CN114728657B - 车辆控制方法及车辆控制装置 - Google Patents

车辆控制方法及车辆控制装置 Download PDF

Info

Publication number
CN114728657B
CN114728657B CN201980102251.1A CN201980102251A CN114728657B CN 114728657 B CN114728657 B CN 114728657B CN 201980102251 A CN201980102251 A CN 201980102251A CN 114728657 B CN114728657 B CN 114728657B
Authority
CN
China
Prior art keywords
vehicle
traffic signal
host vehicle
camera
lane
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
CN201980102251.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN114728657A (zh
Inventor
坂仓玲雄
藤田晋
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 CN114728657A publication Critical patent/CN114728657A/zh
Application granted granted Critical
Publication of CN114728657B publication Critical patent/CN114728657B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B60W30/14—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
    • 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
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • 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
    • B60W2554/4048—Field of view, e.g. obstructed view or direction of gaze
    • 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
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—Lateral distance
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Landscapes

  • 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)
CN201980102251.1A 2019-11-15 2019-11-15 车辆控制方法及车辆控制装置 Active CN114728657B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/001272 WO2021094802A1 (ja) 2019-11-15 2019-11-15 車両制御方法及び車両制御装置

Publications (2)

Publication Number Publication Date
CN114728657A CN114728657A (zh) 2022-07-08
CN114728657B true CN114728657B (zh) 2025-07-01

Family

ID=75912060

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980102251.1A Active CN114728657B (zh) 2019-11-15 2019-11-15 车辆控制方法及车辆控制装置

Country Status (7)

Country Link
US (1) US11987245B2 (https=)
EP (1) EP4059795B1 (https=)
JP (1) JP7334795B2 (https=)
CN (1) CN114728657B (https=)
BR (1) BR112022009416A2 (https=)
MX (1) MX2022005699A (https=)
WO (1) WO2021094802A1 (https=)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7431108B2 (ja) * 2020-06-02 2024-02-14 株式会社Soken 画像認識装置
US12005926B2 (en) * 2020-12-31 2024-06-11 Waymo Llc Traffic light viewsheds
DE102021003918A1 (de) * 2021-07-30 2023-02-02 Mercedes-Benz Group AG Verfahren zur Bestimmung einer Aktionsstrategie eines im automatisierten Fahrbetrieb fahrenden Fahrzeuges
DE102021209977A1 (de) * 2021-09-09 2023-03-09 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Steuergerät
JP7442948B2 (ja) * 2021-10-18 2024-03-05 矢崎総業株式会社 車外表示装置
US12248325B2 (en) * 2021-10-18 2025-03-11 Y.E. Hub Armenia LLC Mobile robot and a method for controlling the mobile robot
DE102021005311A1 (de) * 2021-10-26 2023-04-27 Mercedes-Benz Group AG Verfahren zur automatischen Regelung einer Längsbewegung eines Fahrzeuges
KR20230168859A (ko) * 2022-06-08 2023-12-15 현대모비스 주식회사 자동차 조명 장치 및 그 작동 방법
US12526517B2 (en) * 2022-07-28 2026-01-13 Ricoh Company, Ltd. Method for capturing image, method for processing image, image capturing system, and information processing system
KR20240068861A (ko) * 2022-11-09 2024-05-20 삼성전자주식회사 자율 주행 계획 장치 및 방법
JP7611950B2 (ja) * 2023-01-31 2025-01-10 ダイハツ工業株式会社 運転支援装置
US12260749B2 (en) * 2023-01-31 2025-03-25 GM Global Technology Operations LLC Methods and systems for sensor fusion for traffic intersection assist
JP7614239B2 (ja) * 2023-01-31 2025-01-15 ダイハツ工業株式会社 運転支援装置
DE102023130485B3 (de) * 2023-11-03 2025-01-23 Bayerische Motoren Werke Aktiengesellschaft Fahrassistenzsystem und Fahrassistenzverfahren für ein Fahrzeug

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009001245A (ja) * 2007-06-25 2009-01-08 Hitachi Ltd 車両走行支援制御装置
CN104066638A (zh) * 2012-12-03 2014-09-24 康蒂特米克微电子有限公司 用于辅助车辆的探测交通信号灯的交通信号灯阶段辅助装置的方法
JP2016049933A (ja) * 2014-09-02 2016-04-11 アイシン・エィ・ダブリュ株式会社 走行支援システム、走行支援方法及びコンピュータプログラム
CN109720344A (zh) * 2017-10-26 2019-05-07 丰田自动车株式会社 行驶控制装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007320458A (ja) * 2006-06-01 2007-12-13 Toyota Motor Corp 車間距離制御装置
JP5970858B2 (ja) * 2012-02-29 2016-08-17 日産自動車株式会社 車両制御装置及び車両制御方法
US8793046B2 (en) * 2012-06-01 2014-07-29 Google Inc. Inferring state of traffic signal and other aspects of a vehicle's environment based on surrogate data
JP6194245B2 (ja) 2013-12-27 2017-09-06 株式会社Ｓｕｂａｒｕ 信号機認識装置
EP3306589B1 (en) * 2015-06-05 2019-01-09 Nissan Motor Co., Ltd. Traffic signal detection device and traffic signal detection method
JP6623082B2 (ja) 2016-02-29 2019-12-18 日立オートモティブシステムズ株式会社 車両制御装置
CN110325421B (zh) * 2017-03-03 2022-07-15 日立安斯泰莫株式会社 移动体行驶辅助装置及方法
JP6760231B2 (ja) 2017-09-01 2020-09-23 株式会社デンソー 衝突回避支援装置
JP2019079126A (ja) 2017-10-20 2019-05-23 トヨタ自動車株式会社 車両
JP7067067B2 (ja) * 2018-01-11 2022-05-16 トヨタ自動車株式会社 信号機認識装置、及び自動運転システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009001245A (ja) * 2007-06-25 2009-01-08 Hitachi Ltd 車両走行支援制御装置
CN104066638A (zh) * 2012-12-03 2014-09-24 康蒂特米克微电子有限公司 用于辅助车辆的探测交通信号灯的交通信号灯阶段辅助装置的方法
JP2016049933A (ja) * 2014-09-02 2016-04-11 アイシン・エィ・ダブリュ株式会社 走行支援システム、走行支援方法及びコンピュータプログラム
CN109720344A (zh) * 2017-10-26 2019-05-07 丰田自动车株式会社 行驶控制装置

Also Published As

Publication number Publication date
EP4059795A1 (en) 2022-09-21
MX2022005699A (es) 2022-06-08
BR112022009416A2 (pt) 2022-08-09
US20220402492A1 (en) 2022-12-22
US11987245B2 (en) 2024-05-21
WO2021094802A1 (ja) 2021-05-20
EP4059795A4 (en) 2022-12-21
EP4059795B1 (en) 2024-01-10
JPWO2021094802A1 (https=) 2021-05-20
CN114728657A (zh) 2022-07-08
JP7334795B2 (ja) 2023-08-29

Similar Documents

Publication Publication Date Title
CN114728657B (zh) 车辆控制方法及车辆控制装置
US11313976B2 (en) Host vehicle position estimation device
JP7251611B2 (ja) 移動体の挙動予測方法、挙動予測装置及び車両
CN108688660B (zh) 运行范围确定装置
KR20190008292A (ko) 물체 검출 방법 및 물체 검출 장치
US12036978B2 (en) Driving assistance method and driving assistance device
JP7435513B2 (ja) 車両制御装置及び車両制御方法
CN112513955A (zh) 行驶轨道生成方法及行驶轨道生成装置
US20240059288A1 (en) Vehicle control device, storage medium storing computer program for vehicle control, and method for controlling vehicle
JP7666448B2 (ja) 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム
CN111497830B (zh) 报告装置以及车辆控制装置
JP7458743B2 (ja) 車両制御方法及び車両制御装置
JP7593380B2 (ja) 車両制御装置、車両制御用コンピュータプログラム及び車両制御方法
JP2018185156A (ja) 物標位置推定方法及び物標位置推定装置
US20210191423A1 (en) Self-Location Estimation Method and Self-Location Estimation Device
JP7458797B2 (ja) 走行支援方法及び走行支援装置
RU2788556C1 (ru) Способ управления транспортным средством и устройство управления транспортным средством
JP7236279B2 (ja) 走行支援方法及び走行支援装置
CN118302348B (zh) 车辆控制方法及车辆控制装置
JP7800262B2 (ja) 先行車両判定方法及び先行車両判定装置
CN114987528B (zh) 地图生成装置
JP7632419B2 (ja) 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム
US12420841B2 (en) Vehicle controller, vehicle control method, and vehicle control computer program for vehicle control
CN118715557B (zh) 车道识别方法及车道识别装置
JP7538740B2 (ja) 運転支援方法及び運転支援装置

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