CN115769050A - 本车位置估计装置、行驶控制装置 - Google Patents

本车位置估计装置、行驶控制装置 Download PDF

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Publication number
CN115769050A
CN115769050A CN202180047944.2A CN202180047944A CN115769050A CN 115769050 A CN115769050 A CN 115769050A CN 202180047944 A CN202180047944 A CN 202180047944A CN 115769050 A CN115769050 A CN 115769050A
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CN
China
Prior art keywords
vehicle
environment
harsh environment
unit
speed
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
CN202180047944.2A
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English (en)
Chinese (zh)
Inventor
寺泽智仁
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.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Publication of CN115769050A publication Critical patent/CN115769050A/zh
Pending legal-status Critical Current

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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
    • 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
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W30/146—Speed limiting
    • 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
    • B60W50/0097—Predicting future conditions
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2556/25—Data precision
    • 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)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN202180047944.2A 2020-07-07 2021-07-05 本车位置估计装置、行驶控制装置 Pending CN115769050A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020-117248 2020-07-07
JP2020117248 2020-07-07
PCT/JP2021/025363 WO2022009848A1 (ja) 2020-07-07 2021-07-05 自車位置推定装置、走行制御装置

Publications (1)

Publication Number Publication Date
CN115769050A true CN115769050A (zh) 2023-03-07

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180047944.2A Pending CN115769050A (zh) 2020-07-07 2021-07-05 本车位置估计装置、行驶控制装置

Country Status (4)

Country Link
US (1) US12344250B2 (https=)
JP (1) JP7371783B2 (https=)
CN (1) CN115769050A (https=)
WO (1) WO2022009848A1 (https=)

Cited By (3)

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CN117647253A (zh) * 2023-11-21 2024-03-05 西部科学城智能网联汽车创新中心(重庆)有限公司 基于v2v通信技术与高精地图匹配的车辆高精度定位方法
CN119022922A (zh) * 2024-10-29 2024-11-26 青岛英飞凌电子技术有限公司 楼宇间组合定位方法和装置
US20250115259A1 (en) * 2022-03-29 2025-04-10 Hitachi Astemo, Ltd. Arithmetic processing device and arithmetic processing method

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WO2020255748A1 (ja) * 2019-06-21 2020-12-24 日立オートモティブシステムズ株式会社 車両制御装置
US11548505B2 (en) * 2019-12-09 2023-01-10 Magna Electronics Inc. Vehicular speed control system with automatic setting parameters
JP7191278B2 (ja) * 2020-09-11 2022-12-16 三菱電機株式会社 測位システム、測位方法、および、測位プログラム
USD1066364S1 (en) * 2021-01-08 2025-03-11 Sony Group Corporation Display screen or portion thereof with animated graphical user interface
JP7228614B2 (ja) * 2021-03-24 2023-02-24 本田技研工業株式会社 画像表示システム
WO2023280410A1 (en) * 2021-07-08 2023-01-12 Telefonaktiebolaget Lm Ericsson (Publ) Supporting localization and mapping using a heterogeneous map
DE102022102567B4 (de) * 2022-02-03 2024-08-14 Cariad Se Verfahren und Prozessorschaltung zum Lokalisieren eines Kraftfahrzeugs in einer Umgebung während einer Fahrt sowie entsprechend ausgestattetes Kraftfahrzeug
JP7550811B2 (ja) * 2022-03-30 2024-09-13 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
CN114872708B (zh) * 2022-05-19 2024-06-18 一汽奔腾轿车有限公司 基于模糊推理和有限状态机的换道决策方法及系统
JP2023175538A (ja) * 2022-05-30 2023-12-12 ダイハツ工業株式会社 車載装置
JP7773443B2 (ja) * 2022-08-19 2025-11-19 株式会社 ミックウェア 荒天映像提供システム、管理装置、及び荒天映像提供方法
CN115440034B (zh) * 2022-08-24 2023-09-01 同济大学 一种基于摄像头的车路协同实现方法及实现系统
KR20240063572A (ko) * 2022-11-03 2024-05-10 현대자동차주식회사 차량의 주행경로 예측 장치 및 그 방법
JP7754067B2 (ja) * 2022-11-25 2025-10-15 トヨタ自動車株式会社 車両制御装置、車両制御方法及びプログラム
JP7584488B2 (ja) * 2022-12-20 2024-11-15 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
DE102023200278A1 (de) * 2023-01-16 2024-07-18 Hitachi Astemo, Ltd. Steuervorrichtung, Verfahren und Computerprogrammprodukt
JP2024112709A (ja) * 2023-02-08 2024-08-21 トヨタ自動車株式会社 車両用表示装置、車両用表示方法、及び車両用表示プログラム
JP2024151597A (ja) * 2023-04-12 2024-10-25 トヨタ自動車株式会社 情報処理装置
JP2025024419A (ja) * 2023-08-07 2025-02-20 トヨタ自動車株式会社 車両制御システム及び車両制御方法
US12561988B2 (en) * 2024-03-21 2026-02-24 Atieva, Inc. Method and apparatus for determining lane level localization of a vehicle with global coordinates
CN118298626B (zh) * 2024-03-26 2026-03-10 武汉理工大学 基于路侧视频流轨迹跟踪的隧道车辆辅助定位方法
WO2026069654A1 (ja) * 2024-09-30 2026-04-02 本田技研工業株式会社 移動体の制御装置、移動体制御システム、移動体の制御方法、および記憶媒体

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JP4903426B2 (ja) * 2005-11-30 2012-03-28 アイシン・エィ・ダブリュ株式会社 画像認識装置及び方法、並びに自車位置認識装置及び方法
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JP6325806B2 (ja) * 2013-12-06 2018-05-16 日立オートモティブシステムズ株式会社 車両位置推定システム
JP6348785B2 (ja) 2014-06-27 2018-06-27 株式会社Ｓｕｂａｒｕ 車両の運転支援装置
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JP7080598B2 (ja) * 2017-07-21 2022-06-06 ソニーセミコンダクタソリューションズ株式会社 車両制御装置および車両制御方法
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250115259A1 (en) * 2022-03-29 2025-04-10 Hitachi Astemo, Ltd. Arithmetic processing device and arithmetic processing method
CN117647253A (zh) * 2023-11-21 2024-03-05 西部科学城智能网联汽车创新中心(重庆)有限公司 基于v2v通信技术与高精地图匹配的车辆高精度定位方法
CN119022922A (zh) * 2024-10-29 2024-11-26 青岛英飞凌电子技术有限公司 楼宇间组合定位方法和装置

Also Published As

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JP7371783B2 (ja) 2023-10-31
WO2022009848A1 (ja) 2022-01-13
US12344250B2 (en) 2025-07-01
JPWO2022009848A1 (https=) 2022-01-13
US20230147535A1 (en) 2023-05-11

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