CN113646221B - 移动体的行为预测方法、行为预测装置以及车辆 - Google Patents

移动体的行为预测方法、行为预测装置以及车辆 Download PDF

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Publication number
CN113646221B
CN113646221B CN201980094814.7A CN201980094814A CN113646221B CN 113646221 B CN113646221 B CN 113646221B CN 201980094814 A CN201980094814 A CN 201980094814A CN 113646221 B CN113646221 B CN 113646221B
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Prior art keywords
vehicle
intersection
lane
travel lane
possibility
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Chinese (zh)
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CN113646221A (zh
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南里卓也
方芳
山口翔太郎
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • 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
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4049—Relationship among other objects, e.g. converging dynamic 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/806—Relative heading
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/08—Detecting or categorising vehicles

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (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)
CN201980094814.7A 2019-03-27 2019-03-27 移动体的行为预测方法、行为预测装置以及车辆 Active CN113646221B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/000379 WO2020194017A1 (ja) 2019-03-27 2019-03-27 移動体の挙動予測方法、挙動予測装置及び車両

Publications (2)

Publication Number Publication Date
CN113646221A CN113646221A (zh) 2021-11-12
CN113646221B true CN113646221B (zh) 2025-02-25

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Country Status (5)

Country Link
US (1) US12128888B2 (https=)
EP (1) EP3950451A4 (https=)
JP (1) JP7251611B2 (https=)
CN (1) CN113646221B (https=)
WO (1) WO2020194017A1 (https=)

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JP7325251B2 (ja) * 2019-07-10 2023-08-14 日立Astemo株式会社 電子制御装置
EP3998592A4 (en) * 2019-07-12 2022-07-13 NISSAN MOTOR Co., Ltd. INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING PROGRAM
WO2021174445A1 (zh) * 2020-03-04 2021-09-10 华为技术有限公司 预测车辆驶出口的方法和装置
JP2022087683A (ja) * 2020-12-01 2022-06-13 日野自動車株式会社 車両制御装置
TWI793482B (zh) * 2020-12-19 2023-02-21 荷蘭商荷蘭移動驅動器公司 輔助駕駛方法及車輛
DE102021109425B3 (de) * 2021-04-15 2022-07-21 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Steuern eines Fahrzeugs und Steuervorrichtung für ein Fahrzeug
US11917395B2 (en) * 2021-08-11 2024-02-27 Toyota Motor North America, Inc. Connected vehicle services privacy and protection
FR3130229A1 (fr) * 2021-12-10 2023-06-16 Psa Automobiles Sa Procédé et dispositif de contrôle de trajectoire d’un véhicule autonome
CN114333419B (zh) * 2021-12-28 2023-04-07 杭州海康威视系统技术有限公司 交通冲突确定方法、装置、设备及可读存储介质
JP2023150432A (ja) * 2022-03-31 2023-10-16 本田技研工業株式会社 移動体の制御装置、制御方法、及び制御プログラム
JP2024019849A (ja) * 2022-08-01 2024-02-14 株式会社Subaru 車両の走行制御装置
US12221109B2 (en) * 2022-10-10 2025-02-11 GM Global Technology Operations LLC Road congestion-aware automatic lane change activation before lane termination
US20240321099A1 (en) * 2023-03-21 2024-09-26 Volvo Car Corporation Preventing accidents in a t-intersection using predictive collision avoidance

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JP2006260217A (ja) * 2005-03-17 2006-09-28 Advics:Kk 車両用走行支援装置
JP2010083314A (ja) 2008-09-30 2010-04-15 Fuji Heavy Ind Ltd 車両の運転支援装置
JP2010097480A (ja) * 2008-10-17 2010-04-30 Toyota Motor Corp 安全運転促進装置
JP2011210095A (ja) 2010-03-30 2011-10-20 Toyota Motor Corp 運転支援装置
FR2996512B1 (fr) * 2012-10-05 2014-11-21 Renault Sa Procede d'evaluation du risque de collision a une intersection
JP6082638B2 (ja) * 2013-03-29 2017-02-15 日立オートモティブシステムズ株式会社 走行制御装置及び走行制御システム
RU2638328C1 (ru) * 2014-08-21 2017-12-13 Ниссан Мотор Ко., Лтд. Устройство помощи при вождении и способ помощи при вождении
KR102092484B1 (ko) * 2015-07-21 2020-03-23 닛산 지도우샤 가부시키가이샤 씬 평가 장치, 주행 지원 장치, 씬 평가 방법
JP6361618B2 (ja) * 2015-09-15 2018-07-25 トヨタ自動車株式会社 運転支援装置
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Publication number Publication date
WO2020194017A1 (ja) 2020-10-01
US20220176952A1 (en) 2022-06-09
JP7251611B2 (ja) 2023-04-04
JPWO2020194017A1 (https=) 2020-10-01
CN113646221A (zh) 2021-11-12
US12128888B2 (en) 2024-10-29
EP3950451A4 (en) 2022-04-06
EP3950451A1 (en) 2022-02-09

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