CN109017781A - Vehicle auxiliary or automatic Pilot method and system based on path resource - Google Patents
Vehicle auxiliary or automatic Pilot method and system based on path resource Download PDFInfo
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- CN109017781A CN109017781A CN201810942004.XA CN201810942004A CN109017781A CN 109017781 A CN109017781 A CN 109017781A CN 201810942004 A CN201810942004 A CN 201810942004A CN 109017781 A CN109017781 A CN 109017781A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000009466 transformation Effects 0.000 claims 1
- 230000008859 change Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000007596 consolidation process Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
This disclosure relates to a kind of vehicle auxiliary or automatic Pilot method based on path resource, comprising: by the function of vehicle detection current lane and other lanes in the same direction；Changing Lane is determined the need for based on the route planning of the function and the vehicle in the current lane and other lanes in the same direction to avoid front vehicle；And it assists or is driven automatically based on the determination.
Description
Technical field
This disclosure relates to vehicle auxiliary or automatic Pilot.
Background technique
Current vehicle has various auxiliary or automatic system to improve driving comfort level and safety.It is one of typical
System is that lane keeps auxiliary system.The system to keeping lane to provide support when driving, by a camera identification traveling
The markings in lane.If vehicle is close to the mark line recognized and may be detached from traveling lane, steering wheel can be passed through
Vibration submits to driver to pay attention to.If lane holding auxiliary system recognizes the mark line of this lane two sides, system is in
Armed state.This is shown by the green indicator light in combination instrument disk.Under system is standby, if in mark of jumping over
Turn signal is played before note line, then there will be no warning, because system receives purposive lane-change.Since the system is in height
It fast highway and is designed with being travelled on the good country road of condition, therefore it is approximately higher than 65 km/h in speed and just starts work
Make.
Another typical case's auxiliary system is driving auxiliary system.The system provides stabilization camera shooting, and image is apparent, to meet this
Machine moves the requirement of operating condition, and all hardware and connector are all made of vibrationproof and consolidation process in machine.Professional anti-seismic structure design is right
Machine provides superpower buffering and shock resistance protection and effectively solves the impact of vehicle in conjunction with electronics antidetonation and software anti-seismic technology
And vibration problems.Its video uses amendment type MJPEG+ compressed format, and high-resolution supports 30FPS to make video recording speed.Video file can
To pass through connection DVD, navigator, stand alone display real-time display.During enforcement, system manipulation is convenient, can basis
Exercising picture required for state auto-switching, (when such as vehicle is turned right, LCD shows that image only shows the picture of right side camera admission
Face).It can also force image switching.
However, above-mentioned auxiliary system is still inadequate in terms of solving traffic congestion, cannot have to driver's offer is safer
The auxiliary of effect avoids congestion, especially in the case where road has multiple functions.With the progress of the technologies such as 4G, 5G, have
Vehicle may be assisted or automated driving system provides more useful informations, to improve vehicle auxiliary or automated driving system
Performance.
The disclosure is exactly to be directed to but be not limited to what the disadvantages described above of existing system was made.
Summary of the invention
According to the one side of the disclosure, a kind of vehicle auxiliary or automatic Pilot method based on path resource, packet are provided
It includes: by the function of vehicle detection current lane and other lanes in the same direction；Based on the current lane and other described lanes in the same direction
Function and the route planning of the vehicle determine the need for changing Lane to avoid front vehicle；And based on described
It determines to assist or be driven automatically.
According to a specific embodiment of the disclosure, detect current lane and other lanes in the same direction function include it is following at least
One: the function of the current lane He other lanes in the same direction is detected by the onboard sensor of the vehicle；It receives from institute
State the information related with the function of the current lane of the vehicle and other lanes in the same direction of other vehicles of vehicle periphery；Or
Information related with the function of the current lane of the vehicle and other lanes in the same direction is received from remote server.
According to a specific embodiment of the disclosure, the current lane and its are detected by the onboard sensor of the vehicle
The function in his lane in the same direction includes the image that index line or roadside or front guideboard on road surface are shot by vehicle-mounted camera,
And the function of the current lane He other lanes in the same direction is determined based on described image.
According to a specific embodiment of the disclosure, the function of detecting the current lane and other lanes in the same direction includes determining
The current lane and other lanes in the same direction are only for individual feature or multiple functions, and the function includes at least in following
One of or more persons: keep straight on, turn left, turning right, reversing end for end, forbidding straight trip, no left turn, no right turn, no U turn.
According to a specific embodiment of the disclosure, the route planning of the vehicle include the vehicle be arrive at the destination and
The set in the required each lane with corresponding function used.
According to a specific embodiment of the disclosure, it is determined whether need changing Lane be included in the current lane include than
A more function in lane in the same direction and one lane in the same direction in other lanes in the same direction include needed for the vehicle
When function path, determine that the vehicle needs to transform to one lane in the same direction.
According to a specific embodiment of the disclosure, it is determined whether needing changing Lane further comprises being based further on to come from
The information of the front vehicle of the current lane of the vehicle needs changing Lane to determine, the information includes the front vehicle
Need to use the function paths current lane of the vehicle, different from function path used in the vehicle.
According to a specific embodiment of the disclosure, the information further includes the route planning information of the front vehicle, and
And the vehicle changes the route planning of this vehicle based on this route planning information also to avoid the front vehicle.
It is the intersection with traffic light in front of the current lane according to a specific embodiment of the disclosure
In the case where point, it is determined whether needing changing Lane further comprises the traffic instruction letter for being based further on the traffic light
Breath is to determine the need for changing Lane, wherein the vehicle determination needs to convert when the traffic light indicates red light
Lane is so that front vehicle is able to use the roads different from the currently used function path of the vehicle of the current lane
Function.
According to a specific embodiment of the disclosure, the method further includes based on indicated by the traffic light
Temporal information, the distance of the speed of the vehicle and the vehicle away from the road junction determine the need for converting
Lane.
According to a specific embodiment of the disclosure, this method further comprises the vehicle when determination needs changing Lane
Determine whether that one lane in the same direction can be transformed to, wherein the vehicle by lane change information be sent to it is one in the same direction
The first vehicle in the rear of vehicle on lane, and receiving first vehicle to the lane change information really
When recognizing, one lane in the same direction is transformed to.
According to a specific embodiment of the disclosure, based on the determination come to assist driving include driver to the vehicle
There is provided whether changing Lane suggestion and wherein it is described suggestion be provided by vehicle-mounted loudspeaker or Vehicular display device, and
Wherein carrying out automatic Pilot based on the determination includes automatically keeping current lane or changing Lane based on the determination.
According to a specific embodiment of the disclosure, the function path information used is also sent to week by itself by the vehicle
Enclose vehicle, described send is carried out when the carry out or function path used in it will convert with predetermined period.
It is following to try hard to make that foregoing teachings have sketched the contours of exemplary feature and technical advantage according to the disclosure broadly
Detailed description can be better understood.Additional feature and advantage will describe hereafter.Disclosed concept and specifically show
Example can be easily used as modifying or being designed to carry out the basis of the other structures of purpose identical with the disclosure.It is such equivalent
Construction is without departing from the scope of the appended claims.
Detailed description of the invention
It is can get with reference to the following drawings to the essence of the disclosure and further understanding for advantage.In the accompanying drawings, similar assembly
Or feature can appended drawing reference having the same.In addition, the various components of same type can by appended drawing reference followed by short stroke
Line and the second label distinguished between similar assembly are to be distinguish.If the first attached drawing is used only in the description
Label, then the description can be applied to any one of the similar assembly of the first appended drawing reference having the same component regardless of the
How is two appended drawing references.
Fig. 1 is the vehicle auxiliary of an embodiment according to the present invention or the illustrative flow of automatic Pilot method；
Fig. 2 is the vehicle auxiliary of an embodiment according to the present invention or the explanatory view of automated driving system.
Specific embodiment
Currently, automobile industry and Transportation Development are rapid, but traffic congestion is a major problem always, especially for
Path resource does not make full use of, and existing onboard system can not efficiently solve the above problem.For this purpose, the present invention provides
A kind of advantageous vehicle auxiliary or automated driving system and method, solve the above problem, improve path resource utilization rate.
The presently disclosed embodiments is described presently in connection with attached drawing.
Referring now to Figure 1, it illustrates the vehicle of an embodiment according to the present invention auxiliary or automatic Pilot methods 100
Illustrative flow.In one example, method 100 can be executed by vehicle-mounted auxiliary or automated driving system.In another example,
Method 100 can be executed by mobile computing devices such as smart phones.In another example, method 100 can be by mobile computing
Equipment is executed in conjunction with vehicle-mounted auxiliary or automated driving system.It will be understood by those skilled in the art that any suitable calculating is set
It is standby to can carry out method 100.
In step 101, method 100 includes by the function of vehicle detection current lane and other lanes in the same direction.Implement one
In example, this includes determining that the current lane and other lanes in the same direction are only for individual feature or multiple functions, the function
Can include at least one or more of following: keep straight on, turn left, turning right, reversing end for end, forbid straight trip, no left turn, no right turn,
No U turn.
In one embodiment, detection current lane and other lanes in the same direction function include it is following at least one: pass through institute
The onboard sensor for stating vehicle detects the function of the current lane He other lanes in the same direction；It receives from the vehicle periphery
The information related with the function of the current lane of the vehicle and other lanes in the same direction of other vehicles；Or from remote server
Receive information related with the function of the current lane of the vehicle and other lanes in the same direction.
For example, in one example, vehicle can shoot index line or roadside or preceding on road surface by vehicle-mounted camera
The image of square guideboard, and determine based on described image the function of the current lane He other lanes in the same direction.In another example
In, vehicle can receive other vehicles from the vehicle periphery with the current lane of the vehicle and other lanes in the same direction
The related information of function.In this example, vehicle can only receive from away from the vehicle a certain within the threshold range other vehicles
Information, and the threshold distance can be scheduled or be dynamically determined based on information such as speeds, for providing safety
Running distance.In another example, vehicle can receive these information from remote servers such as Map Services.
In step 102, method 100 includes function based on the current lane and other lanes in the same direction and described
The route planning of vehicle determines the need for changing Lane to avoid front vehicle.In one example, the route of the vehicle
Planning includes that the vehicle is to arrive at the destination and the set in the required each lane with corresponding function used.
In one example, it is determined whether needing changing Lane to be included in the current lane includes than in other lanes in the same direction
A more function in lane in the same direction and one lane in the same direction when including function path needed for the vehicle, determine
The vehicle needs to transform to one lane in the same direction.
For example, keep straight on the lane of straight trip and right-hand rotation function if vehicle has, and its left side adjacent lane is only
For the lane for straight trip, then the vehicle can determination to transform to adjacent lane, for the front vehicle on current lane
Use the right-hand rotation function in the lane.In this example, the vehicle can be based further on the current lane from the vehicle
The information of front vehicle needs changing Lane to determine, the information includes that the front vehicle needs working as using the vehicle
Preceding lane, different from function path used in vehicle function path.For example, continuing the examples above, receiving
When coming from behind the right-hand rotation information of vehicle, the vehicle can determination to transform to adjacent lane.In addition, received from front vehicle
Information may also include the route planning information of the front vehicle, and the vehicle is also based on this route planning information
The route planning of this vehicle is changed to avoid the front vehicle.For example, the vehicle can be based on the route planning of front vehicle
Information determines that front vehicle will use the right-hand rotation function in lane, so that it is determined that needing to transform to adjacent lane to be avoided.
It continues the examples above, the information for coming from behind vehicle can be the information from multiple front vehicles.For example, this vehicle
Can successively there be the first vehicle and the second vehicle in rear.The first, second vehicle of rear can send corresponding information to this vehicle；
Or the first vehicle of rear can receive the corresponding information of the second vehicle of rear, and by the letter of the information of itself and the second vehicle
Breath sends described vehicle to together, that is, the first vehicle can be used as the relay station of the second vehicle.
In another embodiment, its route planning information can be sent to remote server by each vehicle, so that clothes
Business device can make overall scheduling decision, so that each vehicle uses corresponding optimal lane, and the result of the decision is sent to respectively
Vehicle is for execution.
In another embodiment, in the case where front vehicle is special vehicle, such as ambulance, fire fighting truck, military vehicle, city
Political affairs servicer etc., current vehicle can take Emergency avoidance measure based on this information, be avoided with lane change.For example, when rescuing
When shield vehicle is needed using corresponding path resource, the vehicle in front of the ambulance can receive this from ambulance or remote server
Information (for example, route planning, etc. of ambulance), and take measures to keep clear；Also this information is relayed forward simultaneously, so that
The vehicle in more front correspondingly takes measures to keep clear.In this example, when information is relayed, can notify ambulance so that its
Its route planning information is no longer transmitted, in order to avoid redundancy and waste channel resource.It will be understood by those skilled in the art that existing
In the case where relaying, such notification can also be taken in other examples.
In another example, in the case where be the road junction with traffic light in front of the current lane,
Determining the need for changing Lane further comprises being based further on the traffic instruction information of the traffic light to be to determine
It is no to need changing Lane, wherein when the traffic light indicates red light, the vehicle determine need changing Lane so that after
Square vehicle is able to use the function paths different from the currently used function path of the vehicle of the current lane.Show at this
Example in, method 100 further comprise based on temporal information indicated by the traffic light, the speed of the vehicle and
Distance of the vehicle away from the road junction determines the need for changing Lane.For example, continue the examples above, if after
Square vehicle will turn right in junction ahead, and current green light instruction is still Yued 10 seconds, and the vehicle speed is 60 km/h, away from crossing distance
For 50m, then the vehicle can determine that it can pass through crossing in 10 seconds, because without lane change.Otherwise, if vehicle determines
Crossing cannot be passed through within remaining time, it is determined that need lane change.
In a further example, the vehicle is determining whether may further determine that being capable of changing Lane when needing changing Lane.
For example, if the vehicle, which determines, is unable to lane change (for example, due to traffic rules constraint, the vehicle on the lane of lane change is wanted to refuse
Evacuation, etc.), then the vehicle abandons lane change.In this example, the vehicle can also notify this decision of front vehicle.
In step 103, method 100 is assisted or is driven automatically including based on the determination.In one embodiment, base
In the determination come assist driving include provided to the driver of the vehicle whether the suggestion of changing Lane and wherein described
It is recommended that being to be provided by vehicle-mounted loudspeaker or Vehicular display device, and wherein carrying out automatic Pilot based on the determination includes being based on
The determination automatically keeps current lane or changing Lane.
In another embodiment, the function path information used is also sent to surrounding vehicles by itself by the vehicle, institute
State that send carried out when the carry out or function path used in will convert with predetermined period.
In one embodiment, each vehicle is direct-connected come shared and its speed, position, driving direction, occupied vehicle by LTE
Road, by the related information such as the path resource used, route planning.For example, each vehicle is in the neighborhood by the direct-connected formation of LTE
In aware network, and information is exchanged by the network.In an alternative embodiment, each vehicle exchanges letter by cellular network
Breath.After receiving the information from other vehicles, the information can be handled by car-mounted computer and it will be shown in vehicles
It carries on map.In one embodiment, the information that other vehicles are shared constantly is received, and thereby dynamically based on these information
It makes decision and updates accordingly vehicular map.
In one embodiment, auxiliary control includes that map is shown on Vehicular display device, and the map includes current vehicle
And the Dynamically Announce of other vehicles of within the threshold range.For example, can show rear car on the map and apply phase to rear car
It should mark to indicate that rear car needs the corresponding function (for example, straight trip, right-hand rotation, etc.) using current lane.
In another embodiment, the auxiliary control includes that suggestion is provided to the driver of the vehicle, the suggestion packet
Include acceleration, deceleration, lane change, parking.
In this embodiment, described suggest to be provided by vehicle-mounted loudspeaker or Vehicular display device.In another embodiment
In, the suggestion additionally depends on currently detected condition of road surface, guideboard information etc..For example, in this embodiment, if inspection
Measuring guideboard instruction, no parking, then the suggestion will not include this option.
In one embodiment, instead of advising to driver, above-mentioned suggestion can be executed automatically by vehicle, so that
Automatically control the driving of vehicle.
Referring next to Fig. 2, it illustrates a kind of vehicle auxiliary or automated driving systems 200.In figure 2 it can be seen that being
System 200 includes multiple vehicles and a remote server.Ellipsis in Fig. 2 indicates can there is any number of vehicle in the system.
In this embodiment, the first vehicle, the second vehicle ..., the executable Fig. 1 of N vehicle and remote server explained
Exemplary method 100.In addition, remote server in Fig. 2 uses related decision to the broadcast of these vehicles and path resource.
It will be understood by those skilled in the art that front vehicles described herein, front vehicle are relative concepts, each vehicle
Operation needed for " front vehicles " and/or " front vehicle " being taken relative to itself environment.In addition, opposite vehicle, lane
Information can also be shared.For example, the opposite vehicle of the first vehicle can notify at its several distance in front of first vehicle
Emergency situations, so that the first vehicle dynamically adjusts its route in real time.
As it is used herein, phrase " being based on " is not to be read as citation sealing condition collection.For example, being described as " base
It can be based on both condition A and condition B without departing from the scope of the present disclosure in the illustrative steps of condition A ".In other words, as herein
Used, phrase " being based on " identical mode should be interpreted with phrase " being based at least partially on ".
Offer is to make those skilled in the art all and can make or use the disclosure to the previous description of the disclosure.It is right
The various modifications of the disclosure will be apparent those skilled in the art, and the generic principles being defined herein can quilt
Applied to other deformations without departing from the scope of the present disclosure.It indicates and shows through the term " example " of the disclosure or " exemplary "
Example and is not implied that or is required to mentioned exemplary any preference example.The disclosure is not defined to this as a result,
Example described in text and design, but should be awarded it is consistent with principle disclosed herein and novel features most
Wide scope.
Claims (10)
1. a kind of vehicle auxiliary or automatic Pilot method based on path resource, comprising:
By the function of vehicle detection current lane and other lanes in the same direction；
Determined whether based on the route planning of the function and the vehicle in the current lane and other lanes in the same direction
Changing Lane is needed to avoid front vehicle；
And it assists or is driven automatically based on the determination.
2. the method as described in claim 1, which is characterized in that detection current lane and other lanes in the same direction function include with
Descend at least one:
The function of the current lane He other lanes in the same direction is detected by the onboard sensor of the vehicle；
Receive the function with the current lane of the vehicle and other lanes in the same direction of other vehicles from the vehicle periphery
Related information；
Or information related with the function of the current lane of the vehicle and other lanes in the same direction is received from remote server.
3. method according to claim 2, which is characterized in that work as front truck by the way that the onboard sensor detection of the vehicle is described
The function in road and other lanes in the same direction includes by the index line or roadside or front guideboard on vehicle-mounted camera shooting road surface
Image, and determine based on described image the function of the current lane He other lanes in the same direction.
4. the method as described in claim 1, which is characterized in that detect the function packet of the current lane He other lanes in the same direction
It includes and determines that the current lane and other lanes in the same direction are only for individual feature or multiple functions, the function includes at least
One or more of below: it keeps straight on, turn left, turning right, reversing end for end, forbidding straight trip, no left turn, no right turn, no U turn.
5. the method as described in claim 1, which is characterized in that the route planning of the vehicle includes that the vehicle is to reach mesh
Ground and the set in the required each lane with corresponding function used.
6. the method as described in claim 1, which is characterized in that determine the need for changing Lane and be included in the current lane
Including than the more functions in lane in the same direction in other lanes in the same direction and one lane in the same direction includes the vehicle
When required function path, determine that the vehicle needs to transform to one lane in the same direction.
7. method as claimed in claim 6, which is characterized in that determining the need for changing Lane further comprises further base
Changing Lane is needed to determine in the information of the front vehicle of the current lane from the vehicle, after the information includes described
Square vehicle needs to use the function paths current lane of the vehicle, different from function path used in the vehicle.
8. the method for claim 7, which is characterized in that the information further includes the route planning letter of the front vehicle
Breath, and the vehicle changes the route planning of this vehicle based on this route planning information also to avoid the front vehicle.
9. method as claimed in claim 6, which is characterized in that be the road with traffic light in front of the current lane
In the case where the crosspoint of road, it is determined whether needing changing Lane further comprises the traffic for being based further on the traffic light
Information is indicated to determine the need for changing Lane, wherein the vehicle, which determines, to be needed when the traffic light indicates red light
Changing Lane is wanted so that front vehicle is able to use the different from the currently used function path of the vehicle of the current lane
Function path.
10. the method as described in claim 1, which is characterized in that based on the determination come assist drive include to the vehicle
Driver provide whether changing Lane suggestion and wherein it is described suggest be to be mentioned by vehicle-mounted loudspeaker or Vehicular display device
It supplies, and wherein carrying out automatic Pilot based on the determination includes automatically keeping current lane or transformation vehicle based on the determination
Road.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810942004.XA CN109017781B (en) | 2018-08-17 | 2018-08-17 | Vehicle auxiliary or automatic driving method and system based on road resources |
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| CN201810942004.XA CN109017781B (en) | 2018-08-17 | 2018-08-17 | Vehicle auxiliary or automatic driving method and system based on road resources |
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| CN109017781A true CN109017781A (en) | 2018-12-18 |
| CN109017781B CN109017781B (en) | 2020-07-31 |
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| CN109493591A (en) * | 2018-12-30 | 2019-03-19 | 龙尚科技（上海）有限公司 | A kind of vehicle dispatching method, device, server and storage medium |
| CN109887278A (en) * | 2019-02-25 | 2019-06-14 | 百度在线网络技术（北京）有限公司 | Crossing travelling-crane method, device and the terminal of vehicle |
| CN111775940A (en) * | 2020-07-08 | 2020-10-16 | 中国第一汽车股份有限公司 | Automatic channel changing method, device, equipment and storage medium |
| CN112158201A (en) * | 2020-10-12 | 2021-01-01 | 北京信息职业技术学院 | Intelligent driving vehicle transverse control method and system |
| CN112172818A (en) * | 2019-07-05 | 2021-01-05 | 本田技研工业株式会社 | Vehicle control system, vehicle control method, and storage medium |
| CN112180912A (en) * | 2019-07-01 | 2021-01-05 | 百度（美国）有限责任公司 | Hierarchical path decision system for planning a path for an autonomous vehicle |
| CN113205697A (en) * | 2021-05-08 | 2021-08-03 | 联陆智能交通科技(上海)有限公司 | Vehicle emergency avoidance method, system and medium |
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