CN113412212A - 其它车辆动作预测方法以及其它车辆动作预测装置 - Google Patents

其它车辆动作预测方法以及其它车辆动作预测装置 Download PDF

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Publication number
CN113412212A
CN113412212A CN201980091535.5A CN201980091535A CN113412212A CN 113412212 A CN113412212 A CN 113412212A CN 201980091535 A CN201980091535 A CN 201980091535A CN 113412212 A CN113412212 A CN 113412212A
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China
Prior art keywords
vehicle
lane
lane change
possibility
host
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Pending
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CN201980091535.5A
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English (en)
Chinese (zh)
Inventor
武井翔一
田中慎也
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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Publication of CN113412212A publication Critical patent/CN113412212A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • 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
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards
    • 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
    • B60W2554/4045—Intention, e.g. lane change or imminent movement
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201980091535.5A 2019-02-07 2019-02-07 其它车辆动作预测方法以及其它车辆动作预测装置 Pending CN113412212A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/000177 WO2020161512A1 (ja) 2019-02-07 2019-02-07 他車動作予測方法及び他車動作予測装置

Publications (1)

Publication Number Publication Date
CN113412212A true CN113412212A (zh) 2021-09-17

Family

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CN201980091535.5A Pending CN113412212A (zh) 2019-02-07 2019-02-07 其它车辆动作预测方法以及其它车辆动作预测装置

Country Status (6)

Country Link
US (1) US20220105929A1 (https=)
EP (1) EP3925845B1 (https=)
JP (1) JPWO2020161512A1 (https=)
CN (1) CN113412212A (https=)
RU (1) RU2770230C1 (https=)
WO (1) WO2020161512A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024216769A1 (zh) * 2023-04-20 2024-10-24 魔门塔(苏州)科技有限公司 车辆行驶的控制方法及装置、车辆

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3896672A4 (en) * 2018-12-11 2021-12-29 NISSAN MOTOR Co., Ltd. Other vehicle motion prediction method and other vehicle motion prediction device
DE102019122249B4 (de) * 2019-08-19 2025-12-18 Zf Friedrichshafen Ag Verfahren zum Ermitteln eines Fahrspurwechsels, Fahrassistenzsystem und Fahrzeug
US11860634B2 (en) * 2019-12-12 2024-01-02 Baidu Usa Llc Lane-attention: predicting vehicles' moving trajectories by learning their attention over lanes
DE102021109425B3 (de) * 2021-04-15 2022-07-21 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Steuern eines Fahrzeugs und Steuervorrichtung für ein Fahrzeug
JP7708629B2 (ja) 2021-09-24 2025-07-15 トヨタ自動車株式会社 車両用表示制御装置、車両用表示装置、車両、車両用表示制御方法及びプログラム
US20230126540A1 (en) * 2021-10-26 2023-04-27 Tusimple, Inc. Systems and methods for handling cut-in traffic for autonomous driving

Citations (12)

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JP2001093098A (ja) * 1999-09-22 2001-04-06 Denso Corp 先行車選択装置、車間制御装置及び記録媒体
JP2001171389A (ja) * 1999-12-17 2001-06-26 Nissan Motor Co Ltd 車両用走行制御装置
US20050273215A1 (en) * 2004-06-02 2005-12-08 Nissan Motor Co., Ltd. Adaptive intention estimation method and system
CN101089917A (zh) * 2007-06-01 2007-12-19 清华大学 一种目标车换道工况下的快速识别方法
CN102822880A (zh) * 2010-04-15 2012-12-12 三菱电机株式会社 行驶辅助装置
DE102013104256A1 (de) * 2013-04-26 2014-10-30 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Schätzung der Anzahl von Fahrspuren
JP2017056786A (ja) * 2015-09-15 2017-03-23 株式会社デンソー 車両制御装置、及び車両制御方法
JP2017154614A (ja) * 2016-03-02 2017-09-07 トヨタ自動車株式会社 車両走行制御装置
CN107241916A (zh) * 2015-01-21 2017-10-10 株式会社电装 车辆的行驶控制装置以及行驶控制方法
DE102016009762A1 (de) * 2016-08-11 2018-02-15 Trw Automotive Gmbh Steuerungssystem und Steuerungsverfahren zum Ermitteln einer Wahrscheinlichkeit für einen Fahrspurwechsel eines vorausfahrenden Kraftfahrzeugs
CN108534792A (zh) * 2017-03-01 2018-09-14 本田技研工业株式会社 车道变更推定装置、车道变更推定方法及存储介质
JP2018181036A (ja) * 2017-04-17 2018-11-15 日産自動車株式会社 車線変更判定方法及び車線変更判定装置

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JP2001199260A (ja) 2000-01-20 2001-07-24 Matsushita Electric Ind Co Ltd 車間距離制御装置、車両走行状況表示装置、車速制御解除装置、及び車両急制動警告装置
JP6313198B2 (ja) * 2014-11-28 2018-04-18 株式会社デンソー 車両制御装置

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001093098A (ja) * 1999-09-22 2001-04-06 Denso Corp 先行車選択装置、車間制御装置及び記録媒体
JP2001171389A (ja) * 1999-12-17 2001-06-26 Nissan Motor Co Ltd 車両用走行制御装置
US20050273215A1 (en) * 2004-06-02 2005-12-08 Nissan Motor Co., Ltd. Adaptive intention estimation method and system
JP2005346371A (ja) * 2004-06-02 2005-12-15 Nissan Motor Co Ltd 運転意図推定装置、車両用運転操作補助装置および車両用運転操作補助装置を備えた車両
CN101089917A (zh) * 2007-06-01 2007-12-19 清华大学 一种目标车换道工况下的快速识别方法
CN102822880A (zh) * 2010-04-15 2012-12-12 三菱电机株式会社 行驶辅助装置
DE102013104256A1 (de) * 2013-04-26 2014-10-30 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Schätzung der Anzahl von Fahrspuren
CN107241916A (zh) * 2015-01-21 2017-10-10 株式会社电装 车辆的行驶控制装置以及行驶控制方法
JP2017056786A (ja) * 2015-09-15 2017-03-23 株式会社デンソー 車両制御装置、及び車両制御方法
JP2017154614A (ja) * 2016-03-02 2017-09-07 トヨタ自動車株式会社 車両走行制御装置
DE102016009762A1 (de) * 2016-08-11 2018-02-15 Trw Automotive Gmbh Steuerungssystem und Steuerungsverfahren zum Ermitteln einer Wahrscheinlichkeit für einen Fahrspurwechsel eines vorausfahrenden Kraftfahrzeugs
CN108534792A (zh) * 2017-03-01 2018-09-14 本田技研工业株式会社 车道变更推定装置、车道变更推定方法及存储介质
JP2018181036A (ja) * 2017-04-17 2018-11-15 日産自動車株式会社 車線変更判定方法及び車線変更判定装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024216769A1 (zh) * 2023-04-20 2024-10-24 魔门塔(苏州)科技有限公司 车辆行驶的控制方法及装置、车辆

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Publication number Publication date
EP3925845A4 (en) 2022-04-20
EP3925845B1 (en) 2023-10-11
JPWO2020161512A1 (https=) 2020-08-13
EP3925845A1 (en) 2021-12-22
RU2770230C1 (ru) 2022-04-14
WO2020161512A1 (ja) 2020-08-13
US20220105929A1 (en) 2022-04-07

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Application publication date: 20210917