CN115996870B - 车辆控制装置、车辆控制方法及存储介质 - Google Patents

车辆控制装置、车辆控制方法及存储介质

Info

Publication number
CN115996870B
CN115996870B CN202080104184.XA CN202080104184A CN115996870B CN 115996870 B CN115996870 B CN 115996870B CN 202080104184 A CN202080104184 A CN 202080104184A CN 115996870 B CN115996870 B CN 115996870B
Authority
CN
China
Prior art keywords
vehicle
coordinate points
driving
automatic driving
mode
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
CN202080104184.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN115996870A (zh
Inventor
比田胜翔
诹访利和
中岛巨树
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.)
Honda Motor Co Ltd
Original Assignee
Honda 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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of CN115996870A publication Critical patent/CN115996870A/zh
Application granted granted Critical
Publication of CN115996870B publication Critical patent/CN115996870B/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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • 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
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • 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
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • 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
    • 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
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • 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
    • 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 of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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
    • B60W2720/106—Longitudinal acceleration
    • 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
    • B60W40/08—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 drivers or passengers
    • B60W40/09—Driving style or behaviour

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)
CN202080104184.XA 2020-12-28 2020-12-28 车辆控制装置、车辆控制方法及存储介质 Active CN115996870B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/049140 WO2022144974A1 (ja) 2020-12-28 2020-12-28 車両制御装置、車両制御方法、及びプログラム

Publications (2)

Publication Number Publication Date
CN115996870A CN115996870A (zh) 2023-04-21
CN115996870B true CN115996870B (zh) 2025-08-08

Family

ID=82260320

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080104184.XA Active CN115996870B (zh) 2020-12-28 2020-12-28 车辆控制装置、车辆控制方法及存储介质

Country Status (4)

Country Link
US (1) US12269513B2 (https=)
JP (1) JP7109709B1 (https=)
CN (1) CN115996870B (https=)
WO (1) WO2022144974A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115042820A (zh) * 2022-07-11 2022-09-13 北京主线科技有限公司 自动驾驶车辆控制方法、装置、设备及存储介质
JP7666483B2 (ja) * 2022-10-17 2025-04-22 トヨタ自動車株式会社 移動体制御システム及び移動体制御方法
JP7754879B2 (ja) * 2023-05-10 2025-10-15 ウーブン・バイ・トヨタ株式会社 地図情報記憶装置、地図情報記憶用コンピュータプログラム及び地図情報記憶方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017215653A (ja) * 2016-05-30 2017-12-07 株式会社デンソー 詳細経路作成装置、車両用自動運転システム及び詳細経路作成プログラム

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005340975A (ja) * 2004-05-24 2005-12-08 Clarion Co Ltd 移動体用電子機器
JP5511534B2 (ja) * 2010-06-16 2014-06-04 三菱電機株式会社 地図情報処理装置
WO2016080452A1 (ja) * 2014-11-19 2016-05-26 エイディシーテクノロジー株式会社 自動運転制御装置
JP6411956B2 (ja) * 2015-06-24 2018-10-24 本田技研工業株式会社 車両制御装置、および車両制御方法
JP6696273B2 (ja) * 2016-04-08 2020-05-20 株式会社デンソー 地図データ提供装置
JP6699726B2 (ja) 2016-05-27 2020-05-27 日産自動車株式会社 運転制御方法及び運転制御装置
KR20180112949A (ko) 2017-04-05 2018-10-15 현대자동차주식회사 차량의 자율 주행 제어 시스템 및 그를 이용한 자율 주행 제어방법
JP6925713B2 (ja) 2017-05-11 2021-08-25 アルパイン株式会社 自動運転可否通知システム
WO2020045322A1 (ja) * 2018-08-31 2020-03-05 株式会社デンソー 地図システム、車両側装置、方法および記憶媒体
US20200278684A1 (en) * 2019-03-01 2020-09-03 GM Global Technology Operations LLC Methods and systems for controlling lateral position of vehicle through intersection

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017215653A (ja) * 2016-05-30 2017-12-07 株式会社デンソー 詳細経路作成装置、車両用自動運転システム及び詳細経路作成プログラム

Also Published As

Publication number Publication date
WO2022144974A1 (ja) 2022-07-07
US12269513B2 (en) 2025-04-08
CN115996870A (zh) 2023-04-21
JP7109709B1 (ja) 2022-07-29
US20230331260A1 (en) 2023-10-19
JPWO2022144974A1 (https=) 2022-07-07

Similar Documents

Publication Publication Date Title
CN116803799B (zh) 车辆控制装置、车辆控制方法及存储介质
CN114644013B (zh) 车辆控制装置、车辆控制方法及存储介质
CN116568580B (zh) 车辆控制装置
CN116788252B (zh) 车辆控制装置、车辆控制方法及存储介质
JP7425132B1 (ja) 車両制御装置、車両制御方法、およびプログラム
CN115996870B (zh) 车辆控制装置、车辆控制方法及存储介质
CN117584997A (zh) 车辆控制装置、车辆控制方法以及存储介质
CN115140080A (zh) 车辆控制装置及方法、路径生成装置及方法、存储介质
CN115140083B (zh) 车辆控制装置、车辆控制方法及存储介质
CN116890824A (zh) 车辆控制装置、车辆控制方法及存储介质
US20240051577A1 (en) Vehicle control device, vehicle control method, and storage medium
JP7075550B1 (ja) 車両制御装置、車両制御方法、およびプログラム
JP7048832B1 (ja) 車両制御装置、車両制御方法、およびプログラム
CN117622150A (zh) 车辆控制装置、车辆控制方法及存储介质
JP2023150506A (ja) 車両制御装置、車両制御方法、およびプログラム
CN114684187A (zh) 车辆控制装置、车辆控制方法及存储介质
WO2022144976A1 (ja) 車両制御装置、車両制御方法、およびプログラム
CN114684189B (zh) 车辆控制装置、车辆控制方法及存储介质
WO2022144950A1 (ja) 車両制御装置、車両制御方法、およびプログラム
JP7798948B2 (ja) 車両制御装置、車両制御方法、およびプログラム
JP7731312B2 (ja) 車両制御装置、車両制御方法、およびプログラム
CN116710339B (zh) 车辆控制装置、车辆控制方法及存储介质
JP2025151442A (ja) 車両制御装置、車両制御方法、およびプログラム
JP2024038711A (ja) 車両制御装置、車両制御方法、およびプログラム
CN120589026A (zh) 车辆控制装置、车辆控制方法及存储介质

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
GR01 Patent grant
GR01 Patent grant