CN108367754B - 用于机动车的辅助驾驶、部分自动驾驶、高自动驾驶、全自动驾驶或无人驾驶的方法和装置 - Google Patents
用于机动车的辅助驾驶、部分自动驾驶、高自动驾驶、全自动驾驶或无人驾驶的方法和装置 Download PDFInfo
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- CN108367754B CN108367754B CN201680067279.2A CN201680067279A CN108367754B CN 108367754 B CN108367754 B CN 108367754B CN 201680067279 A CN201680067279 A CN 201680067279A CN 108367754 B CN108367754 B CN 108367754B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 230000007613 environmental effect Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000006641 stabilisation Effects 0.000 claims description 6
- 238000011105 stabilization Methods 0.000 claims description 6
- 238000002360 preparation method Methods 0.000 claims description 3
- 230000001172 regenerating effect Effects 0.000 claims description 2
- 102100024633 Carbonic anhydrase 2 Human genes 0.000 description 1
- 101000760643 Homo sapiens Carbonic anhydrase 2 Proteins 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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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
- 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
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- 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
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W50/038—Limiting the input power, torque or 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
- 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
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
-
- 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
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
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- 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
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- 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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
-
- 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
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/022—Actuator failures
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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
- 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
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0297—Control Giving priority to different actuators or 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
-
- 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
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from 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
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
Description
Claims (12)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015222605.0A DE102015222605A1 (de) | 2015-11-17 | 2015-11-17 | Verfahren und Vorrichtung zum assistierten, teilautomatisierten, hochautomatisierten, vollautomatisierten oder fahrerlosen Fahren eines Kraftfahrzeuges |
DE102015222605.0 | 2015-11-17 | ||
PCT/EP2016/077222 WO2017084951A1 (de) | 2015-11-17 | 2016-11-10 | Verfahren und vorrichtung zum assistierten, teilautomatisierten, hochautomatisierten, vollautomatisierten oder fahrerlosen fahren eines kraftfahrzeuges |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108367754A CN108367754A (zh) | 2018-08-03 |
CN108367754B true CN108367754B (zh) | 2021-12-03 |
Family
ID=57281220
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201680067279.2A Active CN108367754B (zh) | 2015-11-17 | 2016-11-10 | 用于机动车的辅助驾驶、部分自动驾驶、高自动驾驶、全自动驾驶或无人驾驶的方法和装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11390291B2 (zh) |
EP (1) | EP3377382A1 (zh) |
CN (1) | CN108367754B (zh) |
DE (1) | DE102015222605A1 (zh) |
WO (1) | WO2017084951A1 (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11009874B2 (en) | 2017-09-14 | 2021-05-18 | Uatc, Llc | Fault-tolerant control of an autonomous vehicle with multiple control lanes |
CN110733513A (zh) * | 2018-07-20 | 2020-01-31 | 北汽福田汽车股份有限公司 | 自动驾驶的控制方法、装置、存储介质及车辆 |
CN109808709B (zh) * | 2019-01-15 | 2021-08-03 | 北京百度网讯科技有限公司 | 车辆行驶保障方法、装置、设备及可读存储介质 |
DE102019202925A1 (de) * | 2019-03-05 | 2020-09-10 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines automatisierten Fahrzeugs |
CN109910910B (zh) * | 2019-03-13 | 2021-05-25 | 浙江吉利汽车研究院有限公司 | 一种车辆控制系统及方法 |
CN111959519B (zh) * | 2020-08-20 | 2021-12-28 | 中国第一汽车股份有限公司 | 一种辅助驾驶功能设置方法、装置、设备及介质 |
DE102020213136A1 (de) | 2020-10-19 | 2022-04-21 | Volkswagen Aktiengesellschaft | Verbesserte automatische Abstandsregelung |
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DE102014213171A1 (de) * | 2014-04-09 | 2015-10-15 | Continental Automotive Gmbh | System zur autonomen Fahrzeugführung und Kraftfahrzeug |
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CA2462126C (en) * | 2001-09-28 | 2009-10-20 | Bridgestone Corporation | Rubber composition, pneumatic tire and method of producing the same |
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DE102012201185A1 (de) | 2012-01-27 | 2013-08-01 | Siemens Aktiengesellschaft | Verfahren zum Betreiben mindestens zweier Datenverarbeitungseinheiten mit hoher Verfügbarkeit, insbesondere in einem Fahrzeug, und Vorrichtung zum Betreiben einer Maschine |
DE102012202175A1 (de) * | 2012-02-14 | 2013-08-14 | Robert Bosch Gmbh | Verfahren zum automatischen Führen, insbesondere Einparken, eines Kraftfahrzeugs sowie Fahrerassistenzeinrichtung |
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-
2015
- 2015-11-17 DE DE102015222605.0A patent/DE102015222605A1/de active Pending
-
2016
- 2016-11-10 EP EP16794323.2A patent/EP3377382A1/de active Pending
- 2016-11-10 US US15/774,161 patent/US11390291B2/en active Active
- 2016-11-10 CN CN201680067279.2A patent/CN108367754B/zh active Active
- 2016-11-10 WO PCT/EP2016/077222 patent/WO2017084951A1/de active Application Filing
Patent Citations (4)
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US20120212353A1 (en) * | 2011-02-18 | 2012-08-23 | Honda Motor Co., Ltd. | System and Method for Responding to Driver Behavior |
CN103264702A (zh) * | 2013-05-20 | 2013-08-28 | 任海 | 一种空中轨道交通运输系统网络的构成方法 |
CN104925053A (zh) * | 2014-03-18 | 2015-09-23 | 沃尔沃汽车公司 | 增加自主驾驶安全和/或舒适性的车辆、车辆系统和方法 |
DE102014213171A1 (de) * | 2014-04-09 | 2015-10-15 | Continental Automotive Gmbh | System zur autonomen Fahrzeugführung und Kraftfahrzeug |
Also Published As
Publication number | Publication date |
---|---|
CN108367754A (zh) | 2018-08-03 |
EP3377382A1 (de) | 2018-09-26 |
US11390291B2 (en) | 2022-07-19 |
US20190106116A1 (en) | 2019-04-11 |
DE102015222605A1 (de) | 2017-05-18 |
WO2017084951A1 (de) | 2017-05-26 |
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