CN104554258A (zh) * | 2013-10-28 | 2015-04-29 | 通用汽车环球科技运作有限责任公司 | 采用虚拟势场技术的避让转向操作的路径规划 |
CN104477113A (zh) * | 2014-12-22 | 2015-04-01 | 联想(北京)有限公司 | 控制方法、系统及汽车 |
Also Published As
Publication number | Publication date |
---|---|
EP3344507A1 (en) | 2018-07-11 |
WO2017040689A1 (en) | 2017-03-09 |
JP2018527235A (ja) | 2018-09-20 |
EP3865964A1 (en) | 2021-08-18 |
EP3865964B1 (en) | 2023-11-22 |
EP3344507B1 (en) | 2021-04-14 |
EP3344507A4 (en) | 2018-10-03 |
JP7012006B2 (ja) | 2022-01-27 |
KR102380973B1 (ko) | 2022-03-31 |
KR20180037312A (ko) | 2018-04-11 |
US10099705B2 (en) | 2018-10-16 |
CN107924191A (zh) | 2018-04-17 |
US20170057520A1 (en) | 2017-03-02 |
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