CN113826153B - 车辆的行驶控制方法及行驶控制装置 - Google Patents

车辆的行驶控制方法及行驶控制装置 Download PDF

Info

Publication number
CN113826153B
CN113826153B CN202080035779.4A CN202080035779A CN113826153B CN 113826153 B CN113826153 B CN 113826153B CN 202080035779 A CN202080035779 A CN 202080035779A CN 113826153 B CN113826153 B CN 113826153B
Authority
CN
China
Prior art keywords
vehicle
control
autonomous
recognized
information
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
Application number
CN202080035779.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN113826153A (zh
Inventor
谷口洋平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of CN113826153A publication Critical patent/CN113826153A/zh
Application granted granted Critical
Publication of CN113826153B publication Critical patent/CN113826153B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • B60W30/143—Speed 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B60W2050/0096—Control during transition between modes
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN202080035779.4A 2019-05-15 2020-04-21 车辆的行驶控制方法及行驶控制装置 Active CN113826153B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019-092431 2019-05-15
JP2019092431 2019-05-15
PCT/JP2020/017234 WO2020230551A1 (ja) 2019-05-15 2020-04-21 車両の走行制御方法及び走行制御装置

Publications (2)

Publication Number Publication Date
CN113826153A CN113826153A (zh) 2021-12-21
CN113826153B true CN113826153B (zh) 2024-01-02

Family

ID=73289971

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080035779.4A Active CN113826153B (zh) 2019-05-15 2020-04-21 车辆的行驶控制方法及行驶控制装置

Country Status (5)

Country Link
US (1) US11926320B2 (https=)
EP (1) EP3971866B1 (https=)
JP (1) JP7347503B2 (https=)
CN (1) CN113826153B (https=)
WO (1) WO2020230551A1 (https=)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110018632B (zh) * 2018-06-22 2020-10-09 长城汽车股份有限公司 一种车辆变道控制方法和装置
JP7238707B2 (ja) * 2019-09-09 2023-03-14 トヨタ自動車株式会社 車両運転支援装置
DE102019132006A1 (de) * 2019-11-26 2021-05-27 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Erkennen eines abbiegenden Objekts
KR102899259B1 (ko) * 2020-03-11 2025-12-12 주식회사 에이치엘클레무브 차량 및 그 제어 방법
JP7557327B2 (ja) * 2020-10-02 2024-09-27 株式会社Subaru 自動操舵制御装置
JP7225185B2 (ja) * 2020-11-26 2023-02-20 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
FR3120041B1 (fr) * 2021-02-23 2023-01-06 Psa Automobiles Sa Procede et dispositif de determination d’une consigne de deceleration d’un vehicule autonome
CN117241973B (zh) * 2021-09-02 2024-03-19 本田技研工业株式会社 车辆控制装置、车辆控制方法
US12214785B2 (en) * 2021-09-13 2025-02-04 Aptiv Technologies AG Vehicle localization to map data
KR20230056080A (ko) * 2021-10-19 2023-04-27 현대모비스 주식회사 차로변경 제어 장치 및 방법
US20230150494A1 (en) * 2021-11-16 2023-05-18 GM Global Technology Operations LLC System and methods for engagement in hands-off lane centering applications
MX2024005923A (es) * 2021-11-17 2024-06-03 Nissan Motor Metodo de control de vehiculo y dispositivo de control de vehiculo.
JP7444156B2 (ja) * 2021-12-22 2024-03-06 トヨタ自動車株式会社 運転支援装置、車両、運転支援方法及び運転支援プログラム
CN114312838B (zh) * 2021-12-29 2023-07-28 上海洛轲智能科技有限公司 一种车辆的控制方法、装置及存储介质
JP7376634B2 (ja) 2022-03-22 2023-11-08 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
CN116834825B (zh) * 2022-03-24 2026-01-16 本田技研工业株式会社 电动助力转向装置及其辅助方法
JP7449971B2 (ja) * 2022-03-25 2024-03-14 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7474279B2 (ja) * 2022-03-29 2024-04-24 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7433382B1 (ja) * 2022-08-12 2024-02-19 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7561800B2 (ja) * 2022-09-08 2024-10-04 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7533653B1 (ja) 2023-03-01 2024-08-14 いすゞ自動車株式会社 操舵制御装置
JP2024171863A (ja) * 2023-05-30 2024-12-12 トヨタ自動車株式会社 自走搬送システム
JP2025018293A (ja) * 2023-07-26 2025-02-06 トヨタ自動車株式会社 車両制御装置を備えた車両
JP2026049251A (ja) 2024-09-06 2026-03-18 本田技研工業株式会社 移動体制御装置、移動体制御方法、及びプログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104411558A (zh) * 2012-07-06 2015-03-11 丰田自动车株式会社 车辆的行驶控制装置
CN107560622A (zh) * 2016-07-01 2018-01-09 板牙信息科技（上海）有限公司 一种基于行车图像导航的方法与设备
JP2018073010A (ja) * 2016-10-26 2018-05-10 パイオニア株式会社 移動体制御装置、移動体制御方法、および、移動体制御装置用プログラム
CN109421710A (zh) * 2017-09-05 2019-03-05 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5167051B2 (ja) 2008-09-30 2013-03-21 富士重工業株式会社 車両の運転支援装置
TWI453615B (zh) * 2011-11-25 2014-09-21 智慧型行車紀錄與檢視系統
JP6410655B2 (ja) * 2015-03-31 2018-10-24 アイシン・エィ・ダブリュ株式会社 道路形状検出システム、道路形状検出方法及びコンピュータプログラム
JP6474307B2 (ja) * 2015-04-27 2019-02-27 アイシン・エィ・ダブリュ株式会社 自動運転支援システム、自動運転支援方法及びコンピュータプログラム
JP6776513B2 (ja) * 2015-08-19 2020-10-28 ソニー株式会社 車両制御装置と車両制御方法と情報処理装置および交通情報提供システム
KR102581359B1 (ko) * 2016-09-02 2023-09-20 엘지전자 주식회사 차량용 사용자 인터페이스 장치 및 차량
US10606276B2 (en) * 2016-09-30 2020-03-31 Faraday & Future Inc. User data-based autonomous vehicle system
JP6596045B2 (ja) 2017-08-25 2019-10-23 株式会社Ｓｕｂａｒｕ 車両の運転支援装置
JP7016146B2 (ja) 2017-11-22 2022-02-04 小橋工業株式会社 農作業機
KR20190063845A (ko) * 2017-11-30 2019-06-10 삼성전자주식회사 차로 유지 보조 방법 및 장치

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104411558A (zh) * 2012-07-06 2015-03-11 丰田自动车株式会社 车辆的行驶控制装置
CN107560622A (zh) * 2016-07-01 2018-01-09 板牙信息科技（上海）有限公司 一种基于行车图像导航的方法与设备
JP2018073010A (ja) * 2016-10-26 2018-05-10 パイオニア株式会社 移動体制御装置、移動体制御方法、および、移動体制御装置用プログラム
CN109421710A (zh) * 2017-09-05 2019-03-05 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质

Also Published As

Publication number Publication date
JPWO2020230551A1 (https=) 2020-11-19
EP3971866A4 (en) 2022-07-06
CN113826153A (zh) 2021-12-21
JP7347503B2 (ja) 2023-09-20
EP3971866A1 (en) 2022-03-23
US20220219692A1 (en) 2022-07-14
WO2020230551A1 (ja) 2020-11-19
US11926320B2 (en) 2024-03-12
EP3971866B1 (en) 2024-02-28

Similar Documents

Publication Publication Date Title
CN113826153B (zh) 车辆的行驶控制方法及行驶控制装置
CN113811932B (zh) 车辆的行驶控制方法及行驶控制装置
CN113811933B (zh) 车辆的行驶控制方法及行驶控制装置
JP7156516B2 (ja) 車両の走行制御方法及び走行制御装置
CN113811934B (zh) 车辆的行驶控制方法及行驶控制装置
CN118265645B (zh) 车辆的行驶辅助方法及行驶辅助装置
CN113811470B (zh) 车辆的行驶控制方法及行驶控制装置
CN114761300A (zh) 驾驶控制方法及驾驶控制装置
JP7331450B2 (ja) 車両の走行制御方法及び走行制御装置
CN118266018B (zh) 车辆的行驶辅助方法及行驶辅助装置
CN114867650B (zh) 车辆的行驶控制方法及行驶控制装置
EP4309969B1 (en) Travel control method and travel control device for vehicle
JP7524036B2 (ja) 車両の走行制御方法及び走行制御装置
JP7517346B2 (ja) 車両の走行制御方法および走行制御装置
JP7811322B2 (ja) 車両の走行制御方法及び走行制御装置
RU2803428C2 (ru) Способ и устройство управления движением транспортного средства

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