CN111192466A - Intersection guiding method and device - Google Patents
Intersection guiding method and device Download PDFInfo
- Publication number
- CN111192466A CN111192466A CN201811361974.7A CN201811361974A CN111192466A CN 111192466 A CN111192466 A CN 111192466A CN 201811361974 A CN201811361974 A CN 201811361974A CN 111192466 A CN111192466 A CN 111192466A
- Authority
- CN
- China
- Prior art keywords
- intersection
- information
- vehicle
- driving direction
- lane
- 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.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention provides a method and a device for guiding an intersection, wherein the method comprises the following steps: receiving current lane information and driving direction information of vehicles to pass through an intersection; determining a crossing passing route according to the current lane information and the driving direction information; and sending the crossing passing route to the vehicle at the crossing to be passed so that the vehicle at the crossing to be passed runs according to the crossing passing route. The embodiment of the invention does not need to make architecture adjustment on the hardware of the vehicle, and can also assist the vehicle when passing through the intersection.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a method and a device for guiding an intersection.
Background
With the development of automatic control technology, the attention of driving-assistant vehicles is getting higher and higher. In the prior art, lane information is usually collected by a vehicle-mounted vision sensor, so as to realize driving assistance functions, such as adaptive cruise, traffic sign recognition, lane keeping assistance, and merging assistance.
However, the applicant has found, when studying the above scheme: in the prior art, the driving assistance function must be realized under the assistance of a lane line, and for an intersection without the lane line, the driving assistance function cannot assist a driver in driving because of no restriction of the lane line.
Disclosure of Invention
In view of the above, the present invention is directed to a method and a device for guiding an intersection, so as to solve or partially solve the problem that the driving assistance function cannot be performed at the intersection.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an intersection guidance method, comprising:
receiving current lane information and driving direction information of vehicles to pass through an intersection;
determining a crossing passing route according to the current lane information and the driving direction information;
and sending the crossing passing route to the vehicle at the crossing to be passed so that the vehicle at the crossing to be passed runs according to the crossing passing route.
An intersection guidance device comprising:
the receiving module is used for receiving current lane information and driving direction information of vehicles to pass through the intersection;
the intersection passing route determining module is used for determining an intersection passing route according to the current lane information and the driving direction information;
and the sending module is used for sending the intersection passing route to the vehicles at the intersection to be passed so as to enable the vehicles at the intersection to be passed to run according to the intersection passing route.
Compared with the prior art, the intersection guiding method has the following advantages:
according to the intersection guiding method, the current lane information and the driving direction information of the vehicles to pass through the intersection can be received, the intersection passing route is determined according to the current lane information and the driving direction information, the intersection passing route is sent to the vehicles to pass through the intersection, and the vehicles to pass through the intersection can pass through the intersection according to the intersection passing route.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart illustrating steps of an intersection guidance method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating specific steps of a crossing guiding method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a control system according to an embodiment of the present invention;
FIG. 4a is a schematic view of a first virtual road according to an embodiment of the present invention;
FIG. 4b is a schematic diagram of a second virtual road according to the embodiment of the present invention;
FIG. 4c is a schematic view of a third virtual road according to the embodiment of the present invention;
FIG. 4d is a schematic diagram of a fourth virtual road according to the embodiment of the present invention;
FIG. 4e is a schematic diagram of a fifth virtual road according to the embodiment of the present invention;
FIG. 4f is a schematic diagram of a sixth virtual road according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of a coordinate definition of a bidirectional eight-lane intersection according to an embodiment of the present invention;
fig. 6 is a block diagram of an intersection guidance device according to an embodiment of the present invention;
fig. 7 is a block diagram of a specific structure of an intersection guidance device according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart illustrating steps of an intersection guidance method according to an embodiment of the present invention. The intersection guiding method comprises the following steps:
In specific application, the intersection guiding method provided by the embodiment of the invention can be applied to an intersection guiding device, and a communication device matched with a vehicle can be arranged in the intersection guiding device, so that the vehicle and the intersection guiding device can be communicated through a wireless local area network, an Ethernet and the like.
In a specific application, a first controller can be arranged in a vehicle to pass through the intersection, and the current lane information and the driving direction information of the vehicle to pass through the intersection can be determined through the first controller. For example, the first controller can call navigation information and real-time position information in a vehicle to pass through the intersection, the distance between the vehicle to pass through the intersection and the intersection, the current lane of the vehicle to pass through the intersection and the driving direction of the vehicle to pass through the intersection can be obtained by analyzing the real-time position information and the navigation information, and the current lane information and the driving direction information of the vehicle to pass through the intersection are sent to the intersection guiding device when the vehicle to pass through the intersection is about to reach the intersection; for another example, when the vehicle to pass through the intersection is about to reach the intersection, the driver turns on the turn light or triggers the intersection guidance button, and the first controller may determine the driving direction information according to the turn light information and send the current lane information and the driving direction information of the vehicle to pass through the intersection to the intersection guidance device.
In the embodiment of the invention, the intersection guiding device can also be provided with a second controller, and the second controller can further process the received current lane information and the driving direction information of the vehicles to pass through the intersection.
And 102, determining a crossing passing route according to the current lane information and the driving direction information.
In the embodiment of the invention, a plurality of routes passing through the intersection can be prefabricated in the intersection guiding device according to the actual application scene of the intersection, for example, if the intersection is a two-lane intersection, a straight-going route, a left-turn route and a right-turn route can be prefabricated in the intersection guiding device, and the intersection passing route can be determined only according to the driving direction information; for another example, if the intersection is a four-lane intersection, the intersection guiding device may be prefabricated with a first lane straight-going route, a first lane left-turn route, a first lane right-turn route, a second lane straight-going route, a second lane left-turn route, and a second lane right-turn route, and the intersection passing route may be determined according to the current lane information and the driving direction information of the vehicle to pass through the intersection; of course, a person skilled in the art may also determine the intersection passing route in other manners according to the actual application scenario, for example, the intersection passing route is calculated in real time by setting the current lane information and the driving direction information of the vehicle to be passed through the intersection in the calculation model in the intersection guiding device, and the embodiment of the present invention is not limited to this specifically.
In the embodiment of the invention, after the intersection passing route is determined, the intersection passing route can be sent to the vehicle to pass through the intersection by the intersection guiding device, and the vehicle body control equipment of the vehicle to pass through the intersection can assist the driver to safely pass through the intersection according to the intersection passing route.
In summary, in the embodiments of the present invention, the current lane information and the driving direction information of the vehicle at the intersection to be passed are received, the intersection passing route is determined according to the current lane information and the driving direction information, and the intersection passing route is sent to the vehicle at the intersection to be passed, so that the vehicle at the intersection to be passed can pass through the intersection according to the intersection passing route.
Fig. 2 is a flowchart illustrating specific steps of an intersection guidance method according to an embodiment of the present invention.
In a specific application, the basic hardware basis of the intersection guiding device and the vehicle can be as shown in fig. 3.
Navigation on the vehicle provides distance information from the vehicle to the intersection; the alarm device can be an actual alarm (such as dialing an alarm call) or a sound alarm device, and is an alarm message sent when the driving direction of the vehicle is different from the road; the vehicle body controller can acquire the steering lamp information and confirm the driving direction of the vehicle passing through the intersection through the steering lamp information; the vehicle-mounted vehicle networking device provides a device for communicating with the intersection vehicle networking device. The controller 1 can activate a controller for executing a crossing guiding function, and the controller 1 can be an independent control unit or integrated in other electric control units of the vehicle; the controller 2 may be a controller that processes vehicle information to obtain an intersection lane line.
The method specifically comprises the following steps:
step 201: and receiving current lane information and driving direction information of vehicles to pass through the intersection.
Preferably, the current lane information and the driving direction information are information which is automatically sent out when the vehicle to pass through the intersection is away from the intersection by a preset distance.
In specific application, when a vehicle to pass through the intersection is away from the intersection by a preset distance, the intersection guiding auxiliary function is activated, the current lane information and the driving direction information of the vehicle to pass through the intersection are packaged and sent to the controller 2 through the vehicle networking device and the intersection vehicle networking device, and the controller 2 can receive the current lane information and the driving direction information corresponding to the vehicle to pass through the intersection.
Step 202: and matching a virtual lane line in a preset route according to the current lane information.
In the embodiment of the invention, the current lane information can only be used for the specific lane occupied by the vehicle passing through the intersection.
In specific application, the virtual lane lines allowed by the lane to pass through the intersection can be matched in the preset route according to the lane occupied by the vehicle at the intersection to pass through. For example, at some traffic intersections, some lanes allow only left turns, some lanes allow only straight, some lanes allow only right turns, some lanes allow straight and also allow left turns, some lanes allow straight and also allow right turns, etc., then virtual lane lines that allow passing through the intersection may be matched for the lanes currently occupied by the vehicles to be passed through the intersection.
In particular application, referring to fig. 4a to 4f, schematic diagrams of several situations that may exist when an actual vehicle passes through an intersection are shown.
Fig. 4a to 4b are schematic diagrams of a situation about to pass through a two-way four-lane intersection, and reference numeral 3 denotes a vehicle about to pass through the two-way four-lane intersection; reference numeral 1 denotes a virtual lane line corresponding to 3 left turns; reference numeral 2 denotes a virtual lane line corresponding to 3 straight-ahead driving; reference numeral 4 denotes a virtual lane line corresponding to the 3-way right turn. In fig. 4a, 3 is located in the leftmost lane, and the intersection has two direction lines according to the driving rule of the intersection, so that 1 and 2 virtual lane lines are generated; in the rightmost lane at position 3 in fig. 4b, according to the driving rule of the intersection. The intersection has two direction lines 2 and 4.
Fig. 4c to 4e are schematic diagrams of a situation that a bidirectional six-lane intersection is about to pass through, fig. 4c is a virtual lane line corresponding to a reference numeral 5 generated in the leftmost lane when 3 passes through the bidirectional six lanes, fig. 4d is a virtual lane line corresponding to a reference numeral 6 generated in the middle lane when 3 passes through the bidirectional six lanes according to the intersection driving rule, and fig. 4e is a virtual lane line corresponding to a reference numeral 7 generated in the rightmost lane when 3 passes through the bidirectional six lanes.
Fig. 4f is a schematic diagram of the case where 3 passes through the bidirectional 8 lanes, and 3 is located in the second lane on the left side, and the lane is defined to be capable of turning only to the left, and the virtual lane corresponding to the reference sign 8 where the left turn occurs is shown.
It can be understood that, the actual conditions of each intersection are different, and different virtual lanes can be matched, and the virtual lanes correspond to virtual lane lines, which is not specifically limited in the embodiment of the present invention.
Step 203: and selecting a virtual lane line matched with the driving direction information from the virtual lane lines as an intersection passing route.
In the embodiment of the present invention, if the driving direction indicated by the virtual lane line has a direction matching the driving direction information provided by the vehicle to pass through the intersection, it indicates that the vehicle to pass through the intersection is on the correct lane, the virtual lane line matching the driving direction information can be used as the intersection passing route, and step 205 can be further executed.
Step 204: and if no virtual lane line matched with the driving direction information exists in the virtual lane lines, sending an alarm instruction to the vehicle at the intersection to be passed, wherein the alarm instruction is used for prompting that the vehicle at the intersection to be passed occupies a wrong lane.
In the embodiment of the invention, if the driving direction indicated by the virtual lane line does not have the virtual lane line matched with the driving direction information provided by the vehicle to pass through the intersection, the situation that the vehicle to pass through the intersection has a lane-crossing can be explained, if the vehicle is driven according to the driving direction information provided by the vehicle to pass through the intersection, the traffic rules can be violated, therefore, an alarm instruction is sent to the vehicle to pass through the intersection to prompt the vehicle to pass through the intersection to occupy the wrong lane, so that the driver can drive according to the traffic rules.
It can be understood that after the alarm instruction is sent out, the virtual lane line matched with the current lane information can be further sent to the vehicles at the intersection to be passed, so as to assist the vehicles at the intersection to be passed to pass through the intersection smoothly.
As a preferable solution of the embodiment of the present invention, the steps 202 to 204 may be alternatively implemented by:
and under the condition that the driving direction information meets the preset condition, calculating by adopting an arc track algorithm to obtain an intersection passing route according to the current lane information, the driving direction information, the preset lane width and the preset total number of lanes.
In the embodiment of the invention, whether the driving direction information meets the preset condition can be judged firstly, the preset condition can be the preset traffic rule requirement, and if the driving direction information accords with the traffic rule, the intersection passing route can be calculated by adopting an arc track algorithm according to the current lane information, the driving direction information, the preset lane width and the total number of lanes.
In a specific application, the coordinate definition schematic diagram of the bidirectional eight-lane intersection shown in fig. 5 is referred. The manner in which the intersection passing route is calculated using the causal track algorithm is described by the following distance.
The geometric center point of the intersection is taken as the origin, the X direction of the vehicle driving direction is the positive direction, and the left side of the vehicle is the positive direction of the Y direction. The predetermined lane width is L, the number of lanes is n, and the lane n0 is where the vehicle is located.
If the vehicle 3 to be passed through the intersection is a left-turn vehicle, the left boundary line track calculation formula of the intersection passing route of the left-turn vehicle is as follows:
the right side boundary line track calculation formula of the crossing passing route of the left-turn vehicle is as follows:
if the vehicle 3 to be passed through the intersection is a straight-going vehicle, the calculation formula of the left boundary line track of the crossing passing route of the straight-going vehicle is as follows:
the right side boundary line track calculation formula of the crossing passing route of the straight-going vehicle is as follows:
if the vehicle 3 to be passed through the intersection is a right-turn vehicle, the calculation formula of the left boundary line track of the intersection passing route of the right-turn vehicle is as follows:
the right side boundary line track calculation formula of the crossing passing route of the right-turn vehicle is as follows:
in specific application, the corresponding relationship between the driving direction of the vehicle and the matched crossing passing route can be stored, as shown in table 1:
TABLE 1
When the vehicle turns left, matching a virtual lane line track with the sequence number A; when the vehicle runs straight, the virtual lane line track with the serial number B is matched, and when the vehicle turns right, the virtual lane line track with the serial number C is matched.
It can be understood that the algorithm for calculating the crossing passing route in practical application is not limited to the circular arc trajectory algorithm, and those skilled in the art can set other algorithms according to practical application scenarios, which is not specifically limited in the embodiment of the present invention.
Step 205: and sending the crossing passing route to the vehicle at the crossing to be passed so that the vehicle at the crossing to be passed runs according to the crossing passing route.
In a specific application, after receiving the intersection passing route, the vehicle to pass through the intersection can display the intersection passing route on the navigation interface, so as to further assist the driver to pass through the intersection.
In summary, according to the intersection guidance method of the embodiment of the present invention, the current lane information and the driving direction information of the vehicle to pass through the intersection are received, the intersection passing route is determined according to the current lane information and the driving direction information, and the intersection passing route is sent to the vehicle to pass through the intersection, so that the vehicle to pass through the intersection can pass through the intersection according to the intersection passing route.
As shown in fig. 6, it shows a block diagram of a crossing guiding device provided in an embodiment of the present invention, and the crossing guiding device specifically includes:
the receiving module 310 is configured to receive current lane information and driving direction information of a vehicle to pass through an intersection;
an intersection passing route determining module 320, configured to determine an intersection passing route according to the current lane information and the driving direction information;
the sending module 330 is configured to send the intersection passing route to the vehicle at the intersection to be passed, so that the vehicle at the intersection to be passed travels according to the intersection passing route.
As shown in fig. 7, which shows a specific structural block diagram of an intersection guidance device provided in an embodiment of the present invention, preferably, on the basis of fig. 6, in the device:
the intersection passing route determining module 320 includes:
a matching submodule 3201, configured to match a virtual lane line in a preset route according to the current lane information;
the first intersection passing route determining submodule 3202 is configured to select a virtual lane line, which is matched with the driving direction information, from the virtual lane lines as an intersection passing route.
The device further comprises:
and the alarm instruction sending module 340 is configured to send an alarm instruction to the vehicle at the intersection to be passed if there is no virtual lane line matching the driving direction information in the virtual lane lines, where the alarm instruction is used to prompt that the vehicle at the intersection to be passed occupies a wrong lane.
The intersection passing route determining module 320 includes:
and the second intersection passing route determining submodule is used for calculating an intersection passing route by adopting an arc track algorithm according to the current lane information, the driving direction information, the preset lane width and the preset lane total number under the condition that the driving direction information meets the preset condition.
The current lane information and the driving direction information are information which is automatically sent when the vehicle to pass through the intersection is away from the intersection by a preset distance.
The intersection guiding device provided by the embodiment of the invention can receive the current lane information and the driving direction information of the vehicle to pass through the intersection, determine the intersection passing route according to the current lane information and the driving direction information, and send the intersection passing route to the vehicle to pass through the intersection, so that the vehicle to pass through the intersection can pass through the intersection according to the intersection passing route.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An intersection guidance method, comprising:
receiving current lane information and driving direction information of vehicles to pass through an intersection;
determining a crossing passing route according to the current lane information and the driving direction information;
and sending the crossing passing route to the vehicle at the crossing to be passed so that the vehicle at the crossing to be passed runs according to the crossing passing route.
2. The method of claim 1, wherein the step of determining an intersection passing route based on the current lane information and the driving direction information comprises:
matching a virtual lane line in a preset route according to the current lane information;
and selecting a virtual lane line matched with the driving direction information from the virtual lane lines as an intersection passing route.
3. The method of claim 2, further comprising:
and if no virtual lane line matched with the driving direction information exists in the virtual lane lines, sending an alarm instruction to the vehicle at the intersection to be passed, wherein the alarm instruction is used for prompting that the vehicle at the intersection to be passed occupies a wrong lane.
4. The method of claim 1, wherein the step of determining an intersection passing route based on the current lane information and the driving direction information comprises:
and under the condition that the driving direction information meets the preset condition, calculating by adopting an arc track algorithm to obtain an intersection passing route according to the current lane information, the driving direction information, the preset lane width and the preset total number of lanes.
5. The method according to any one of claims 1 to 4, wherein the current lane information and the driving direction information are information that the vehicle to pass through the intersection automatically issues when the vehicle is a preset distance away from the intersection.
6. An intersection guidance device, comprising:
the receiving module is used for receiving current lane information and driving direction information of vehicles to pass through the intersection;
the intersection passing route determining module is used for determining an intersection passing route according to the current lane information and the driving direction information;
and the sending module is used for sending the intersection passing route to the vehicles at the intersection to be passed so as to enable the vehicles at the intersection to be passed to run according to the intersection passing route.
7. The apparatus of claim 6, wherein the intersection passing route determining module comprises:
the matching submodule is used for matching a virtual lane line in a preset route according to the current lane information;
and the first intersection passing route determining submodule is used for selecting a virtual lane line matched with the driving direction information from the virtual lane lines as an intersection passing route.
8. The apparatus of claim 7, further comprising:
and the alarm instruction sending module is used for sending an alarm instruction to the vehicle at the intersection to be passed if the virtual lane line matched with the driving direction information does not exist in the virtual lane lines, and the alarm instruction is used for prompting that the vehicle at the intersection to be passed occupies a wrong lane.
9. The apparatus of claim 6, wherein the intersection passing route determining module comprises:
and the second intersection passing route determining submodule is used for calculating an intersection passing route by adopting an arc track algorithm according to the current lane information, the driving direction information, the preset lane width and the preset lane total number under the condition that the driving direction information meets the preset condition.
10. The apparatus according to any one of claims 6 to 9, wherein the current lane information and the driving direction information are information that the vehicle to pass through the intersection automatically issues when it is a preset distance away from the intersection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811361974.7A CN111192466A (en) | 2018-11-15 | 2018-11-15 | Intersection guiding method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811361974.7A CN111192466A (en) | 2018-11-15 | 2018-11-15 | Intersection guiding method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111192466A true CN111192466A (en) | 2020-05-22 |
Family
ID=70710597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811361974.7A Pending CN111192466A (en) | 2018-11-15 | 2018-11-15 | Intersection guiding method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111192466A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113450571A (en) * | 2021-09-01 | 2021-09-28 | 深圳市鼎粤科技有限公司 | Traffic intersection-based driving direction reminding method and device and storage medium |
| WO2022001618A1 (en) * | 2020-07-01 | 2022-01-06 | 华为技术有限公司 | Lane keep control method, apparatus, and system for vehicle |
| CN114495554A (en) * | 2021-12-31 | 2022-05-13 | 武汉中海庭数据技术有限公司 | Intersection guide information construction method and system for intelligent driving |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103177596A (en) * | 2013-02-25 | 2013-06-26 | 中国科学院自动化研究所 | Automatic intersection management and control system |
| KR20150072590A (en) * | 2013-12-20 | 2015-06-30 | 현대오트론 주식회사 | Method and apparatus for guiding a driving path |
| CN106355918A (en) * | 2016-09-06 | 2017-01-25 | 北京汽车集团有限公司 | Control method, device and system of unmanned vehicle |
-
2018
- 2018-11-15 CN CN201811361974.7A patent/CN111192466A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103177596A (en) * | 2013-02-25 | 2013-06-26 | 中国科学院自动化研究所 | Automatic intersection management and control system |
| KR20150072590A (en) * | 2013-12-20 | 2015-06-30 | 현대오트론 주식회사 | Method and apparatus for guiding a driving path |
| CN106355918A (en) * | 2016-09-06 | 2017-01-25 | 北京汽车集团有限公司 | Control method, device and system of unmanned vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022001618A1 (en) * | 2020-07-01 | 2022-01-06 | 华为技术有限公司 | Lane keep control method, apparatus, and system for vehicle |
| CN113450571A (en) * | 2021-09-01 | 2021-09-28 | 深圳市鼎粤科技有限公司 | Traffic intersection-based driving direction reminding method and device and storage medium |
| CN114495554A (en) * | 2021-12-31 | 2022-05-13 | 武汉中海庭数据技术有限公司 | Intersection guide information construction method and system for intelligent driving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3333820B1 (en) | Driving plan device, travel support device, and driving plan method | |
| CN110692094B (en) | Vehicle control apparatus and method for control of autonomous vehicle | |
| JP2005189008A (en) | Navigation device and navigation system | |
| KR20200029587A (en) | Driving support method and driving support device | |
| CN105835886A (en) | Drive assistance apparatus | |
| CN111192466A (en) | Intersection guiding method and device | |
| JP2016002892A (en) | Travelling controller of vehicle | |
| JP7101777B2 (en) | Driving support method and driving support device | |
| JP6809611B2 (en) | Driving support method and driving support device | |
| KR20150066863A (en) | Route Guidance Apparatus recognizing Driving Lane and method thereof | |
| CN110968092A (en) | Automatic driving assistance device | |
| CN111754793A (en) | Vehicle driving support device | |
| JP7086190B2 (en) | Driving support method and driving support device | |
| CN112400096B (en) | Driving support method and driving support device | |
| US20200211379A1 (en) | Roundabout assist | |
| US11801829B2 (en) | In-vehicle device, system and method for automatic parking assistance | |
| US20210284192A1 (en) | Movable object control device, movable object control method, and storage medium storing program | |
| JP4952533B2 (en) | Driving support device | |
| JP2010107364A (en) | Device, method, and program for guiding road information | |
| CN110356390B (en) | Driving assistance system and method | |
| JP6165084B2 (en) | Navigation system and computer program | |
| JP4626295B2 (en) | Driving support system and driving support device | |
| JP2004317405A (en) | Onboard navigation system and method therefor | |
| JP5175634B2 (en) | Vehicle driving support device | |
| CN112572434A (en) | Vehicle control method and device |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200522 |
|
| RJ01 | Rejection of invention patent application after publication |