CN108216255A - Predict the method and system of barrier vehicle-state - Google Patents
Predict the method and system of barrier vehicle-state Download PDFInfo
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- CN108216255A CN108216255A CN201611175945.2A CN201611175945A CN108216255A CN 108216255 A CN108216255 A CN 108216255A CN 201611175945 A CN201611175945 A CN 201611175945A CN 108216255 A CN108216255 A CN 108216255A
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- vehicle
- state
- barrier
- status information
- reference value
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Classifications
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
Abstract
The embodiment of the present invention provides a kind of system for predicting barrier vehicle-state, which includes：Current state estimation module, the status information for the current time to barrier vehicle are estimated；State prediction module, for predicting the status information of the subsequent time of barrier vehicle according to the status information at the current time；And driving behavior prediction module, for the driving behavior of the status information disturbance in judgement object vehicle according to the subsequent time.
Description
Technical field
The present invention relates to automatic Pilot fields, and in particular, to a kind of method and system for predicting barrier vehicle-state.
Background technology
In recent years, unmanned the relevant technologies are got the attention, wherein, in unmanned vehicle driving process, need to make
By the use of the status information of barrier vehicle as constraints, the driving trace of unmanned vehicle is planned.Typically for front
Barrier vehicle, we are usually required after using the one section time, and pact of the state of non-present as path planning algorithm
Beam condition, the specific time is depending on the transport condition of this vehicle.It is right therefore, it is necessary to the current state information according to barrier vehicle
The status information of its future time instance is predicted.
Present inventor has found in the implementation of the present invention, during the future of the prediction barrier vehicle of the prior art
The scheme of the status information at quarter has the defects of cannot preparing to predict the driving behavior of barrier vehicle.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of method and system for predicting barrier vehicle-state, this method and is
System is capable of the status information of Accurate Prediction barrier vehicle subsequent time, and driving according to the status information disturbance in judgement object vehicle
Sail behavior.
To achieve these goals, the present invention provides a kind of method for predicting barrier vehicle-state, and this method includes：It is right
The status information at the current time of barrier vehicle is estimated；Barrier vehicle is predicted according to the status information at the current time
Subsequent time status information；And the driving row of the status information disturbance in judgement object vehicle according to the subsequent time
For.
Wherein, the status information at the current time to barrier vehicle carries out estimating to include：Using wave filter to barrier
The transverse state information and longitudinal status information for hindering the current time of object vehicle are estimated.For example, Kalman can be utilized
(Kalman) filter system.
Wherein, the transverse state information includes barrier vehicle relative to the laterally opposed position of this vehicle and laterally opposed
Speed, the longitudinal direction status information include barrier vehicle relative to the longitudinally opposed position of this vehicle and longitudinally relative speed.
Wherein, the status information of the subsequent time that barrier vehicle is predicted according to the status information at the current time
Including：The relative acceleration of barrier vehicle is predicted according to the transverse state information and longitudinal status information；And according to institute
State the status information at current time and the status information of the subsequent time of relative acceleration prediction barrier vehicle.
Wherein, the driving behavior of the status information disturbance in judgement object vehicle according to the subsequent time includes：According to
The laterally opposed position and the laterally relative speed calculate reference value；And according to the laterally relative speed and the ginseng
Value is examined with the comparison result disturbance in judgement object vehicle of default thresholding whether in lane change driving behavior.
Wherein, the comparison result disturbance in judgement according to the laterally relative speed and the reference value and default thresholding
Whether object vehicle, which handles lane change driving behavior, includes：When the reference value is less than or equal to the default thresholding, disturbance in judgement
The driving behavior of object vehicle keeps pattern for track；When the reference value is more than the default thresholding, and laterally relative speed
During less than 0, the driving behavior of disturbance in judgement object vehicle is lane change to the left；And when the reference value is more than the default thresholding
When, and when laterally relative speed is more than 0, the driving behavior of disturbance in judgement object vehicle is lane change to the right.
Wherein, it is described that reference value is calculated including the use of following according to the laterally opposed position and the laterally relative speed
Formula calculates the reference value：
Formula 1：
Wherein, f (l) be the reference value, l=| | d | | vy, d be the laterally opposed position, vyFor the lateral phase
To speed, c is adjusting parameter, and c allows it to accurately reflect judgement for being adjusted the calculated value of the reference value
As a result in, therefore c can carry out value by test.
Wherein, this method further includes：According to longitudinal status information and the lane change behavior decision of the barrier vehicle
The driving strategy of this vehicle.
According to another aspect of the present invention, a kind of system for predicting barrier vehicle-state is also provided, which includes：When
Preceding state estimation module, the status information for the current time to barrier vehicle are estimated；State prediction module is used for
The status information of the subsequent time of barrier vehicle is predicted according to the status information at the current time；And driving behavior prediction
Module, for the driving behavior of the status information disturbance in judgement object vehicle according to the subsequent time.
Wherein, the current state estimation module includes：Filter process module, for utilizing wave filter to barrier vehicle
Current time transverse state information and longitudinal status information estimated.
Wherein, the transverse state information includes barrier vehicle relative to the laterally opposed position of this vehicle and laterally opposed
Speed, the longitudinal direction status information include barrier vehicle relative to the longitudinally opposed position of this vehicle and longitudinally relative speed.
Wherein, the state prediction module includes：Relative acceleration prediction module, for according to the transverse state information
With the relative acceleration of longitudinal status information prediction barrier vehicle；And status information prediction module, for being worked as according to described
The status information of the subsequent time of the relative acceleration prediction barrier vehicle of the dress state information at preceding moment.
Wherein, the driving behavior prediction module includes：Reference value determining module, for according to the laterally opposed position
Reference value is calculated with the laterally relative speed；Driving behavior judgment module, for according to the laterally relative speed and described
Whether the comparison result disturbance in judgement object vehicle of reference value and default thresholding is in lane change driving behavior.
Wherein, the driving behavior judgment module judges to hinder when the reference value is less than or equal to the default thresholding
The driving behavior of object vehicle is hindered to keep pattern for track；When the reference value is more than the default thresholding, and laterally opposed speed
When degree is less than 0, the driving behavior of disturbance in judgement object vehicle is lane change to the left；When the reference value is more than the default thresholding,
And when laterally relative speed is more than 0, the driving behavior of disturbance in judgement object vehicle is lane change to the right.
Wherein, the reference value determining module calculates the reference value using above-mentioned formula 1.
Wherein, the driving behavior judgment module is according to longitudinal status information and the lane change row of the barrier vehicle
To determine the driving strategy of this vehicle.
Through the above technical solutions, by barrier vehicle around this vehicle with respect to the relative position of this vehicle and relatively fast
The estimation of the information such as degree, can predict relative position and relative velocity of the barrier vehicle in subsequent time relative to this vehicle,
So as to accurately judge the driving behavior of barrier vehicle according to these information, and then this vehicle can make appropriate drive
Decision is sailed, so as to fulfill the automatic Pilot of safety.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 is the flow chart of the method for according to an embodiment of the invention one prediction barrier vehicle-state；
Fig. 2 is the flow chart of the method for according to an embodiment of the invention two prediction barrier vehicle-state；
Fig. 3 is the structure chart of the system of according to an embodiment of the invention three prediction barrier vehicle-state；
Fig. 4 is the structure chart of the system of according to an embodiment of the invention four prediction barrier vehicle-state；And
Fig. 5 is the schematic diagram of coordinate system according to an embodiment of the invention.
Reference sign
100：Current state estimation module 110：Filter process module
200：State prediction module 210：Relative acceleration prediction module
220：Status information prediction module 300：Driving behavior prediction module
310：Reference value determining module 320：Driving behavior judgment module
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
Fig. 1 is the flow chart of the method for according to an embodiment of the invention one prediction barrier vehicle-state.Such as Fig. 1 institutes
Show, the method for the prediction barrier vehicle-state includes the following steps：
In the step s 100, the status information at the current time of barrier vehicle is estimated.
In step s 200, the state of the subsequent time of barrier vehicle is predicted according to the status information at the current time
Information.
In step S300 and the driving behavior of the status information disturbance in judgement object vehicle according to the subsequent time.
Fig. 2 is the flow chart of the method for according to an embodiment of the invention two prediction barrier vehicle-state.Such as Fig. 2 institutes
Show, above-mentioned steps S100 can include step S110, in step s 110, can utilize wave filter to the current of barrier vehicle
The transverse state information at moment and longitudinal status information are estimated.
For example, the vertical and horizontal state of barrier vehicle can be estimated using Kalman's (Kalman) wave filter
Meter, Kalman filter can be preferably designed to second-order system, wherein, the status information predicted is vehicle relative to this vehicle
Relative position and relative velocity, due to needing that the transverse state information of vehicle and longitudinal status information are estimated respectively,
Therefore the parameter of Kalman filter contains there are four state variable, i.e., barrier vehicle relative to this vehicle laterally opposed position and
Laterally relative speed and barrier vehicle are relative to the longitudinally opposed position of this vehicle and longitudinally relative speed.
As shown in Fig. 2, above-mentioned steps S200 can preferably include following steps：
Wherein, Fig. 5 is the schematic diagram of according to embodiments of the present invention two coordinate system.As shown in figure 5, to the barrier vehicle
The estimation of status information can be completed under the local coordinate system of barrier vehicle, one can be defined to insure after this vehicle
The center of thick stick is the coordinate system of coordinate origin, and wherein x-axis is the tangential direction along lane line, i.e., longitudinal direction, y-axis are lane line
Normal direction, i.e. horizontal direction.But the position of the coordinate origin of coordinate system is not limited to the center of this vehicle rear bumper, definition
Coordinate system is a kind of reference pattern, therefore can theoretically choose any point of this vehicle or can also choose other points
Origin as coordinate system.
In step S210, predict that the opposite of barrier vehicle adds according to the transverse state information and longitudinal status information
Speed.For example, when being estimated using Kalman filter the transverse state information of barrier vehicle and longitudinal status information,
Can Kalman filter be implemented by equation 2 below, so as to estimate corresponding status information：
Formula 2：
2-1：M=(px,py,vx,vy)T
2-2：
2-3：
2-4：
2-5：
2-6：
Wherein：
B=0
Wherein, formula 2-2 to 2-3 is status information predictor formula in above-mentioned formula 2, and formula 2-4 to 2-6 is status information
More new formula, pxRepresent barrier vehicle with respect to the longitudinally opposed position of this vehicle, pyRepresent the lateral phase of barrier vehicle and this vehicle
To position, vxRepresent barrier vehicle with respect to the longitudinal phase relative velocity of this vehicle, vyExpression barrier vehicle is laterally opposed with this vehicle
Speed.State vectors of the m for Kalman filter system, mtThe state vector of system during for t moment；U (t) is t moment system
Control variable, if without controlled quentity controlled variable, it can be 0, B be systematic parameter；F be process transfer matrix, FtThe process carved for t
Transfer matrix, H are observing matrix, and Σ is error co-variance matrix, and K is kalman gains, ntSystematic perspective for t moment measures；R
For the covariance of measurement noise, can by prior information count obtain, Q is process noise covariance,
Standard deviation can be calculated by the change rate to the speed within past 1 second to obtain.Specific original about Kalman filter
Reason, it is no longer superfluous to chat since the part is the common knowledge of those skilled in the art.
It, can be by one after transverse state information of the barrier vehicle with respect to this vehicle and longitudinal status information is estimated
Interior barrier vehicle of fixing time calculates relative acceleration relative to the relative velocity of this vehicle and the changing value of relative position.
In step S220, can barrier be predicted according to the status information at the current time and the relative acceleration
The status information of the subsequent time of vehicle.For example, if relative acceleration is zero or is approximately zero, it is believed that barrier vehicle
Average rate transport condition relative to this vehicle, then it can be using the status information at the estimated current time as barrier vehicle
It, can be according to the current time relative position and phase if relative acceleration is not zero in the status information of subsequent time
The status information of barrier vehicle subsequent time is calculated to speed and relative acceleration.Wherein, current time and next
Time interval between moment can choose the sufficiently small time interval that will not bring appreciable error.
As shown in Fig. 2, above-mentioned steps S300 can preferably include following steps：
In step S310, can reference value be calculated according to the laterally opposed position and the laterally relative speed.Its
In, the reference value can be calculated by above-mentioned formula 1.
In step S321 to step S323, according to the ratio of the laterally relative speed and the reference value and default thresholding
Whether lane change driving behavior is in compared with result disturbance in judgement object vehicle.
Wherein, in step S321, when the reference value is less than or equal to the default thresholding, disturbance in judgement object vehicle
Driving behavior for track keep pattern.
In step S322, when the reference value is more than the default thresholding, and laterally relative speed is less than 0, sentence
The driving behavior of disconnected barrier vehicle is lane change to the left.
In step S323 and when the reference value is more than the default thresholding, and laterally relative speed is more than 0
When, the driving behavior of disturbance in judgement object vehicle is lane change to the right.
In fig. 2, embodiment two can also include step S400, in this step, can be believed according to longitudinal state
The driving strategy of this vehicle of breath and the lane change behavior decision of the barrier vehicle.For example, it needs to carry out lane change or turn in this vehicle
When, such as judge that barrier vehicle is in track hold mode, it can be according to the longitudinally opposed of current vehicle and barrier vehicle
Whether speed and longitudinally opposed this vehicle of position judgment can carry out lane change, alternatively, if it is judged that barrier vehicle handles lane change
It in the process, can be according to the lane change direction (i.e. lane change to the left or to the right lane change) of barrier vehicle and barrier vehicle and this vehicle
Relative position judge whether this vehicle should Reduced Speed Now.
Fig. 3 is the structure chart of the system of according to an embodiment of the invention three prediction barrier vehicle-state.Such as Fig. 3 institutes
Show, the system of the prediction barrier vehicle-state includes：Current state estimation module 100, for working as to barrier vehicle
The status information at preceding moment is estimated；State prediction module 200 hinders for being predicted according to the status information at the current time
Hinder the status information of the subsequent time of object vehicle；And driving behavior prediction module 300, for the shape according to the subsequent time
The driving behavior of state information disturbance in judgement object vehicle.
Fig. 4 is the structure chart of the system of according to an embodiment of the invention four prediction barrier vehicle-state.If 4 institutes
Show, on the basis of embodiment one, which can include filter process module 110, for utilizing wave filter to barrier
The transverse state information at the current time of vehicle and longitudinal status information are estimated.The wave filter for example can be Kalman
(Kalman) wave filter.
Wherein, the transverse state information can include barrier vehicle relative to the laterally opposed position of this vehicle and transverse direction
Relative velocity, the longitudinal direction status information can include barrier vehicle relative to the longitudinally opposed position of this vehicle and longitudinally opposed
Speed.
In Fig. 4, the state prediction module 200 can include：Relative acceleration prediction module 210, for according to institute
It states transverse state information and longitudinal status information predicts the relative acceleration of barrier vehicle；And status information prediction module
220, for the subsequent time of the relative acceleration prediction barrier vehicle of the status information according to the current time
Status information.
In Fig. 4, the driving behavior prediction module 300 can include：Reference value determining module 310, for according to institute
It states laterally opposed position and the laterally relative speed and calculates reference value, wherein, the calculating of the reference value can utilize above-mentioned
Formula 1 is completed；Driving behavior judgment module 320, for according to the laterally relative speed and the reference value and default thresholding
Comparison result disturbance in judgement object vehicle whether be in lane change driving behavior.The default thresholding can in the test development stage,
Suitable value is chosen after repeatedly testing as default thresholding.
Wherein, the driving behavior judgment module 320 can when the reference value be less than or equal to the default thresholding when,
The driving behavior of disturbance in judgement object vehicle keeps pattern for track；When the reference value is more than the default thresholding, and laterally
When relative velocity is less than 0, the driving behavior of disturbance in judgement object vehicle is lane change to the left；When the reference value is more than the default domain
During value, and when laterally relative speed is more than 0, the driving behavior of disturbance in judgement object vehicle is lane change to the right.
Further, the driving behavior judgment module 320 can also be according to longitudinal status information and the obstacle
The driving strategy of this vehicle of the lane change behavior decision of object vehicle.It for example, can sentencing according to the lane change behavior of peripheral obstacle vehicle
The disconnected information such as result and its relative position and relative velocity with this vehicle, determine whether this vehicle can be with lane change or turn, if
It needs to slow down, if can give it the gun.
The optional embodiment of example of the present invention, still, the embodiment of the present invention and unlimited are described in detail above in association with attached drawing
Detail in the above embodiment, can be to the embodiment of the present invention in the range of the technology design of the embodiment of the present invention
Technical solution carry out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.For example, ability
The barrier vehicle phase that field technique personnel can be gone out using the method or system prediction of the prediction barrier vehicle-state of the present invention
The information disturbance in judgement object vehicle such as relative velocity and relative position to this vehicle whether processing turn or Reduced Speed Now state.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of step in the method and system of realization above-described embodiment is
Relevant hardware can be instructed to complete by program, which is stored in a storage medium, is used including some instructions
So that one (can be microcontroller, chip etc.) or processor (processor) perform side described in each embodiment of the application
The all or part of step of method.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (8)
1. a kind of system for predicting barrier vehicle-state, which is characterized in that the system includes：
Current state estimation module, the status information for the current time to barrier vehicle are estimated；
State prediction module, for predicting the state of the subsequent time of barrier vehicle according to the status information at the current time
Information；And
Driving behavior prediction module, for the driving behavior of the status information disturbance in judgement object vehicle according to the subsequent time.
2. the system of prediction barrier vehicle-state according to claim 1, which is characterized in that the current state estimation
Module includes：
Filter process module, for utilizing transverse state information of the wave filter to the current time of barrier vehicle and longitudinal shape
State information is estimated.
3. the system of prediction barrier vehicle-state according to claim 2, which is characterized in that the transverse state information
Including barrier vehicle relative to the laterally opposed position of this vehicle and laterally relative speed, the longitudinal direction status information includes obstacle
Object vehicle is relative to the longitudinally opposed position of this vehicle and longitudinally relative speed.
4. the method for prediction barrier vehicle-state according to claim 2, which is characterized in that the state prediction module
Including：
Relative acceleration prediction module, for predicting barrier vehicle according to the transverse state information and longitudinal status information
Relative acceleration；And
Status information prediction module predicts barrier for the relative acceleration of the dress state information according to the current time
The status information of the subsequent time of vehicle.
5. the system according to claim 3 for surveying barrier vehicle-state, which is characterized in that mould is predicted in the driving behavior
Block includes：
Reference value determining module, for calculating reference value according to the laterally opposed position and the laterally relative speed；
Driving behavior judgment module, for the comparison result according to the laterally relative speed and the reference value and default thresholding
Whether disturbance in judgement object vehicle is in lane change driving behavior.
6. the system according to claim 5 for surveying barrier vehicle-state, which is characterized in that the driving behavior judges mould
For block when the reference value is less than or equal to the default thresholding, the driving behavior of disturbance in judgement object vehicle keeps mould for track
Formula；
When the reference value is more than the default thresholding, and laterally relative speed is less than 0, the driving of disturbance in judgement object vehicle
Behavior is lane change to the left；
When the reference value be more than the default thresholding when, and laterally relative speed be more than 0 when, disturbance in judgement object vehicle is driven
Behavior is sailed as lane change to the right.
7. the system according to claim 5 or 6 for surveying barrier vehicle-state, which is characterized in that the reference value determines
Module calculates the reference value using the following formula：
Wherein, f (l) be the reference value, l=| | d | | vy, d be the laterally opposed position, vyFor the laterally opposed speed
Degree, c is adjusting parameter.
8. the system according to claim 5 or 6 for surveying barrier vehicle-state, which is characterized in that the driving behavior is sentenced
Disconnected module is according to the driving strategy of described this vehicle of longitudinal status information and the lane change behavior decision of the barrier vehicle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202745A (en) * | 2016-12-19 | 2018-06-26 | 乐视汽车（北京）有限公司 | Predict the method and system of barrier vehicle-state |
| CN111982143A (en) * | 2020-08-11 | 2020-11-24 | 北京汽车研究总院有限公司 | Vehicle and vehicle path planning method and device |
-
2016
- 2016-12-19 CN CN201611175945.2A patent/CN108216255A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202745A (en) * | 2016-12-19 | 2018-06-26 | 乐视汽车（北京）有限公司 | Predict the method and system of barrier vehicle-state |
| CN108202745B (en) * | 2016-12-19 | 2020-10-02 | 法法汽车(中国)有限公司 | Method and system for predicting state of obstacle vehicle |
| CN111982143A (en) * | 2020-08-11 | 2020-11-24 | 北京汽车研究总院有限公司 | Vehicle and vehicle path planning method and device |
| CN111982143B (en) * | 2020-08-11 | 2024-01-19 | 北京汽车研究总院有限公司 | Vehicle and vehicle path planning method and device |
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