CN108437983B - Intelligent vehicle obstacle avoidance system based on prediction safety - Google Patents
Intelligent vehicle obstacle avoidance system based on prediction safety Download PDFInfo
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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
- 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
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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
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
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- 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
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Abstract
The invention discloses an intelligent vehicle obstacle avoidance system based on prediction safety, which comprises a vehicle-mounted control module, a drivable area prediction module, a steering angle control module, a speed control module, a vehicle-mounted GPS module, a vehicle-mounted speed measurement module, a lane line identification module, an obstacle vehicle tail lamp identification module and a radar module, wherein the vehicle-mounted control module is used for controlling the driving speed of a vehicle; the method comprises the steps that a travelable area prediction module receives road information, tail lamp information of an obstacle vehicle, speed information of the obstacle vehicle, traveling direction information of the obstacle vehicle and position information of the obstacle vehicle, predicts the traveling intention of the obstacle vehicle according to the information, combines the traveling intention with the road information, calculates a dynamic travelable area for a period of time, and sends the dynamic travelable area for the period of time to a vehicle-mounted control module; the vehicle-mounted control module calculates steering angle control quantity and speed control quantity of the vehicle running in the dynamic travelable region and sends the steering angle control quantity and the speed control quantity to the steering angle execution module and the speed control module.
Description
Technical Field
The invention relates to an intelligent vehicle obstacle avoidance system, in particular to an intelligent vehicle obstacle avoidance system for determining a feasible region by predicting the moving posture of an obstacle vehicle.
Background
With the increasing of the automobile holding capacity, the road traffic gradually tends to be dense and complex, so that the driving pressure is increased, the driving capability of a driver in a normal traffic scene is reduced, and the occurrence probability of traffic accidents is greatly increased. The intelligent vehicle can complete autonomous obstacle avoidance and avoid risks through advanced technology, and becomes a key research direction for solving vehicle safety.
The intelligent vehicle obstacle avoidance system generally comprises a self-vehicle state sensing module, an environment sensing module, a vehicle-mounted control module and an execution module. The vehicle-mounted control module receives vehicle state information and environment information from the vehicle state sensing module and the environment sensing module, and determines the position, road condition and running state of the vehicle, so that a collision-free path is optimized, the control quantity required by tracking and optimizing the path is calculated, the output of the control quantity is used as the input of the execution module, and obstacle avoidance control of the intelligent vehicle is completed.
However, obstacle avoidance of the intelligent vehicle is a dynamic process, and the obstacle vehicle is not static in an actual scene. The above method only considers the current position of the obstacle vehicle, and cannot predict the driving intention of the obstacle vehicle, which is likely to cause problems such as insufficient road utilization and reduced vehicle safety.
Disclosure of Invention
The invention aims to provide an intelligent vehicle obstacle avoidance system based on prediction safety, which can predict the driving intention of an obstacle vehicle, obtain a dynamically-changed drivable area by combining road information, and determine a control signal by integrating the state of the vehicle to control the intelligent vehicle to complete an obstacle avoidance function.
The purpose of the invention is realized by the following technical scheme:
an intelligent vehicle obstacle avoidance system based on prediction safety comprises a self-vehicle state sensing module, an environment sensing module, a vehicle-mounted control module, a driving area prediction module, a steering angle control module and a speed control module.
The self-vehicle state sensing module comprises:
the vehicle-mounted GPS module is used for measuring the position information, the speed information and the driving direction angle information of the current vehicle and sending the position information, the speed information and the driving direction angle information to the vehicle-mounted controller module;
the vehicle-mounted speed measuring module is used for measuring the speed of the current vehicle and sending the speed information to the vehicle-mounted controller module;
the context awareness module includes:
the lane line identification module is used for identifying travelable road information and sending the road information to the travelable area prediction module;
the obstacle vehicle tail lamp identification module is used for identifying obstacle vehicle tail lamp information and sending the obstacle vehicle tail lamp information to the travelable area prediction module;
and the radar module is used for scanning whether an obstacle vehicle exists or not, measuring the speed information, the driving direction angle information and the position information of the obstacle vehicle, and sending the speed information, the driving direction information and the position information of the vehicle to the driving-capable area prediction module.
The driving area prediction module is respectively connected with the lane line recognition module, the obstacle vehicle tail lamp recognition module, the radar module and the vehicle-mounted control module, receives the road information, the obstacle vehicle tail lamp information, the speed information of the obstacle vehicle, the driving direction angle information of the obstacle vehicle and the position information of the obstacle vehicle, predicts the driving intention of the obstacle vehicle through the information, combines the driving intention with the road information, calculates a dynamic driving area for a period of time, and sends the dynamic driving area for the period of time to the vehicle-mounted control module.
The vehicle-mounted control module is respectively connected with the vehicle-mounted GPS module, the vehicle-mounted speed measuring module, the travelable region prediction module, the speed control module and the steering angle control module, coordinates the work of all parts, calculates the steering angle control quantity and the speed control quantity of the travelable region, sends the steering angle control quantity to the steering angle execution module and sends the speed control quantity to the speed control module.
The steering angle control module is used for receiving the steering angle control quantity of the vehicle-mounted control module, controlling the current vehicle to steer and finishing the function of avoiding obstacles.
And the speed control module is used for receiving the speed control quantity of the vehicle-mounted control module, controlling the current vehicle speed and finishing the function of avoiding obstacles.
According to the intelligent vehicle obstacle avoidance system based on prediction safety, a travelable area module determines a travelable area according to a set rule, and the specific rule is as follows, and the travelable area is divided into two types of obstacle taillight extinguishment and obstacle taillight flickering:
when the tail lamp of the obstacle vehicle is turned off, firstly, a basic road area is determined according to the drivable range of the road, and when no obstacle vehicle exists in the basic road area, the basic road area is the final drivable area; when the obstacle vehicles exist in the basic road area, the current feasible area is the area except the area covered by the obstacle vehicles, and the area in the basic road area is the current feasible area; for the prediction function, a dynamic travelable region within a period of time is obtained, and the dynamic travelable region is dispersed in a short time T, wherein the vehicle-obstructing speed within a period of time is v _ obs, and the traveling direction angle is
The position of the obstacle vehicle after the time t is
The dynamic travelable area from the current moment to t time is the part except the dynamic coverage area of the predicted obstacle vehicle in the basic road area;
when the tail lamp of the obstacle vehicle flickers, firstly, a basic road area is determined according to the drivable range of the road, and when no obstacle vehicle exists in the basic road area, the basic road area is the final drivable area; when the obstacle vehicle exists in the basic road area, according to the information of the tail lamps of the obstacle vehicle, when the tail lamps of a certain side flicker, the obstacle vehicle is indicated to turn to the side in a short time, the current position and the area of the obstacle vehicle on the side are current obstacle areas, and the rest parts are current feasible areas; in a dynamic feasible region within a period of time, the vehicle is dispersed in a short time T, the vehicle obstructing speed within the period of time is v _ obs, and the driving direction angle is
After the vehicle passes the time T of 1T,2T,3T,4T …, the new position of the obstacle vehicle is
The dynamic obstacle area after the time t is the dynamic position of the obstacle vehicle after the time t and the flickering side area of the tail lamp of the obstacle vehicle, and the rest part is the dynamic drivable area after the time t; when the left tail lamp and the right tail lamp of the barrier vehicle flash simultaneously, the situation that the barrier vehicle decelerates or meets abnormal situations, potential safety hazards exist in the situations of overtaking and the like, the current feasible region is a region between the current vehicle and the barrier vehicle, and the current region is a dynamic feasible region in a period of time.
According to the intelligent vehicle obstacle avoidance system based on prediction safety, the vehicle-mounted control module jointly optimizes the speed control quantity and the steering angle control quantity by taking a dynamic travelable area as a constraint condition and taking the shortest obstacle avoidance travel path as a target.
According to the intelligent vehicle obstacle avoidance system based on prediction safety, when the dynamic drivable area received by the vehicle-mounted control module for a period of time is not enough to meet the requirement that the current vehicle passes through at the current speed, the steering angle control quantity is not generated, the speed control quantity is calculated by taking the speed of the following obstacle vehicle as a target, and the speed control quantity is sent to the speed control module to control the driving speed of the current vehicle.
Compared with the prior art, the invention has the following advantages and beneficial effects:
compared with the prior art, the method can predict the driving intention of the obstacle vehicle in the driving process of the intelligent vehicle, judge the position of the obstacle vehicle within a period of time and obtain a dynamic drivable area which is more in line with the reality. The intelligent vehicle obstacle avoidance system can not only meet the requirement that vehicles safely complete obstacle avoidance functions, but also reduce frequent control actions of current intelligent vehicles caused by position changes of obstacle vehicles, and improve road utilization rate.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention.
FIG. 1 is a connection block diagram of the present invention.
Fig. 2 is a schematic diagram of the predicted position of the obstacle vehicle in the travelable area prediction module according to the present invention.
Fig. 3 is a schematic diagram of a feasible region under the condition that a tail lamp of the feasible region prediction module flickers.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
As shown in fig. 1, an intelligent vehicle obstacle avoidance system based on prediction safety includes a self-vehicle state sensing module, an environment sensing module, a vehicle-mounted control module, a drivable area prediction module, a steering angle control module, and a speed control module.
The self-vehicle state sensing module comprises:
the vehicle-mounted GPS module is used for measuring the position information, the speed information and the driving direction information of the current vehicle and sending the position information, the speed information and the driving direction information to the vehicle-mounted controller module;
the vehicle-mounted speed measuring module is used for measuring the speed of the current vehicle and sending the speed information to the vehicle-mounted controller module;
the context awareness module includes:
the lane line identification module is used for identifying travelable road information and sending the road information to the travelable area prediction module;
the obstacle vehicle tail lamp identification module is used for identifying obstacle vehicle tail lamp information and sending the obstacle vehicle tail lamp information to the travelable area prediction module;
and the radar module is used for scanning whether an obstacle vehicle exists or not, measuring the speed information, the driving direction angle information and the position information of the obstacle vehicle, and sending the speed information, the driving direction information and the position information of the vehicle to the driving-capable area prediction module.
The drivable area prediction module is respectively connected with the lane line recognition module, the obstacle vehicle tail lamp recognition module, the radar module and the vehicle-mounted control module, receives the road information, the obstacle vehicle tail lamp information, the speed information of the obstacle vehicle, the driving direction information of the obstacle vehicle and the position information of the obstacle vehicle, predicts the driving intention of the obstacle vehicle through the information, combines the driving intention with the road information, calculates a dynamic drivable area for a period of time, and sends the dynamic drivable area for the period of time to the vehicle-mounted control module.
The vehicle-mounted control module is respectively connected with the vehicle-mounted GPS module, the vehicle-mounted speed measuring module, the travelable region prediction module, the speed control module and the steering angle control module, coordinates the work of all parts, calculates the steering angle control quantity and the speed control quantity of the travelable region, sends the steering angle control quantity to the steering angle execution module and sends the speed control quantity to the speed control module.
The steering angle control module is used for receiving the steering angle control quantity of the vehicle-mounted control module, controlling the current vehicle to steer and finishing the function of avoiding obstacles.
And the speed control module is used for receiving the speed control quantity of the vehicle-mounted control module, controlling the current vehicle speed and finishing the function of avoiding obstacles.
When the invention works, firstly, the camera of the lane line identification module can shoot the lane line of the road where the current vehicle runs for detection, the lane width distance of the standard road is constant, the lane line is widened leftwards and rightwards by 1/2 lane width distances, and the drivable area in front of the vehicle on the road can be determined according to the lane width distance. The radar module then scans for the presence of an obstacle vehicle in front of the vehicle. If an obstacle vehicle exists, obtaining the position, the speed and the driving direction of the obstacle vehicle, wherein the position and the direction information of the obstacle vehicle are obtained by taking the current vehicle as a coordinate origin, the driving direction of the current vehicle as an x axis, and the vertical x axis, the y axis determined by a right-hand rule as a relative position (x _ obs, y _ obs) and a driving direction angle of a coordinate system
The obstacle vehicle speed is shown as v _ obs. The obstacle vehicle tail lamp identification module identifies obstacle vehicle tail lamp information through the camera and divides the tail lamp information into three types, wherein the first type only has a left tail lamp to flicker, the second type only has a right tail lamp to flicker, and the third type left and right tail lamps to flicker simultaneously. And then the position information, the direction information and the tail lamp information of the obstacle vehicle are sent to a travelable area prediction module.
The travelable region module determines a travelable region according to established rules. The specific rule is as follows: the method comprises two types, namely the tail lamp of the obstacle vehicle is turned off and the tail lamp of the obstacle vehicle is flickered. When the tail lamp of the obstacle vehicle is turned off, a basic road area is determined according to the road drivable range, and when no obstacle vehicle exists in the basic road area, the basic road area is the final drivable area. When the obstacle vehicles exist in the basic road area, the current feasible area is the area except the area covered by the obstacle vehicles, and the area in the basic road area is the current feasible area. Motion within a period of time is required for the prediction function to take placeThe state can be a driving area. Dispersing in a short time T, ensuring that the speed of the obstacle vehicle does not change suddenly in a short time, and assuming that the speed of the obstacle vehicle in a period of time is the speed v _ obs obtained by the scanning module and the driving direction angle is
After the vehicle passes the time T of 1T,2T,3T,4T …, the position of the obstacle vehicle after the time T passes is
The predicted position of the obstacle vehicle is schematically shown in fig. 2. The dynamic travelable area from the current time to t time is the part excluding the dynamic coverage area of the predicted obstacle vehicle in the basic road area.
When the tail lamp of the obstacle vehicle flickers, a basic road area is determined according to the road driving range, and when no obstacle vehicle exists in the basic road area, the basic road area is the final driving area. When the obstacle vehicle exists in the basic road area, according to the information of the tail lamp of the obstacle vehicle, when the left tail lamp flickers, the obstacle vehicle is indicated to be about to turn left in a short time, and because the steering operation time of different drivers is different, under the condition, the current position and the left area of the obstacle vehicle are the current obstacle area, and the rest parts are the current feasible area. In a dynamic feasible region within a period of time, the vehicle is dispersed in a short time T, the vehicle obstructing speed in the short time cannot be suddenly changed, the vehicle obstructing speed in the period of time is assumed to be the speed v _ obs obtained by the scanning module, and the driving direction angle is
When the vehicle passes the time T equal to 1T,2T,3T,4T …, the new position of the obstacle vehicle is
The dynamic obstacle area after the time t is the dynamic position of the obstacle vehicle after the time t and the area on the left side of the obstacle vehicle, and the rest part is the dynamic drivable area after the time t. The obstacle vehicle right tail lamp is similar to the left tail lamp when twinkling.When the left tail lamp and the right tail lamp of the barrier vehicle flash simultaneously, the barrier vehicle is decelerating or meets abnormal conditions, potential safety hazards exist in conditions such as overtaking and the like, the current feasible region is a region from the current vehicle to the barrier vehicle, and the current region is a dynamic feasible region in a period of time. Fig. 2 is a schematic diagram of the predicted position of the obstacle vehicle, and fig. 3 is a schematic diagram of a feasible region in the case of flickering of the tail light.
The vehicle-mounted control module receives the speed information of the current vehicle, the position information and the driving direction information of the current vehicle and the dynamic drivable area information of the vehicle-mounted speed measuring module, the vehicle-mounted GPS module and the drivable area prediction module. The vehicle-mounted control module jointly optimizes the speed control quantity and the steering angle control quantity by taking the dynamic travelable area as a constraint condition and taking the shortest obstacle avoidance travel path as a target, and then the speed control module and the steering angle control module on the current vehicle receive the speed control quantity and the steering angle control quantity to control the current vehicle so as to complete the obstacle avoidance function.
When the dynamic drivable area received by the vehicle-mounted control module for a period of time is not enough to meet the requirement that the current vehicle passes through at the current speed, the steering angle control quantity is not generated, the speed of the vehicle following the obstacle vehicle is taken as a target, the speed control quantity is calculated and sent to the speed control module, and the driving speed of the current vehicle is controlled.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (3)
1. An intelligent vehicle obstacle avoidance system based on prediction safety is characterized by comprising a self-vehicle state sensing module, an environment sensing module, a vehicle-mounted control module, a travelable area prediction module, a steering angle control module and a speed control module;
the self-vehicle state sensing module comprises:
the vehicle-mounted GPS module is used for measuring the position information, the speed information and the driving direction information of the current vehicle and sending the position information, the speed information and the driving direction information to the vehicle-mounted control module;
the vehicle-mounted speed measuring module is used for measuring the speed of the current vehicle and sending the speed information to the vehicle-mounted control module;
the context awareness module includes:
the lane line identification module is used for identifying travelable road information and sending the road information to the travelable area prediction module;
the obstacle vehicle tail lamp identification module is used for identifying obstacle vehicle tail lamp information and sending the obstacle vehicle tail lamp information to the travelable area prediction module;
the radar module is used for scanning whether an obstacle vehicle exists or not, determining speed information, driving direction information and position information of the obstacle vehicle, and sending the speed information, the driving direction angle information and the position information of the obstacle vehicle to the driving-capable area prediction module;
the driving area prediction module is respectively connected with the lane line recognition module, the obstacle vehicle tail lamp recognition module, the radar module and the vehicle-mounted control module, receives the road information, the obstacle vehicle tail lamp information, the speed information of the obstacle vehicle, the driving direction angle information of the obstacle vehicle and the position information of the obstacle vehicle, predicts the driving intention of the obstacle vehicle through the information, combines the driving intention with the road information, calculates a dynamic driving area within a period of time, and sends the dynamic driving area within the period of time to the vehicle-mounted control module; the vehicle-mounted control module is respectively connected with the vehicle-mounted GPS module, the vehicle-mounted speed measuring module, the travelable region prediction module, the speed control module and the steering angle control module, coordinates the work of all parts, calculates the steering angle control quantity and the speed control quantity of the traveling in the dynamic travelable region, sends the steering angle control quantity to the steering angle execution module and sends the speed control quantity to the speed control module;
the steering angle control module is used for receiving the steering angle control quantity of the vehicle-mounted control module, controlling the current vehicle to steer and finishing the function of avoiding obstacles;
the speed control module is used for receiving the speed control quantity of the vehicle-mounted control module, controlling the current vehicle speed and finishing the function of avoiding obstacles;
the driving area prediction module determines a driving area according to a set rule, wherein the specific rule is as follows, and the rule is divided into two types of obstacle tail lamp extinguishing and obstacle tail lamp flickering:
when the tail lamp of the obstacle vehicle is turned off, firstly, a basic road area is determined according to the dynamic drivable area, and when no obstacle vehicle exists in the basic road area, the basic road area is the final drivable area; when the obstacle vehicles exist in the basic road area, the current feasible area is the area except the area covered by the obstacle vehicles, and the area in the basic road area is the current feasible area; for the prediction function, a dynamic travelable region within a period of time is obtained, and the dynamic travelable region is dispersed in a short time T, wherein the vehicle-obstructing speed within a period of time is v _ obs, and the traveling direction angle is
x _ obs is the longitudinal position of the obstacle vehicle, y _ obs is the lateral position of the obstacle vehicle, and the position after t time is
The dynamic travelable area from the current moment to t time is the part except the dynamic coverage area of the predicted obstacle vehicle in the basic road area;
when the tail lamp of the obstacle vehicle flickers, firstly, a basic road area is determined according to the drivable range of the road, and when no obstacle vehicle exists in the basic road area, the basic road area is the final drivable area; when the obstacle vehicle exists in the basic road area, according to the information of the tail lamps of the obstacle vehicle, when the tail lamp of a certain side flickers, the obstacle vehicle is indicated to turn to the side in a short time, and the obstacle vehicle is inThe current position and the side area are current obstacle areas, and the rest parts are current feasible areas; in a dynamic feasible region within a period of time, the vehicle is dispersed in a short time T, the vehicle obstructing speed within the period of time is v _ obs, and the driving direction angle is
After the vehicle passes time T being 1T,2T,3T,4T
The dynamic obstacle area after the time t is the dynamic position of the obstacle vehicle after the time t and the flickering side area of the tail lamp of the obstacle vehicle, and the rest part is the dynamic drivable area after the time t; when the left tail lamp and the right tail lamp of the barrier vehicle flash simultaneously, the barrier vehicle decelerates or meets abnormal conditions, potential safety hazards may exist when overtaking under the conditions, the current feasible region is a region between the current vehicle and the barrier vehicle, and the current feasible region is a dynamic feasible region within a period of time.
2. The intelligent vehicle obstacle avoidance system based on prediction safety as claimed in claim 1, wherein the vehicle-mounted control module jointly optimizes the speed control amount and the steering angle control amount by taking the dynamic travelable area as a constraint condition and taking the shortest obstacle avoidance travel path as a target.
3. The intelligent vehicle obstacle avoidance system based on prediction safety as claimed in claim 1, wherein when the dynamic drivable area received by the vehicle-mounted control module for a period of time is not enough to meet the current speed passing of the current vehicle, no steering angle control quantity is generated, the speed control quantity is calculated by taking the speed of the following obstacle vehicle as a target, and the speed control quantity is sent to the speed control module to control the driving speed of the current vehicle.
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| CN109991976B (en) * | 2019-03-01 | 2022-05-13 | 江苏理工学院 | Method for avoiding dynamic vehicle by unmanned vehicle based on standard particle swarm optimization |
| CN110949378B (en) * | 2019-12-30 | 2022-04-19 | 福州大学 | Anti-collision rear-end collision method for automobile under high-speed working condition |
| CN111829545B (en) * | 2020-09-16 | 2021-01-08 | 深圳裹动智驾科技有限公司 | Automatic driving vehicle and dynamic planning method and system for motion trail of automatic driving vehicle |
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| JP4254844B2 (en) * | 2006-11-01 | 2009-04-15 | トヨタ自動車株式会社 | Travel control plan evaluation device |
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