CN114829226A - 车辆控制方法、设备、存储介质和电子装置 - Google Patents
车辆控制方法、设备、存储介质和电子装置 Download PDFInfo
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- CN114829226A CN114829226A CN202180005858.5A CN202180005858A CN114829226A CN 114829226 A CN114829226 A CN 114829226A CN 202180005858 A CN202180005858 A CN 202180005858A CN 114829226 A CN114829226 A CN 114829226A
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18159—Traversing an intersection
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- 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
- B60W40/02—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 ambient conditions
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B60—VEHICLES IN GENERAL
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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- 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
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- 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
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
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Abstract
一种车辆控制方法、设备、存储介质和电子装置。该方法包括:获取目标车辆(202)的实时路况信息;当实时路况信息表明目标车辆(202)到达目标路口(20)时,获取当前行驶状态下目标车辆(202)的第一车辆状态信息,以及获取当前行驶状态下目标车辆(202)在目标路口(20)所在区域的第二车辆状态信息,其中,目标车辆(202)包括通过目标路口(20)的周围车辆(206)和为目标车辆(202)的当前观察视野配置的虚拟车辆(204‑1、204‑2;602‑1~602‑9);将第一车辆状态信息和第二车辆状态信息输入到车辆运动预测模型中,获取预测结果,其中,车辆运动预测模型用于基于当前控制周期的车辆状态信息来预测车辆在下一控制周期的行驶动作;根据预测结果控制目标车辆(202)以执行目标行驶动作。
Description
PCT国内申请,说明书已公开。
Claims (12)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/033,982 US11866070B2 (en) | 2020-09-28 | 2020-09-28 | Vehicle control method and apparatus, storage medium, and electronic device |
US17/033,982 | 2020-09-28 | ||
PCT/CN2021/083039 WO2022062349A1 (zh) | 2020-09-28 | 2021-03-25 | 车辆控制方法、设备、存储介质和电子装置 |
Publications (1)
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CN114829226A true CN114829226A (zh) | 2022-07-29 |
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CN202180005858.5A Pending CN114829226A (zh) | 2020-09-28 | 2021-03-25 | 车辆控制方法、设备、存储介质和电子装置 |
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US (1) | US11866070B2 (zh) |
CN (1) | CN114829226A (zh) |
WO (1) | WO2022062349A1 (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US20230030815A1 (en) * | 2021-07-29 | 2023-02-02 | Argo AI, LLC | Complementary control system for an autonomous vehicle |
US20230159026A1 (en) * | 2021-11-19 | 2023-05-25 | Motional Ad Llc | Predicting Motion of Hypothetical Agents |
CN115123131B (zh) * | 2022-07-08 | 2024-01-09 | 浙江吉利控股集团有限公司 | 车辆安全电子控制方法、装置、设备及存储介质 |
CN114872735B (zh) * | 2022-07-10 | 2022-10-04 | 成都工业职业技术学院 | 基于神经网络算法的自动驾驶物流车辆决策方法和装置 |
CN115610435B (zh) * | 2022-12-02 | 2023-04-11 | 福思(杭州)智能科技有限公司 | 对象行驶意图的预测方法和装置、存储介质及电子装置 |
CN117523874B (zh) * | 2024-01-05 | 2024-04-12 | 每日互动股份有限公司 | 一种车辆通行状态的获取方法、装置、介质及电子设备 |
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US9037404B2 (en) * | 2013-06-01 | 2015-05-19 | Savari, Inc. | System and method for map matching |
EP3091370B1 (en) * | 2015-05-05 | 2021-01-06 | Volvo Car Corporation | Method and arrangement for determining safe vehicle trajectories |
CN110603497B (zh) * | 2017-02-10 | 2021-11-16 | 日产北美公司 | 自主车辆操作管理控制的自主车辆和方法 |
US10627812B2 (en) * | 2017-02-14 | 2020-04-21 | Honda Research Institute Europe Gmbh | Risk based driver assistance for approaching intersections of limited visibility |
US11669653B2 (en) * | 2017-05-02 | 2023-06-06 | The Regents Of The University Of Michigan | Simulated vehicle traffic for autonomous vehicles |
US11112259B2 (en) * | 2017-10-24 | 2021-09-07 | Nissan North America, Inc. | Localization determination for vehicle operation |
US11480971B2 (en) * | 2018-05-01 | 2022-10-25 | Honda Motor Co., Ltd. | Systems and methods for generating instructions for navigating intersections with autonomous vehicles |
CN109933086B (zh) | 2019-03-14 | 2022-08-30 | 天津大学 | 基于深度q学习的无人机环境感知与自主避障方法 |
KR20210134635A (ko) * | 2019-03-29 | 2021-11-10 | 인텔 코포레이션 | 자율 주행 차량 시스템 |
US11834045B2 (en) * | 2019-10-08 | 2023-12-05 | Motional Ad Llc | Navigating multi-way stop intersections with an autonomous vehicle |
CN114845914A (zh) * | 2019-12-30 | 2022-08-02 | 辉达公司 | 自主机器应用中的车道变换规划和控制 |
EP4039557A1 (en) * | 2021-02-09 | 2022-08-10 | Aptiv Technologies Limited | Trajectory validation for autonomous driving |
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2020
- 2020-09-28 US US17/033,982 patent/US11866070B2/en active Active
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2021
- 2021-03-25 CN CN202180005858.5A patent/CN114829226A/zh active Pending
- 2021-03-25 WO PCT/CN2021/083039 patent/WO2022062349A1/zh active Application Filing
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WO2022062349A1 (zh) | 2022-03-31 |
US20220097736A1 (en) | 2022-03-31 |
US11866070B2 (en) | 2024-01-09 |
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