CN109712421B - 自动驾驶车辆的速度规划方法、装置和存储介质 - Google Patents
自动驾驶车辆的速度规划方法、装置和存储介质 Download PDFInfo
- Publication number
- CN109712421B CN109712421B CN201910135454.2A CN201910135454A CN109712421B CN 109712421 B CN109712421 B CN 109712421B CN 201910135454 A CN201910135454 A CN 201910135454A CN 109712421 B CN109712421 B CN 109712421B
- Authority
- CN
- China
- Prior art keywords
- speed
- time point
- track
- distance
- cost function
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 84
- 230000004888 barrier function Effects 0.000 claims abstract description 3
- 230000008569 process Effects 0.000 claims description 49
- 230000008859 change Effects 0.000 claims description 45
- 238000013507 mapping Methods 0.000 claims description 28
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 56
- 238000004891 communication Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
-
- 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
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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
- B60W40/105—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
- 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
- B60W50/0097—Predicting future conditions
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0026—Lookup tables or parameter maps
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/103—Speed profile
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/18—Propelling the vehicle
- B60Y2300/18008—Propelling the vehicle related to particular drive situations
- B60Y2300/18166—Overtaking, changing lanes
Abstract
Description
Claims (14)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910135454.2A CN109712421B (zh) | 2019-02-22 | 2019-02-22 | 自动驾驶车辆的速度规划方法、装置和存储介质 |
US16/787,729 US11718318B2 (en) | 2019-02-22 | 2020-02-11 | Method and apparatus for planning speed of autonomous vehicle, and storage medium |
EP20275038.6A EP3699053A1 (en) | 2019-02-22 | 2020-02-12 | Method and apparatus for planning speed of autonomous vehicle, and storage medium |
JP2020025125A JP7000640B2 (ja) | 2019-02-22 | 2020-02-18 | 自動運転車両の速度計画方法、装置、記憶媒体、及びプログラム |
KR1020200019757A KR20200103541A (ko) | 2019-02-22 | 2020-02-18 | 자율 주행 차량의 속도 계획 방법, 장치와 저장 매체 |
KR1020210159597A KR102446971B1 (ko) | 2019-02-22 | 2021-11-18 | 자율 주행 차량의 속도 계획 방법, 장치와 저장 매체 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910135454.2A CN109712421B (zh) | 2019-02-22 | 2019-02-22 | 自动驾驶车辆的速度规划方法、装置和存储介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109712421A CN109712421A (zh) | 2019-05-03 |
CN109712421B true CN109712421B (zh) | 2021-06-04 |
Family
ID=66264773
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910135454.2A Active CN109712421B (zh) | 2019-02-22 | 2019-02-22 | 自动驾驶车辆的速度规划方法、装置和存储介质 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11718318B2 (zh) |
EP (1) | EP3699053A1 (zh) |
JP (1) | JP7000640B2 (zh) |
KR (2) | KR20200103541A (zh) |
CN (1) | CN109712421B (zh) |
Families Citing this family (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11561543B2 (en) * | 2019-12-11 | 2023-01-24 | Baidu Usa Llc | Speed planning using a speed planning guideline for idle speed of autonomous driving vehicles |
CN111002993B (zh) * | 2019-12-23 | 2021-06-22 | 苏州智加科技有限公司 | 一种基于场景识别的自动驾驶低油耗运动规划方法及系统 |
RU2757234C2 (ru) * | 2019-12-25 | 2021-10-12 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Способ и система для вычисления данных для управления работой беспилотного автомобиля |
CN111038501B (zh) * | 2019-12-31 | 2021-04-27 | 北京三快在线科技有限公司 | 无人驾驶设备的控制方法及装置 |
CN111081046B (zh) * | 2020-01-03 | 2022-01-14 | 阿波罗智能技术(北京)有限公司 | 一种自动驾驶车辆变道方法、装置、电子设备和介质 |
US11377120B1 (en) * | 2020-02-28 | 2022-07-05 | Uatc, Llc | Autonomous vehicle control based on risk-based interactions |
CN111338346B (zh) * | 2020-03-05 | 2022-10-21 | 中国第一汽车股份有限公司 | 一种自动驾驶控制方法、装置、车辆及存储介质 |
CN111439264B (zh) * | 2020-04-03 | 2021-06-11 | 东南大学 | 一种基于人机混驾的换道控制模型的实现方法 |
CN111650945B (zh) * | 2020-06-28 | 2023-10-24 | 北京智行者科技股份有限公司 | 动态障碍物防撞方法 |
CN112068544A (zh) * | 2020-07-20 | 2020-12-11 | 上海擎朗智能科技有限公司 | 一种自主移动装置的调度方法、装置、设备及存储介质 |
CN112577506B (zh) * | 2020-10-30 | 2023-04-07 | 上汽大众汽车有限公司 | 一种自动驾驶局部路径规划方法和系统 |
CN112498355B (zh) * | 2020-11-02 | 2022-11-25 | 浙江吉利控股集团有限公司 | 一种速度规划方法及装置 |
CN114537381A (zh) * | 2020-11-24 | 2022-05-27 | 郑州宇通客车股份有限公司 | 一种自动驾驶车辆的车道避障方法及装置 |
US11472435B2 (en) * | 2020-11-30 | 2022-10-18 | Automotive Research & Testing Center | Trajectory determination method for a vehicle |
CN112526999B (zh) * | 2020-12-22 | 2023-04-28 | 北京百度网讯科技有限公司 | 速度规划方法、装置、电子设备和存储介质 |
US20220227397A1 (en) * | 2021-01-19 | 2022-07-21 | Baidu Usa Llc | Dynamic model evaluation package for autonomous driving vehicles |
CN112937605B (zh) * | 2021-03-22 | 2023-03-10 | 京东鲲鹏(江苏)科技有限公司 | 无人车行驶数据确定方法、装置、无人车及存储介质 |
CN114103938A (zh) * | 2021-03-23 | 2022-03-01 | 京东鲲鹏(江苏)科技有限公司 | 控制车辆纵向运动的方法、装置及存储介质 |
CN113022586B (zh) * | 2021-04-14 | 2022-08-02 | 福瑞泰克智能系统有限公司 | 一种车辆行为预测方法、装置及存储介质 |
CN113071520B (zh) * | 2021-04-16 | 2024-01-16 | 阿波罗智联(北京)科技有限公司 | 车辆行驶控制方法及装置 |
CN115246416B (zh) * | 2021-05-13 | 2023-09-26 | 上海仙途智能科技有限公司 | 轨迹预测方法、装置、设备及计算机可读存储介质 |
US20220379928A1 (en) * | 2021-05-25 | 2022-12-01 | Argo AI, LLC | Trajectory consistency measurement for autonomous vehicle operation |
CN114030469B (zh) * | 2021-06-18 | 2022-08-02 | 东南大学 | 多车协同轨迹规划和路径跟踪方法 |
CN113320544B (zh) * | 2021-06-30 | 2022-11-11 | 上海商汤临港智能科技有限公司 | 车辆驾驶行为的规划方法、装置、电子设备、存储介质 |
CN113479217B (zh) * | 2021-07-26 | 2022-07-29 | 惠州华阳通用电子有限公司 | 一种基于自动驾驶的变道避障方法与系统 |
CN113570595B (zh) * | 2021-08-12 | 2023-06-20 | 上汽大众汽车有限公司 | 车辆轨迹预测方法和车辆轨迹预测模型的优化方法 |
CN113703453A (zh) * | 2021-08-24 | 2021-11-26 | 京东鲲鹏(江苏)科技有限公司 | 确定行驶轨迹的方法、装置、电子设备及存储介质 |
CN113799798B (zh) * | 2021-08-27 | 2023-07-11 | 北京百度网讯科技有限公司 | 车辆的行驶轨迹的确定方法、装置、电子设备和存储器 |
CN113961002B (zh) * | 2021-09-09 | 2023-10-03 | 浙江零跑科技股份有限公司 | 一种基于结构化道路采样的主动换道规划方法 |
CN113978465A (zh) * | 2021-09-28 | 2022-01-28 | 阿波罗智能技术(北京)有限公司 | 一种变道轨迹规划方法、装置、设备以及存储介质 |
CN113823123B (zh) * | 2021-09-28 | 2022-07-01 | 合肥工业大学 | 一种基于离散点轨迹拟合的车辆避障预警方法及装置 |
US20230126540A1 (en) * | 2021-10-26 | 2023-04-27 | Tusimple, Inc. | Systems and methods for handling cut-in traffic for autonomous driving |
CN114179815B (zh) * | 2021-12-29 | 2023-08-18 | 阿波罗智联(北京)科技有限公司 | 确定车辆行驶轨迹的方法、装置、车辆、电子设备及介质 |
CN114454883B (zh) * | 2022-02-28 | 2023-09-15 | 重庆长安汽车股份有限公司 | 一种基于周车预测的创造安全换道条件的纵向规划方法 |
CN115218902B (zh) * | 2022-04-02 | 2024-02-02 | 广州汽车集团股份有限公司 | 一种轨迹规划方法、装置、设备及存储介质 |
CN115060279B (zh) * | 2022-06-08 | 2024-04-16 | 合众新能源汽车股份有限公司 | 路径规划方法、装置、电子设备和计算机可读介质 |
CN117302224B (zh) * | 2023-11-30 | 2024-02-23 | 上海鉴智其迹科技有限公司 | 一种变道方法、自动驾驶方法、装置及车辆 |
CN117601867A (zh) * | 2024-01-18 | 2024-02-27 | 杭州鉴智机器人科技有限公司 | 车辆变道方法、车辆变道装置、存储介质及车辆控制系统 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006060905A1 (de) * | 2006-12-20 | 2008-06-26 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren und Längsführungsassistent zur Unterstützung der Längsführung eines Fahrzeuges |
KR20100108093A (ko) * | 2009-03-27 | 2010-10-06 | 국방과학연구소 | 방향별 주행성 속도지도를 활용한 무인차량의 지역경로계획장치 및 방법 |
CN105549597A (zh) * | 2016-02-04 | 2016-05-04 | 同济大学 | 一种基于环境不确定性的无人车动态路径规划方法 |
CN106940933A (zh) * | 2017-03-08 | 2017-07-11 | 北京理工大学 | 一种基于智能交通系统的智能车辆决策换道方法 |
CN106971624A (zh) * | 2017-04-25 | 2017-07-21 | 东软集团股份有限公司 | 超车预警的方法和装置 |
CN108460980A (zh) * | 2018-05-11 | 2018-08-28 | 西南交通大学 | 自动驾驶车辆下匝道最优意图生成点计算方法 |
CN108519773A (zh) * | 2018-03-07 | 2018-09-11 | 西安交通大学 | 一种结构化环境下无人驾驶车辆的路径规划方法 |
CN108583578A (zh) * | 2018-04-26 | 2018-09-28 | 北京领骏科技有限公司 | 用于自动驾驶车辆的基于多目标决策矩阵的车道决策方法 |
Family Cites Families (106)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3998855B2 (ja) * | 1999-05-18 | 2007-10-31 | 三菱電機株式会社 | 危険接近防止装置 |
DE10132681C1 (de) | 2001-07-05 | 2002-08-22 | Bosch Gmbh Robert | Verfahren zur Klassifizierung von einem Hindernis anhand von Precrashsensorsignalen |
US7212330B2 (en) | 2004-03-22 | 2007-05-01 | Angstrom, Inc. | Three-dimensional imaging system for pattern recognition |
JP4730378B2 (ja) | 2007-12-25 | 2011-07-20 | トヨタ自動車株式会社 | 進路評価装置及び進路評価方法 |
US20090232388A1 (en) | 2008-03-12 | 2009-09-17 | Harris Corporation | Registration of 3d point cloud data by creation of filtered density images |
US8605947B2 (en) | 2008-04-24 | 2013-12-10 | GM Global Technology Operations LLC | Method for detecting a clear path of travel for a vehicle enhanced by object detection |
US8611585B2 (en) | 2008-04-24 | 2013-12-17 | GM Global Technology Operations LLC | Clear path detection using patch approach |
US8126642B2 (en) | 2008-10-24 | 2012-02-28 | Gray & Company, Inc. | Control and systems for autonomously driven vehicles |
CN101441076B (zh) | 2008-12-29 | 2010-06-02 | 东软集团股份有限公司 | 一种检测障碍物的方法和装置 |
US8260539B2 (en) | 2010-05-12 | 2012-09-04 | GM Global Technology Operations LLC | Object and vehicle detection and tracking using 3-D laser rangefinder |
EP2590396B1 (en) | 2010-07-02 | 2018-08-08 | Sony Interactive Entertainment Inc. | Information processing system and information processing method |
US9562778B2 (en) | 2011-06-03 | 2017-02-07 | Robert Bosch Gmbh | Combined radar and GPS localization system |
CN103258338A (zh) | 2012-02-16 | 2013-08-21 | 克利特股份有限公司 | 利用真实数据来驱动仿真的虚拟环境的方法和系统 |
CN102663196B (zh) | 2012-04-17 | 2014-04-16 | 中南大学 | 一种基于虚拟现实的汽车起重机吊装仿真方法 |
US9255989B2 (en) | 2012-07-24 | 2016-02-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Tracking on-road vehicles with sensors of different modalities |
JP5527382B2 (ja) | 2012-10-12 | 2014-06-18 | トヨタ自動車株式会社 | 走行支援システム及び制御装置 |
US8788134B1 (en) * | 2013-01-04 | 2014-07-22 | GM Global Technology Operations LLC | Autonomous driving merge management system |
US9082014B2 (en) | 2013-03-14 | 2015-07-14 | The Nielsen Company (Us), Llc | Methods and apparatus to estimate demography based on aerial images |
JP5993784B2 (ja) | 2013-04-18 | 2016-09-14 | 株式会社豊田中央研究所 | 経路修正装置 |
CN104376297B (zh) | 2013-08-12 | 2017-06-23 | 株式会社理光 | 道路上的线型指示标志的检测方法和装置 |
JP5812061B2 (ja) | 2013-08-22 | 2015-11-11 | 株式会社デンソー | 物標検出装置およびプログラム |
JP5919243B2 (ja) | 2013-10-18 | 2016-05-18 | 本田技研工業株式会社 | 運転訓練装置及び運転訓練方法 |
CN103914830B (zh) | 2014-02-22 | 2017-02-01 | 小米科技有限责任公司 | 直线检测方法和装置 |
CN104899855A (zh) | 2014-03-06 | 2015-09-09 | 株式会社日立制作所 | 三维障碍物检测方法和装置 |
CN104933856B (zh) | 2014-03-17 | 2017-08-25 | 径卫视觉科技(上海)有限公司 | 道路路况实时评估系统及方法 |
JP6354282B2 (ja) | 2014-04-21 | 2018-07-11 | トヨタ自動車株式会社 | 運転支援装置 |
CN104020674B (zh) | 2014-04-21 | 2017-01-25 | 华南农业大学 | 车辆Bug避障算法的Matlab仿真可视化平台 |
CN104183014B (zh) | 2014-08-13 | 2017-01-18 | 浙江大学 | 一种面向城市增强现实的高融合度信息标注方法 |
KR101687073B1 (ko) | 2014-10-22 | 2016-12-15 | 주식회사 만도 | 터널 높이 추정 장치 및 터널 높이 추정 방법 |
CN104331910B (zh) | 2014-11-24 | 2017-06-16 | 沈阳建筑大学 | 一种基于机器视觉的轨道障碍物检测系统 |
CN104457569B (zh) | 2014-11-27 | 2017-06-16 | 大连理工大学 | 一种大型复合板材几何参数视觉测量方法 |
CN104590259B (zh) * | 2015-01-07 | 2015-08-26 | 福州华鹰重工机械有限公司 | 一种轨迹搜寻方法和系统 |
JP6112123B2 (ja) | 2015-01-19 | 2017-04-12 | トヨタ自動車株式会社 | 自動運転装置 |
JP2016143240A (ja) * | 2015-02-02 | 2016-08-08 | 株式会社豊田中央研究所 | 車線変更最適化装置及びプログラム |
JP2016149109A (ja) * | 2015-02-10 | 2016-08-18 | 国立大学法人金沢大学 | 車両走行制御装置 |
CN104950883A (zh) | 2015-05-14 | 2015-09-30 | 西安电子科技大学 | 一种基于距离网格地图的移动机器人路径规划方法 |
TWI630132B (zh) | 2015-06-04 | 2018-07-21 | 國立虎尾科技大學 | 3D animation car accident scene reconstruction method |
CN104933708A (zh) | 2015-06-07 | 2015-09-23 | 浙江大学 | 一种基于多谱三维特征融合的植被环境中障碍物检测方法 |
CN104931977B (zh) | 2015-06-11 | 2017-08-25 | 同济大学 | 一种用于智能车辆的障碍物识别方法 |
JP6376059B2 (ja) * | 2015-07-06 | 2018-08-22 | トヨタ自動車株式会社 | 自動運転車両の制御装置 |
US20170092000A1 (en) | 2015-09-25 | 2017-03-30 | Moshe Schwimmer | Method and system for positioning a virtual object in a virtual simulation environment |
JP6304894B2 (ja) * | 2015-10-28 | 2018-04-04 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
JP6409744B2 (ja) * | 2015-11-06 | 2018-10-24 | 株式会社アドヴィックス | 車両の走行支援装置 |
JP6464075B2 (ja) | 2015-11-11 | 2019-02-06 | 日本電信電話株式会社 | What−ifシミュレーション装置、方法、及びプログラム |
CN108603758A (zh) | 2015-11-30 | 2018-09-28 | 卢米诺技术公司 | 具有分布式激光器和多个传感器头的激光雷达系统和激光雷达系统的脉冲激光器 |
CN105761308B (zh) | 2016-02-29 | 2018-09-07 | 武汉大学 | 一种地面LiDAR和影像数据融合的遮挡区域建筑物立面重建方法 |
WO2017148516A1 (en) | 2016-03-03 | 2017-09-08 | Volvo Truck Corporation | A vehicle with autonomous driving capability |
US10690495B2 (en) | 2016-03-14 | 2020-06-23 | Canon Kabushiki Kaisha | Ranging apparatus and moving object capable of high-accuracy ranging |
CN107305383A (zh) | 2016-04-22 | 2017-10-31 | 上海慧流云计算科技有限公司 | 一种自动避障的方法及使用该方法的机器人 |
KR102485479B1 (ko) | 2016-04-26 | 2023-01-05 | 현대모비스 주식회사 | 자동 차선 변경 방법 및 그 장치 |
CN105844600B (zh) | 2016-04-27 | 2018-03-16 | 北京航空航天大学 | 一种空间目标三维点云光顺去噪方法 |
CN105957145A (zh) | 2016-04-29 | 2016-09-21 | 百度在线网络技术(北京)有限公司 | 道路障碍物识别方法和装置 |
US9760806B1 (en) | 2016-05-11 | 2017-09-12 | TCL Research America Inc. | Method and system for vision-centric deep-learning-based road situation analysis |
JP2017214035A (ja) | 2016-06-02 | 2017-12-07 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
CN106114507B (zh) * | 2016-06-21 | 2018-04-03 | 百度在线网络技术(北京)有限公司 | 用于智能车辆的局部轨迹规划方法和装置 |
CN106204457A (zh) | 2016-07-19 | 2016-12-07 | 科盾科技股份有限公司 | 一种用于抓捕目标的方法和抓捕器 |
CN106364486B (zh) * | 2016-09-08 | 2019-08-27 | 江苏大学 | 一种基于危害分析的智能车辆变道控制方法 |
CN107818293A (zh) | 2016-09-14 | 2018-03-20 | 北京百度网讯科技有限公司 | 用于处理点云数据的方法和装置 |
CN106462757B (zh) | 2016-09-26 | 2019-09-06 | 深圳市锐明技术股份有限公司 | 一种成对车道线的快速检测方法和装置 |
JP6548690B2 (ja) | 2016-10-06 | 2019-07-24 | 株式会社アドバンスド・データ・コントロールズ | シミュレーションシステム、シミュレーションプログラム及びシミュレーション方法 |
CN107976688A (zh) | 2016-10-25 | 2018-05-01 | 菜鸟智能物流控股有限公司 | 一种障碍物的检测方法及相关装置 |
RO132599A2 (ro) | 2016-11-23 | 2018-05-30 | Centrul It Pentru Ştiinţă Şi Tehnologie S.R.L. | Echipament modular pentru inspecţia drumurilor rutiere, incluzând carosabilul şi zona adiacentă, destinat pentru a fi montat pe vehicule nespecializate |
CN106599832A (zh) | 2016-12-09 | 2017-04-26 | 重庆邮电大学 | 一种基于卷积神经网络的多类障碍物检测与识别方法 |
CN106681318A (zh) | 2016-12-09 | 2017-05-17 | 重庆长安汽车股份有限公司 | 自动驾驶中车道线检测短暂丢失的车辆安全控制系统及方法 |
CN106627592A (zh) * | 2016-12-12 | 2017-05-10 | 深圳市元征科技股份有限公司 | 车辆行驶预警方法、装置及系统 |
CN106585622A (zh) | 2016-12-20 | 2017-04-26 | 奇瑞汽车股份有限公司 | 一种道路施工情况下自动驾驶方法和智能车 |
US10139830B2 (en) * | 2016-12-29 | 2018-11-27 | Automotive Research & Testing Center | Automatic lane following control system and method for vehicles |
JP6804991B2 (ja) | 2017-01-05 | 2020-12-23 | 株式会社東芝 | 情報処理装置、情報処理方法、および情報処理プログラム |
CN106845412B (zh) | 2017-01-20 | 2020-07-10 | 百度在线网络技术(北京)有限公司 | 障碍物识别方法及装置、计算机设备及可读介质 |
WO2018138584A1 (en) | 2017-01-26 | 2018-08-02 | Mobileye Vision Technologies Ltd. | Vehicle navigation based on aligned image and lidar information |
US11036233B2 (en) * | 2017-02-02 | 2021-06-15 | Uatc, Llc | Adaptive vehicle motion control system |
US10730531B1 (en) * | 2017-02-02 | 2020-08-04 | Uatc, Llc | Machine-learning based vehicle motion control system |
CN106919908B (zh) | 2017-02-10 | 2020-07-28 | 百度在线网络技术(北京)有限公司 | 障碍物识别方法及装置、计算机设备及可读介质 |
CN108492356A (zh) | 2017-02-13 | 2018-09-04 | 苏州宝时得电动工具有限公司 | 增强现实系统及其控制方法 |
CN106874597B (zh) * | 2017-02-16 | 2019-12-13 | 北理慧动(常熟)车辆科技有限公司 | 一种应用于自动驾驶车辆的高速公路超车行为决策方法 |
CN108459588B (zh) * | 2017-02-22 | 2020-09-11 | 腾讯科技(深圳)有限公司 | 自动驾驶方法及装置、车辆 |
US11142203B2 (en) * | 2017-02-27 | 2021-10-12 | Ford Global Technologies, Llc | Cooperative vehicle navigation |
CN106997049B (zh) | 2017-03-14 | 2020-07-03 | 奇瑞汽车股份有限公司 | 一种基于激光点云数据的检测障碍物的方法和装置 |
CN107161155B (zh) * | 2017-04-27 | 2019-04-12 | 大连理工大学 | 一种基于人工神经网络的车辆协同换道方法及其系统 |
CN107103627B (zh) | 2017-04-27 | 2020-12-11 | 深圳市天双科技有限公司 | 一种基于车道线的汽车全景摄像头外部参数标定方法 |
CN107139923B (zh) | 2017-05-11 | 2019-07-09 | 中科院微电子研究所昆山分所 | 一种acc决策方法及系统 |
US10591920B2 (en) * | 2017-05-24 | 2020-03-17 | Qualcomm Incorporated | Holistic planning with multiple intentions for self-driving cars |
JP6521487B2 (ja) | 2017-06-06 | 2019-05-29 | マツダ株式会社 | 車両制御装置 |
CN107315411B (zh) * | 2017-07-04 | 2020-04-21 | 合肥工业大学 | 一种基于车车协同下无人驾驶车辆的换道轨迹规划方法 |
US10953881B2 (en) * | 2017-09-07 | 2021-03-23 | Tusimple, Inc. | System and method for automated lane change control for autonomous vehicles |
CN107672589B (zh) | 2017-09-26 | 2019-05-28 | 畅加风行(苏州)智能科技有限公司 | 一种基于雷达探测数据的车辆轨迹实时预测方法和装置 |
CN107657237B (zh) | 2017-09-28 | 2020-03-31 | 东南大学 | 基于深度学习的汽车碰撞检测方法及系统 |
CN107659774B (zh) | 2017-09-30 | 2020-10-13 | 北京拙河科技有限公司 | 一种基于多尺度相机阵列的视频成像系统及视频处理方法 |
CN107678306B (zh) | 2017-10-09 | 2021-04-16 | 驭势(上海)汽车科技有限公司 | 动态场景信息录制和仿真回放方法、装置、设备及介质 |
US10019011B1 (en) * | 2017-10-09 | 2018-07-10 | Uber Technologies, Inc. | Autonomous vehicles featuring machine-learned yield model |
CN207407892U (zh) | 2017-11-03 | 2018-05-25 | 河南思维轨道交通技术研究院有限公司 | 导航数据同步处理系统以及导航系统 |
CN107832806A (zh) | 2017-12-06 | 2018-03-23 | 四川知创空间孵化器管理有限公司 | 一种车牌类型判别方法和系统 |
EP3591490B1 (en) | 2017-12-15 | 2021-12-01 | Autel Robotics Co., Ltd. | Obstacle avoidance method and device, and unmanned aerial vehicle |
CN107992050B (zh) | 2017-12-20 | 2021-05-11 | 广州汽车集团股份有限公司 | 无人驾驶汽车局部路径运动规划方法和装置 |
CN108156419A (zh) | 2017-12-22 | 2018-06-12 | 湖南源信光电科技股份有限公司 | 基于多特征联合与Camshift算法的多焦距镜头联动成像摄像机系统 |
CN108010360A (zh) | 2017-12-27 | 2018-05-08 | 中电海康集团有限公司 | 一种基于车路协同的自动驾驶环境感知系统 |
US20190204842A1 (en) * | 2018-01-02 | 2019-07-04 | GM Global Technology Operations LLC | Trajectory planner with dynamic cost learning for autonomous driving |
CN107993512A (zh) | 2018-01-03 | 2018-05-04 | 深圳市欣横纵技术股份有限公司 | 一种核安保Table Top Tool系统及使用方法 |
US10688991B2 (en) * | 2018-01-24 | 2020-06-23 | GM Global Technology Operations LLC | Systems and methods for unprotected maneuver mitigation in autonomous vehicles |
US20180150081A1 (en) * | 2018-01-24 | 2018-05-31 | GM Global Technology Operations LLC | Systems and methods for path planning in autonomous vehicles |
CN108256506B (zh) | 2018-02-14 | 2020-11-24 | 北京市商汤科技开发有限公司 | 一种视频中物体检测方法及装置、计算机存储介质 |
CN108646735A (zh) | 2018-05-02 | 2018-10-12 | 新石器龙码(北京)科技有限公司 | 一种无人车的控制方法和装置 |
RU2751382C1 (ru) * | 2018-05-31 | 2021-07-13 | Ниссан Норт Америка, Инк. | Планирование траектории |
CN109101022A (zh) | 2018-08-09 | 2018-12-28 | 北京智行者科技有限公司 | 一种作业路径更新方法 |
US11048260B2 (en) * | 2018-11-02 | 2021-06-29 | Zoox, Inc. | Adaptive scaling in trajectory generation |
US11208096B2 (en) * | 2018-11-02 | 2021-12-28 | Zoox, Inc. | Cost scaling in trajectory generation |
-
2019
- 2019-02-22 CN CN201910135454.2A patent/CN109712421B/zh active Active
-
2020
- 2020-02-11 US US16/787,729 patent/US11718318B2/en active Active
- 2020-02-12 EP EP20275038.6A patent/EP3699053A1/en active Pending
- 2020-02-18 JP JP2020025125A patent/JP7000640B2/ja active Active
- 2020-02-18 KR KR1020200019757A patent/KR20200103541A/ko active Application Filing
-
2021
- 2021-11-18 KR KR1020210159597A patent/KR102446971B1/ko active IP Right Grant
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006060905A1 (de) * | 2006-12-20 | 2008-06-26 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren und Längsführungsassistent zur Unterstützung der Längsführung eines Fahrzeuges |
KR20100108093A (ko) * | 2009-03-27 | 2010-10-06 | 국방과학연구소 | 방향별 주행성 속도지도를 활용한 무인차량의 지역경로계획장치 및 방법 |
CN105549597A (zh) * | 2016-02-04 | 2016-05-04 | 同济大学 | 一种基于环境不确定性的无人车动态路径规划方法 |
CN106940933A (zh) * | 2017-03-08 | 2017-07-11 | 北京理工大学 | 一种基于智能交通系统的智能车辆决策换道方法 |
CN106971624A (zh) * | 2017-04-25 | 2017-07-21 | 东软集团股份有限公司 | 超车预警的方法和装置 |
CN108519773A (zh) * | 2018-03-07 | 2018-09-11 | 西安交通大学 | 一种结构化环境下无人驾驶车辆的路径规划方法 |
CN108583578A (zh) * | 2018-04-26 | 2018-09-28 | 北京领骏科技有限公司 | 用于自动驾驶车辆的基于多目标决策矩阵的车道决策方法 |
CN108460980A (zh) * | 2018-05-11 | 2018-08-28 | 西南交通大学 | 自动驾驶车辆下匝道最优意图生成点计算方法 |
Also Published As
Publication number | Publication date |
---|---|
JP7000640B2 (ja) | 2022-01-19 |
US20200269873A1 (en) | 2020-08-27 |
EP3699053A1 (en) | 2020-08-26 |
KR20200103541A (ko) | 2020-09-02 |
KR20210144635A (ko) | 2021-11-30 |
JP2020132149A (ja) | 2020-08-31 |
US11718318B2 (en) | 2023-08-08 |
KR102446971B1 (ko) | 2022-09-22 |
CN109712421A (zh) | 2019-05-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109712421B (zh) | 自动驾驶车辆的速度规划方法、装置和存储介质 | |
CN109583151B (zh) | 车辆的行驶轨迹预测方法及装置 | |
CN109814576B (zh) | 自动驾驶车辆的速度规划方法、装置和存储介质 | |
US10982961B2 (en) | Vehicle control system and vehicle control device | |
CN109814574B (zh) | 自动驾驶车道汇合处的速度规划方法、装置和存储介质 | |
CN113267199B (zh) | 行驶轨迹规划方法及装置 | |
CN109598816B (zh) | 自动驾驶车辆行为特征收集方法、装置、服务器及系统 | |
CN109655076B (zh) | 车辆转弯的速度规划方法、装置和存储介质 | |
US11390272B2 (en) | Parking assistance device | |
CN112394725A (zh) | 用于自动驾驶的基于预测和反应视场的计划 | |
US11685398B2 (en) | Lane based routing system for autonomous driving vehicles | |
US20220212661A1 (en) | Vehicle travelling control apparatus, vehicle travelling control method and computer program product | |
CN109724614B (zh) | 自动驾驶车辆的速度规划方法、装置和存储介质 | |
US20210197811A1 (en) | Course prediction device, computer readable medium, and course prediction method | |
CN109887320B (zh) | 一种速度规划方法、装置和存储介质 | |
CN115497323B (zh) | 基于v2x的车辆协同变道方法及设备 | |
JP2021123178A (ja) | 経路計画装置、経路計画方法、経路計画プログラム | |
US20220315028A1 (en) | Vehicle control device, storage medium for storing computer program for vehicle control, and method for controlling vehicle | |
JP6867257B2 (ja) | 車両制御装置、車両、車両制御方法およびプログラム | |
JP6971315B2 (ja) | 情報管理装置 | |
JP2021095078A (ja) | 車線変更決定装置 | |
US11892316B2 (en) | Map information assessment device, medium storing computer program for map information assessment, and map information assessment method | |
US20220004781A1 (en) | Method and system for determining a driving corridor | |
US20230080630A1 (en) | Traveling lane planning device, storage medium storing computer program for traveling lane planning, and traveling lane planning method | |
US20240051536A1 (en) | Vehicle control device, storage medium storing computer program for vehicle control, and method for controlling vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20211011 Address after: 105 / F, building 1, No. 10, Shangdi 10th Street, Haidian District, Beijing 100085 Patentee after: Apollo Intelligent Technology (Beijing) Co.,Ltd. Address before: 100085 third floor, baidu building, No. 10, Shangdi 10th Street, Haidian District, Beijing Patentee before: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220901 Address after: 105 / F, building 1, No. 10, Shangdi 10th Street, Haidian District, Beijing 100085 Patentee after: Apollo Intelligent Technology (Beijing) Co.,Ltd. Patentee after: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY Co.,Ltd. Address before: 105 / F, building 1, No. 10, Shangdi 10th Street, Haidian District, Beijing 100085 Patentee before: Apollo Intelligent Technology (Beijing) Co.,Ltd. |
|
TR01 | Transfer of patent right |