CN113970339A - Vehicle turning feasibility detection method and device - Google Patents

Vehicle turning feasibility detection method and device Download PDF

Info

Publication number
CN113970339A
CN113970339A CN202010713055.2A CN202010713055A CN113970339A CN 113970339 A CN113970339 A CN 113970339A CN 202010713055 A CN202010713055 A CN 202010713055A CN 113970339 A CN113970339 A CN 113970339A
Authority
CN
China
Prior art keywords
vehicle
turning
width
around
turn
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.)
Granted
Application number
CN202010713055.2A
Other languages
Chinese (zh)
Other versions
CN113970339B (en
Inventor
宁勇峰
田向远
李兴佳
朱敏
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.)
Zhengzhou Yutong Bus Co Ltd
Original Assignee
Zhengzhou Yutong Bus 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 Zhengzhou Yutong Bus Co Ltd filed Critical Zhengzhou Yutong Bus Co Ltd
Priority to CN202010713055.2A priority Critical patent/CN113970339B/en
Publication of CN113970339A publication Critical patent/CN113970339A/en
Application granted granted Critical
Publication of CN113970339B publication Critical patent/CN113970339B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention belongs to the field of automatic driving navigation path planning by combining a vehicle detection control technology, and particularly relates to a vehicle turning feasibility detection method and device. When the front of a vehicle is an intersection allowing turning around, a point with the minimum turning radius from the center of a rear shaft on a straight line of the rear shaft is determined, and then a first distance R between a circle center and a point, farthest from the circle center, on the vehicle head is determined2And the distance R between the center of the circle and the point on the vehicle tail farthest from the center of the circle3And further determining the transverse maximum width and the longitudinal maximum length of the vehicle body profile swept across the road when the vehicle turns around at the minimum turning radius, and comparing the corresponding road maximum turning width with the road maximum turning length to judge whether the vehicle can turn around. The invention considers the length and the width of the vehicle, combines the self information and the objective road information of the vehicle, simply and accurately judges whether the vehicle can turn around, ensures the safe driving of the vehicle and further ensures the safe driving of the vehicleMore reasonable and efficient navigation routes are conveniently planned.

Description

Vehicle turning feasibility detection method and device
Technical Field
The invention belongs to the field of automatic driving navigation path planning by combining a vehicle detection control technology, and particularly relates to a vehicle turning feasibility detection method and device.
Background
The unmanned vehicle is one of the development trends of future intelligent vehicles, and the research on the unmanned vehicle can also promote the development of intelligent transportation and smart cities, so that the unmanned vehicle has great significance. In particular, technologies such as driving route prediction, planning and navigation of an autonomous vehicle using information such as a map, a vehicle position, and target detection are currently a focus of research.
Based on the technical method, under the environments of automatic driving, auxiliary driving and intelligent traffic, the problem that how to prejudge the turning attribute of the road in advance according to the vehicle body information and the road information is in urgent need to be solved. In general, the vehicle turns around more time than the vehicle turns left, turns right or moves straight, and the driving difficulty is higher. If the vehicle turns around randomly, the vehicle not only threatens the personal safety of pedestrians on the road surface, but also can be scratched and rubbed with other running vehicles, and can also collide with an isolation belt between two opposite running roads, so that the traffic is not smooth, and meanwhile, the vehicle threatens other people and the safety of the vehicle.
The application publication number CN111174802A discloses a method for determining the turning difficulty of an intersection, which determines the width of a road surface of a turning path allowing a vehicle to turn according to the attributes of a road entering the road and a road exiting the road, and determines the turning difficulty of the intersection capable of turning according to the width of the road surface and the length of the vehicle, wherein the longer the length of the vehicle is, the greater the turning difficulty is, the larger the width of the road surface is, and the smaller the turning difficulty is. According to the method, only the length of the vehicle is considered, the turning difficulty is judged only according to the length of the vehicle, but the actual vehicle is a polygonal object, according to the thought of the method, when the road width is basically equal to the length of the vehicle, the turning difficulty is high, but in the actual situation, when the road width just accommodates the length of the vehicle, the vehicle cannot turn at all, and the road surface needs to be reserved with a certain width to ensure that the vehicle can complete turning operation, so that turning is realized. Therefore, the detection of the turning capability only according to the length of the vehicle is inaccurate, and the vehicle cannot be ensured to finish turning passing.
Disclosure of Invention
The invention provides a vehicle turning feasibility detection method and device, which are used for solving the problems that the turning capability is not accurately detected only according to the length of a vehicle, and the vehicle cannot be ensured to be capable of completing turning passing certainly.
In order to solve the technical problem, the technical scheme of the invention comprises the following steps:
the invention provides a vehicle turning feasibility detection method, which comprises the following steps:
when the front of the vehicle is the intersection allowing the U-turn, the minimum turning radius R of the straight line of the rear axle from the center of the rear axle is determinedminThe point of (1) is the minimum turning radius R of the vehicleminThe circle center when turning around is carried out;
determining a first distance R between the center of a circle and a point on the vehicle head farthest from the center of the circle2The first distance R2The radius of a circular arc area is swept for a point on the head of the vehicle, which is farthest away from the circle center when the vehicle turns around; determining the distance R between the center of a circle and the point on the vehicle tail farthest from the center of the circle3Said second distance R3The radius of the arc area is swept by a point on the tail of the vehicle farthest from the circle center when the vehicle turns around;
according to the first distance R2And a second distance R3Determining the transverse maximum width turn _ width of the vehicle body profile passing through the road when the vehicle turns around with the minimum turning radius; according to the first distance R2Determining the longitudinal maximum length turn _ height of the vehicle body profile sweeping the road when the vehicle turns around at the minimum turning radius; the transverse direction is a direction extending along the vehicle width direction, and the longitudinal direction is a direction extending along the vehicle length direction;
and if the transverse maximum width turn _ width is smaller than the road maximum turning width road _ width and the longitudinal maximum length turn _ height is smaller than the road maximum turning length cross _ height, determining that the vehicle can turn around.
The beneficial effects of the above technical scheme are: the invention considers the vehicle as a plurality of vehiclesThe polygonal object, assuming that the vehicle makes a U-turn motion with a minimum turning radius, determines that the vehicle makes a minimum turning radius R based on some information of the vehicle itselfminThe maximum transverse width and the maximum longitudinal length of a road swept by the vehicle body profile under the motion condition can be determined by combining the point farthest from the circle center on the vehicle head and the point farthest from the circle center on the vehicle tail, namely the width and the length occupied by the vehicle when the vehicle passes in the minimum turning radius arc mode which saves the occupied space most are compared with objective road information, including the information such as the maximum turning width of the road, the maximum turning length of the road and the like, and whether the vehicle can turn can be automatically judged according to the comparison result. The method takes the length and the width of the vehicle into consideration, combines the self information and the objective road information of the vehicle, simply and accurately judges the road turning attribute aiming at a certain vehicle type, so as to conveniently plan a more reasonable and more efficient navigation line route, provide support for subsequent automatic driving navigation path planning, and avoid the situations that the turning path is planned, but the vehicle body is too long and cannot actually pass.
As a further development of the method, the first distance R is obtained for simplicity and accuracy2According to the minimum turning radius R of the vehicleminDetermining a first distance R, a vehicle body WIDTH CAR _ WIDTH, a vehicle HEAD to rear axle distance BACKAXLE _2_ CAR _ HEAD2：
Figure BDA0002597244050000021
As a further development of the method, the second distance R is obtained for simplicity and accuracy3According to the minimum turning radius R of the vehicleminCAR body WIDTH CAR _ WIDTH, and CAR tail to rear axle distance BACKAXLE _2_ CAR _ TALL, determining the second distance R3：
Figure BDA0002597244050000022
As a further improvement of the method, in order to ensure that the vehicle turns around safely and reliably, the transverse maximum width turn _ width is:
turn_width＝R2+R3+diff
in the formula, diff is a preset buffer distance.
As a further improvement of the method, in order to ensure that the vehicle turns around safely and reliably, the maximum longitudinal length turn _ height is:
turn_height＝R2+diff
in the formula, diff is a preset buffer distance.
As a further improvement of the method, whether the front of the vehicle is the intersection allowing the U-turn is determined by detecting a left-turn prohibition sign, a U-turn prohibition sign, double yellow lines and/or an isolation belt.
As a further improvement of the method, after it is determined that the vehicle can turn around, the intersection is marked on the map of the vehicle to mark the intersection as the intersection which can turn around, so that a turn-around navigation line can be conveniently planned when the vehicle is positioned on the road for path planning.
The invention also provides a vehicle turning-around feasibility detection device, which comprises a memory and a processor, wherein the processor is used for executing instructions stored in the memory to realize the vehicle turning-around feasibility detection method introduced above and achieve the same effect as the method.
Drawings
FIG. 1 is a schematic illustration of an intersection;
FIG. 2 is a flow chart of a vehicle u-turn feasibility detection method of the present invention;
FIG. 3 is a schematic view of the road swept by the body contour and associated parameters during a radiused turn in a vehicle of the present invention at a minimum turning radius;
FIG. 4 is a schematic illustration of a steerable intersection;
fig. 5 is a structural diagram of the vehicle turning-around detection device of the present invention.
Detailed Description
A vehicle turning-around feasibility detecting method and a vehicle turning-around feasibility detecting apparatus according to the present invention will be described in detail with reference to the accompanying drawings and embodiments.
The method comprises the following steps:
in the present embodiment, the outline of the vehicle is regarded as a rectangle, and as shown in fig. 3, its four vertices are P1, P2, P3 and P4.
The vehicle turning method can be realized in a vehicle control unit, and the information received by the vehicle control unit comprises vehicle self information, objective road information and turning attribute information. Wherein:
the vehicle own information includes the minimum turning radius RminThe vehicle body WIDTH CAR _ WIDTH, the distance BACKAXLE _2_ CAR _ HEAD from the front end to the rear axle, and the distance BACKAXLE _2_ CAR _ TALL from the rear end to the rear axle.
The objective road information includes a road maximum u-turn width road _ width and a road maximum u-turn length cross _ height. Here, road _ width and cross _ height are inherent attributes of the intersection, and the map module will directly give this information. In general, road _ width is the distance between a left-turn or u-turn lane to the leftmost lane line, and cross _ height is the longitudinal length information of an intersection. For example, as shown in fig. 1, the vehicle is at an intersection, which is one of lanes 3 of four lanes, lanes 3 and 4 are forward-traveling vehicles (upward-traveling lanes in fig. 1), lanes 1 and 2 are backward-traveling vehicles (downward-traveling lanes in fig. 1), and the road maximum u-turn length cross _ height and the road maximum u-turn width road _ width are respectively shown as the length and width indicated by arrows in fig. 1.
The U-turn attribute information includes road identification related to U-turn, which can be a no-U-turn identification, a double yellow line identification, an isolation band identification, a solid line identification, and the like. According to the road identification information, whether the position of the vehicle is in a position where the vehicle can turn around can be judged.
The vehicle control unit comprehensively calculates and processes the information to judge whether the vehicle (the own vehicle) can turn around, namely, the vehicle turning around feasibility detection method is realized, the flow is shown in fig. 2, and the steps are as follows:
step one, detecting whether the tail end of a road has a road mark related to turning around through a high-precision map, theoretically turning around can be conducted as long as the tail end of the road has no marks for prohibiting left turning, turning around, double yellow lines, isolation belts and the like, and further judging whether a certain vehicle can actually turn around to be conducted or not by executing a step two; otherwise, the vehicle cannot turn around at this time, and the vehicle cannot turn around to pass in principle.
And step two, when the road allows the turning round to pass, whether the road environment can meet the minimum turning round occupation area for a certain vehicle type needs to be further detected. Vehicle with minimum turning radius Rmin(circle center is O) occupies the minimum space in circular motion, and the vehicle is supposed to turn around by RminThe radius of the circular arc type U-turn motion is adopted. Vehicle with minimum turning radius RminWhen the vehicle makes circular arc type U-turn motion, the circular arc areas swept by two vertexes P2 and P3 on the right side of the vehicle are the largest, and the motion radiuses are respectively assumed to be R2、R3And then:
Figure BDA0002597244050000041
Figure BDA0002597244050000042
in the formula, R2、R3The distance between the center O of the circle and the vertex P2 when the vehicle performs the circular arc turning motion with the minimum turning radius, and the distance between the center O of the circle and the vertex P3 when the vehicle performs the circular arc turning motion with the minimum turning radius, are also respectively described. P2 is also the point on the vehicle head furthest from center O, and P3 is also the vertex on the vehicle tail furthest from center O.
Therefore, based on the above formula, the minimum turning radius R of the vehicle can be obtainedminDetermining R, the WIDTH CAR _ WIDTH of the vehicle body and the distance BACKAXLE _2_ CAR _ HEAD from the vehicle HEAD to the rear axle2(ii) a According to the minimum turning radius R of the vehicleminDetermining R, the WIDTH CAR _ WIDTH of the CAR body and the distance BACKAXLE _2_ CAR _ TALL from the CAR tail to the rear axle3。
Step three, according to the distance R between the circle center O and the P22Distance R between circle center O and P33And a preset buffer distance diff, determining the minimum turning radius R of the vehicleminThe transverse maximum width turn _ width of the road swept by the vehicle body profile during the arc-shaped turning motion; according to the distance R between the circle center O and P22And determining the longitudinal maximum length turn _ height of the road swept by the vehicle body outline when the vehicle performs circular motion by using the preset buffer distance diff. The formulas are respectively as follows:
turn_width＝R2+R3+diff
turn_height＝R2+diff
the theoretical maximum transverse width turn _ width is R2And R3And the maximum longitudinal length turn _ height is R2However, in order to ensure the safe and reliable passing of the vehicle, a certain buffer distance diff is reserved for the vehicle, and the specific setting amount can be set according to the actual situation.
Step four, comparing the transverse maximum width turn _ width with the road maximum turning width road _ width, and comparing the longitudinal maximum length turn _ height with the road maximum turning length cross _ height to determine whether the vehicle can turn around:
if turn _ width is less than road _ width and turn _ height is less than cross _ height, the road condition meets the range limitation of the vehicle turning behavior, and the vehicle can turn around;
if turn _ width is larger than or equal to road _ width or turn _ height is larger than or equal to cross _ height, the road condition does not meet the range limitation of the vehicle turning behavior, and turning is forbidden.
And step five, after the intersection is determined to be capable of turning around, marking can be carried out on the map of the vehicle, and the intersection is indicated to be capable of turning around for the vehicle. Therefore, when the vehicle carries out path planning, a turning path can be planned, and support is provided for subsequent automatic driving navigation path planning. After the mark is made, the vehicle of the type can know whether the intersection can turn around or not according to the mark information without judging when passing the intersection later.
Of course, when the type of the vehicle changes, the vehicle information such as the length, the width, the minimum turning radius, etc. of the vehicle itself changes, and at this time, the calculation needs to be performed again according to the above calculation process to determine whether the new type of vehicle can pass by turning around, and when it is determined that the vehicle can pass by turning around, the new type of vehicle is marked on the map.
The invention considers the length and the width of the vehicle, combines the self information of the vehicle and the objective road information, and simply and accurately judges whether the road can enable the vehicle to turn around to pass.
It should be noted that the method of the present invention does not necessarily perform the u-turn detection at the intersection, and the method of the present invention may also be used to perform the u-turn detection at some intersections that can turn around, for example, as shown in fig. 4, at this time, the maximum u-turn width road _ width and the maximum u-turn length cross _ height of the road need to be determined according to the actual situation of the road.
The embodiment of the device is as follows:
the embodiment provides a vehicle turning-around detection device, as shown in fig. 5, which includes a memory, a processor and an internal bus, wherein the processor and the memory complete mutual communication through the internal bus.
The processor can be a vehicle controller in the whole vehicle, and can also be processing devices such as other microprocessors MCU, programmable logic devices FPGA and the like except the vehicle controller in the whole vehicle.
The memory can be various memories for storing information by using an electric energy mode, such as RAM, ROM and the like; various memories for storing information by magnetic energy, such as a hard disk, a floppy disk, a magnetic tape, a core memory, a bubble memory, a usb disk, etc.; various types of memory that store information optically, such as CDs, DVDs, etc., are used. Of course, there are other types of memory, such as quantum memory, graphene memory, and the like.
The processor may invoke logic instructions in the memory to implement a vehicle u-turn feasibility detection method. The method is described in detail in the method examples.

Claims (8)

1. A vehicle turning-around feasibility detection method is characterized by comprising the following steps:
when the vehicle is in front ofWhen the direction is the intersection allowing turning around, the minimum turning radius R of the straight line of the rear axle from the center of the rear axle is determinedminThe point of (1) is the minimum turning radius R of the vehicleminThe circle center when turning around is carried out;
determining a first distance R between the center of a circle and a point on the vehicle head farthest from the center of the circle2The first distance R2The radius of a circular arc area is swept for a point on the head of the vehicle, which is farthest away from the circle center when the vehicle turns around; determining the distance R between the center of a circle and the point on the vehicle tail farthest from the center of the circle3Said second distance R3The radius of the arc area is swept by a point on the tail of the vehicle farthest from the circle center when the vehicle turns around;
according to the first distance R2And a second distance R3Determining the transverse maximum width turn _ width of the vehicle body profile passing through the road when the vehicle turns around with the minimum turning radius; according to the first distance R2Determining the longitudinal maximum length turn _ height of the vehicle body profile sweeping the road when the vehicle turns around at the minimum turning radius; the transverse direction is a direction extending along the vehicle width direction, and the longitudinal direction is a direction extending along the vehicle length direction;
and if the transverse maximum width turn _ width is smaller than the road maximum turning width road _ width and the longitudinal maximum length turn _ height is smaller than the road maximum turning length cross _ height, determining that the vehicle can turn around.
2. The vehicle u-turn feasibility detection method according to claim 1, characterized in that the minimum turning radius R of the vehicle is determined according to the minimum turning radius R of the vehicleminDetermining a first distance R, a vehicle body WIDTH CAR _ WIDTH, a vehicle HEAD to rear axle distance BACKAXLE _2_ CAR _ HEAD2：
Figure FDA0002597244040000011
3. The vehicle u-turn feasibility detection method according to claim 1, characterized in that the minimum turning radius R of the vehicle is determined according to the minimum turning radius R of the vehicleminBody width CAR _ WIDTH. And the distance BACKAXLE _2_ CAR _ TALL from the CAR tail to the rear axle, determining the second distance R3：
Figure FDA0002597244040000012
4. The vehicle turning around feasibility detection method according to claim 1, wherein the transverse maximum width turn _ width is:
turn_width＝R2+R3+diff
in the formula, diff is a preset buffer distance.
5. The vehicle turning around feasibility detection method according to claim 1, wherein the longitudinal maximum length turn _ height is as follows:
turn_height＝R2+diff
in the formula, diff is a preset buffer distance.
6. The vehicle turning around feasibility detection method according to any one of claims 1 to 5, characterized in that whether the front of the vehicle is an intersection allowing turning around is determined by detecting a left turning prohibition sign, a turning around prohibition sign, double yellow lines and/or an isolation strip.
7. The method for detecting the turning-around feasibility of the vehicle according to claim 1, wherein after the vehicle is determined to turn around, the intersection is marked on a map of the vehicle to mark the intersection as the turning-around intersection, so that a turning-around navigation line can be conveniently planned when the vehicle is positioned on the road for path planning.
8. A vehicle turning around feasibility detection apparatus, characterized by comprising a memory and a processor, wherein the processor is used for executing instructions stored in the memory to realize the vehicle turning around feasibility detection method according to any one of claims 1 to 7.
CN202010713055.2A 2020-07-22 2020-07-22 Method and device for detecting feasibility of turning around of vehicle Active CN113970339B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010713055.2A CN113970339B (en) 2020-07-22 2020-07-22 Method and device for detecting feasibility of turning around of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010713055.2A CN113970339B (en) 2020-07-22 2020-07-22 Method and device for detecting feasibility of turning around of vehicle

Publications (2)

Publication Number Publication Date
CN113970339A true CN113970339A (en) 2022-01-25
CN113970339B CN113970339B (en) 2023-08-11

Family

ID=79585319

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010713055.2A Active CN113970339B (en) 2020-07-22 2020-07-22 Method and device for detecting feasibility of turning around of vehicle

Country Status (1)

Country Link
CN (1) CN113970339B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116380106A (en) * 2023-04-10 2023-07-04 深圳支点电子智能科技有限公司 Navigation processing method and related device for turn-around intersection

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006125850A (en) * 2004-10-26 2006-05-18 Kenwood Corp Guidance route searching device and guidance route searching method
JP2006190237A (en) * 2004-12-10 2006-07-20 Toyota Motor Corp Direction change supporting system
JP2006213162A (en) * 2005-02-03 2006-08-17 Alpine Electronics Inc Vehicle drive assist device
JP2006268224A (en) * 2005-03-23 2006-10-05 Nissan Motor Co Ltd Vehicular driving assistance system
JP2007122395A (en) * 2005-10-27 2007-05-17 Aisin Aw Co Ltd Method and device for determining change of direction
JP2008008798A (en) * 2006-06-30 2008-01-17 Alpine Electronics Inc Navigation device and u-turn information providing method
CN106504545A (en) * 2016-10-26 2017-03-15 长安大学 A kind of road section traffic volume of major urban arterial highway turns around control method
CN107246878A (en) * 2017-06-28 2017-10-13 北京新能源汽车股份有限公司 Determination method, device and the automobile of a kind of guidance path
CN107662644A (en) * 2016-07-29 2018-02-06 奥迪股份公司 Vehicle for the drive assist system and method for vehicle and comprising the system
CN108449954A (en) * 2015-12-09 2018-08-24 福特全球技术公司 U turn assists
JP2018149965A (en) * 2017-03-14 2018-09-27 アイシン・エィ・ダブリュ株式会社 Display device
US20180370532A1 (en) * 2016-01-14 2018-12-27 Ford Global Technologies, Llc Assessing u-turn feasibility
US20190009778A1 (en) * 2016-01-14 2019-01-10 Ford Global Technologies, Llc U-turn assistance based on difficulty in maneuvering
CN110895407A (en) * 2018-08-22 2020-03-20 郑州宇通客车股份有限公司 Automatic driving vehicle operation control method integrating camera shooting and positioning and vehicle
CN111174802A (en) * 2018-11-12 2020-05-19 阿里巴巴集团控股有限公司 Intersection turning difficulty determining method, route planning method and terminal
KR20200055869A (en) * 2018-11-13 2020-05-22 현대자동차주식회사 Appartus and method for assisting u-turn of vehicle

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006125850A (en) * 2004-10-26 2006-05-18 Kenwood Corp Guidance route searching device and guidance route searching method
JP2006190237A (en) * 2004-12-10 2006-07-20 Toyota Motor Corp Direction change supporting system
JP2006213162A (en) * 2005-02-03 2006-08-17 Alpine Electronics Inc Vehicle drive assist device
JP2006268224A (en) * 2005-03-23 2006-10-05 Nissan Motor Co Ltd Vehicular driving assistance system
JP2007122395A (en) * 2005-10-27 2007-05-17 Aisin Aw Co Ltd Method and device for determining change of direction
JP2008008798A (en) * 2006-06-30 2008-01-17 Alpine Electronics Inc Navigation device and u-turn information providing method
CN108449954A (en) * 2015-12-09 2018-08-24 福特全球技术公司 U turn assists
US20190009778A1 (en) * 2016-01-14 2019-01-10 Ford Global Technologies, Llc U-turn assistance based on difficulty in maneuvering
US20180370532A1 (en) * 2016-01-14 2018-12-27 Ford Global Technologies, Llc Assessing u-turn feasibility
CN107662644A (en) * 2016-07-29 2018-02-06 奥迪股份公司 Vehicle for the drive assist system and method for vehicle and comprising the system
CN106504545A (en) * 2016-10-26 2017-03-15 长安大学 A kind of road section traffic volume of major urban arterial highway turns around control method
JP2018149965A (en) * 2017-03-14 2018-09-27 アイシン・エィ・ダブリュ株式会社 Display device
CN107246878A (en) * 2017-06-28 2017-10-13 北京新能源汽车股份有限公司 Determination method, device and the automobile of a kind of guidance path
CN110895407A (en) * 2018-08-22 2020-03-20 郑州宇通客车股份有限公司 Automatic driving vehicle operation control method integrating camera shooting and positioning and vehicle
CN111174802A (en) * 2018-11-12 2020-05-19 阿里巴巴集团控股有限公司 Intersection turning difficulty determining method, route planning method and terminal
KR20200055869A (en) * 2018-11-13 2020-05-22 현대자동차주식회사 Appartus and method for assisting u-turn of vehicle

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
CHUN-WEI CHANG等: "Multi-point turn decision making framework for human-like automated driving", 《2017 IEEE 20TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEM（ITSC）》, pages 1 - 6 *
孙永刚;孟杰;张欣欣;: "城市道路掉头车道设置研究", 市政技术, no. 01, pages 26 - 29 *
张卫华等: "道路平面交叉口次路远引几何参数设置及通行效率研究", 土木工程学报, vol. 50, no. 10, pages 121 - 128 *
张海雷;: "信号控制交叉口掉头交通设计研究", 道路交通与安全, no. 06, pages 8 - 12 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116380106A (en) * 2023-04-10 2023-07-04 深圳支点电子智能科技有限公司 Navigation processing method and related device for turn-around intersection

Also Published As

Publication number Publication date
CN113970339B (en) 2023-08-11

Similar Documents

Publication Publication Date Title
US11532167B2 (en) State machine for obstacle avoidance
CN109927716B (en) Autonomous vertical parking method based on high-precision map
CN111750886B (en) Local path planning method and device
CN106355918B (en) Control method, the device and system of automatic driving vehicle
CN110533913A (en) Method for early warning, device, vehicle and the storage medium of vehicle collision
CN109709943B (en) Method for selecting station-entering stop points of automatically driven buses
WO2010109805A1 (en) Device and method for generating route restriction information of intersection, computer program for generating route restriction information of intersection, and recording medium for recording computer program
US11161506B2 (en) Travel support device and non-transitory computer-readable medium
CN104044587A (en) System and method for improving sensor visibility of vehicle in autonomous driving mode
JP2017516135A (en) Detailed map format for autonomous driving
US11747166B2 (en) Driving environment information generation method, driving control method, driving environment information generation device
JP7193948B2 (en) Automated driving support device
JP2022545173A (en) Polyline contour representation of an autonomous vehicle
CN111781933A (en) High-speed automatic driving vehicle implementation system and method based on edge calculation and spatial intelligence
US20220091616A1 (en) Autonomous driving method, intelligent control device and autonomous driving vehicle
JP7299976B2 (en) Environmental target feature point extraction method and apparatus
JP6297482B2 (en) Information processing device
CN104697542A (en) Route guidance apparatus and method using drive lane recognition
CN113619603B (en) Method for planning turning track of double-stage automatic driving vehicle
JP2016037266A (en) Travelling control device and travelling control method
KR102395285B1 (en) Method for determining danger of around vehicle
WO2022227878A1 (en) Lane line labeling method and apparatus
CN113696886B (en) Automatic determination method and device for parking track, medium and electronic equipment
US11480962B1 (en) Dynamic lane expansion
CN113970339A (en) Vehicle turning feasibility detection 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
CB02 Change of applicant information

Address after: No. 6, Yutong Road, Guancheng Hui District, Zhengzhou, Henan 450061

Applicant after: Yutong Bus Co.,Ltd.

Address before: No.1, Shibali Heyu Road, Guancheng Hui District, Zhengzhou City, Henan Province

Applicant before: ZHENGZHOU YUTONG BUS Co.,Ltd.

CB02 Change of applicant information
GR01 Patent grant
GR01 Patent grant