CN114206699A - 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
CN114206699A
CN114206699A CN201980097448.0A CN201980097448A CN114206699A CN 114206699 A CN114206699 A CN 114206699A CN 201980097448 A CN201980097448 A CN 201980097448A CN 114206699 A CN114206699 A CN 114206699A
Authority
CN
China
Prior art keywords
vehicle
host vehicle
lane
target
travel
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
Application number
CN201980097448.0A
Other languages
English (en)
Chinese (zh)
Inventor
谷口弘树
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 CN114206699A publication Critical patent/CN114206699A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current 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
    • 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
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/114—Yaw 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
    • 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
    • B60W2552/10—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
    • 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
    • B60W2554/4041—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
    • B60W2554/4049—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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
CN201980097448.0A 2019-06-14 2019-06-14 车辆的行驶控制方法及行驶控制装置 Pending CN114206699A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/000625 WO2020249993A1 (ja) 2019-06-14 2019-06-14 車両の走行制御方法及び走行制御装置

Publications (1)

Publication Number Publication Date
CN114206699A true CN114206699A (zh) 2022-03-18

Family

ID=73781157

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980097448.0A Pending CN114206699A (zh) 2019-06-14 2019-06-14 车辆的行驶控制方法及行驶控制装置

Country Status (5)

Country Link
US (1) US11524704B2 (https=)
EP (1) EP3984848B1 (https=)
JP (1) JP7314995B2 (https=)
CN (1) CN114206699A (https=)
WO (1) WO2020249993A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114771565A (zh) * 2022-04-08 2022-07-22 合众新能源汽车有限公司 自动驾驶车辆的右转控制方法、装置及车辆、存储介质
US20220335828A1 (en) * 2021-04-14 2022-10-20 Toyota Jidosha Kabushiki Kaisha Position information acquisition system and position information acquisition method

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7400508B2 (ja) * 2020-02-03 2023-12-19 株式会社デンソー 軌道生成装置、軌道生成方法、軌道生成プログラム
US11925132B2 (en) * 2021-06-30 2024-03-12 Deere & Company Methods, apparatus, and articles of manufacture to generate acquisition paths
JP7838515B2 (ja) * 2023-05-09 2026-04-01 トヨタ自動車株式会社 情報処理装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011089354A (ja) * 2009-10-26 2011-05-06 Ihi Transport Machinery Co Ltd 自走機能付車両の乗り捨て駐車装置
CN106064626A (zh) * 2015-04-20 2016-11-02 丰田自动车株式会社 车辆行驶控制装置
JPWO2017047261A1 (ja) * 2015-09-17 2018-03-15 日立オートモティブシステムズ株式会社 車線変更制御装置
WO2018070015A1 (ja) * 2016-10-13 2018-04-19 日産自動車株式会社 車両はみ出し判断方法及び車両はみ出し判断装置
CN108177653A (zh) * 2016-12-08 2018-06-19 本田技研工业株式会社 车辆控制装置
CN109195846A (zh) * 2016-05-31 2019-01-11 本田技研工业株式会社 车辆控制系统、车辆控制方法及车辆控制程序

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3520691B2 (ja) * 1996-09-30 2004-04-19 株式会社日立製作所 移動体制御システム
JP2006252533A (ja) * 2005-02-08 2006-09-21 Matsushita Electric Ind Co Ltd ナビゲーションシステムおよびその端末装置、センタ装置、待ち行列検出方法、および、それを実行するプログラム、そのプログラムを記録した記録媒体
JP6547434B2 (ja) * 2015-06-15 2019-07-24 日産自動車株式会社 停車位置設定装置及び方法
JP2018077565A (ja) * 2016-11-07 2018-05-17 本田技研工業株式会社 車両制御装置
JP7043295B2 (ja) * 2018-03-07 2022-03-29 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
JP7151185B2 (ja) * 2018-06-06 2022-10-12 株式会社デンソー 車両制御装置
GB2579020B (en) * 2018-11-14 2021-05-12 Jaguar Land Rover Ltd Vehicle control system and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011089354A (ja) * 2009-10-26 2011-05-06 Ihi Transport Machinery Co Ltd 自走機能付車両の乗り捨て駐車装置
CN106064626A (zh) * 2015-04-20 2016-11-02 丰田自动车株式会社 车辆行驶控制装置
JPWO2017047261A1 (ja) * 2015-09-17 2018-03-15 日立オートモティブシステムズ株式会社 車線変更制御装置
CN109195846A (zh) * 2016-05-31 2019-01-11 本田技研工业株式会社 车辆控制系统、车辆控制方法及车辆控制程序
WO2018070015A1 (ja) * 2016-10-13 2018-04-19 日産自動車株式会社 車両はみ出し判断方法及び車両はみ出し判断装置
CN108177653A (zh) * 2016-12-08 2018-06-19 本田技研工业株式会社 车辆控制装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220335828A1 (en) * 2021-04-14 2022-10-20 Toyota Jidosha Kabushiki Kaisha Position information acquisition system and position information acquisition method
CN114771565A (zh) * 2022-04-08 2022-07-22 合众新能源汽车有限公司 自动驾驶车辆的右转控制方法、装置及车辆、存储介质

Also Published As

Publication number Publication date
WO2020249993A1 (ja) 2020-12-17
EP3984848B1 (en) 2023-04-26
JPWO2020249993A1 (https=) 2020-12-17
US20220204053A1 (en) 2022-06-30
JP7314995B2 (ja) 2023-07-26
EP3984848A1 (en) 2022-04-20
EP3984848A4 (en) 2022-08-03
US11524704B2 (en) 2022-12-13

Similar Documents

Publication Publication Date Title
CN110281930B (zh) 车辆控制装置、车辆、车辆控制方法以及存储介质
CN110546461B (zh) 驾驶控制方法以及驾驶控制装置
EP3984848B1 (en) Vehicle travel control method and travel control device
US11745763B2 (en) Vehicle travel assistance method and vehicle travel assistance device
KR102588008B1 (ko) 진입하거나 진출하는 차량을 검출하기 위한 방법 및 제어 유닛
JP2020163900A (ja) 車両制御装置、車両制御方法、及びプログラム
US11780474B2 (en) Vehicle travel control method and vehicle travel control device
JP7341806B2 (ja) 運転制御方法及び運転制御装置
WO2021005392A1 (ja) 運転制御方法及び運転制御装置
JP7258677B2 (ja) 運転制御方法及び運転制御装置
JP7250624B2 (ja) 車両の走行制御方法及び走行制御装置
EP4119409A1 (en) Travel route setting method and travel route setting device
CN115214621A (zh) 用于支持车辆的盲区转弯行为的方法和设备
JP7819573B2 (ja) 経路生成方法及び経路生成装置
JP2021172265A (ja) 車両の走行支援方法および走行支援装置
CN118019675B (zh) 行驶辅助方法及行驶辅助装置
JP2023167861A (ja) 車両の運転支援方法及び運転支援装置
RU2776268C1 (ru) Способ управления движением для транспортного средства и устройство управления движением для транспортного средства
JP7298180B2 (ja) 車両の走行制御方法及び走行制御装置
US12570307B2 (en) Information providing device and information providing method
JP7826768B2 (ja) 運転支援方法及び運転支援装置
JP7826816B2 (ja) 運転支援方法及び運転支援装置
RU2783328C1 (ru) Способ управления движением и устройство управления движением для транспортного средства
JP2024006451A (ja) 走行制御方法及び走行制御装置
CN120704316A (zh) 移动体控制装置、移动体控制方法以及存储介质

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