CN116547730B - 行驶控制方法及行驶控制装置 - Google Patents

行驶控制方法及行驶控制装置 Download PDF

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Publication number
CN116547730B
CN116547730B CN202080107526.3A CN202080107526A CN116547730B CN 116547730 B CN116547730 B CN 116547730B CN 202080107526 A CN202080107526 A CN 202080107526A CN 116547730 B CN116547730 B CN 116547730B
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China
Prior art keywords
vehicle
lane
stored
travel route
dividing line
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CN202080107526.3A
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English (en)
Chinese (zh)
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CN116547730A (zh
Inventor
土谷千加夫
武井翔一
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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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
    • B60W30/18159—Traversing 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
    • 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
    • B60W30/12—Lane 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN202080107526.3A 2020-11-27 2020-11-27 行驶控制方法及行驶控制装置 Active CN116547730B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2020/000979 WO2022112811A1 (ja) 2020-11-27 2020-11-27 走行制御方法及び走行制御装置

Publications (2)

Publication Number Publication Date
CN116547730A CN116547730A (zh) 2023-08-04
CN116547730B true CN116547730B (zh) 2025-02-21

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CN202080107526.3A Active CN116547730B (zh) 2020-11-27 2020-11-27 行驶控制方法及行驶控制装置

Country Status (5)

Country Link
US (1) US11840226B1 (https=)
EP (1) EP4254381B1 (https=)
JP (1) JP7422248B2 (https=)
CN (1) CN116547730B (https=)
WO (1) WO2022112811A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116963948A (zh) * 2021-03-11 2023-10-27 日立安斯泰莫株式会社 车辆控制装置、车辆控制方法、目标轨迹算出方法及车辆
CN114179805B (zh) * 2021-12-10 2023-12-19 北京百度网讯科技有限公司 一种行驶方向确定方法、装置、设备以及存储介质
US20240416909A1 (en) * 2023-06-16 2024-12-19 Magna Electronics Inc. Vehicular driving assistance system with vehicle state estimation

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JP2019012308A (ja) * 2017-06-29 2019-01-24 株式会社デンソーテン 画像処理装置及び画像処理方法

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JP5007840B2 (ja) * 2009-05-22 2012-08-22 トヨタ自動車株式会社 運転支援装置
KR101406457B1 (ko) * 2009-11-27 2014-06-27 도요타지도샤가부시키가이샤 운전 지원 장치 및 운전 지원 방법
JP5708449B2 (ja) * 2011-11-08 2015-04-30 アイシン・エィ・ダブリュ株式会社 レーン案内表示システム、方法およびプログラム
WO2014006759A1 (ja) * 2012-07-06 2014-01-09 トヨタ自動車株式会社 車両の走行制御装置
US20140267415A1 (en) * 2013-03-12 2014-09-18 Xueming Tang Road marking illuminattion system and method
JP6197393B2 (ja) * 2013-06-20 2017-09-20 株式会社豊田中央研究所 レーン地図生成装置及びプログラム
JP2016218539A (ja) 2015-05-15 2016-12-22 トヨタ自動車株式会社 車両の走路認識装置
JP6564618B2 (ja) 2015-05-28 2019-08-21 アイシン・エィ・ダブリュ株式会社 道路形状検出システム、道路形状検出方法及びコンピュータプログラム
DE102015211150B4 (de) * 2015-06-17 2023-05-11 Bayerische Motoren Werke Aktiengesellschaft Verfahren, Fahrerassistenzsystem und Fahrzeug zum Lernen einer Trajektorie eines Straßenabschnitts
CN105787455A (zh) * 2016-03-01 2016-07-20 江苏大学 一种引入图像虚拟引导线的车道保持控制算法
CA3030538C (en) * 2016-07-12 2024-06-11 Nissan Motor Co., Ltd. Travel control method and travel control apparatus
CN106023606B (zh) * 2016-07-15 2018-12-04 珠海达理宇航科技有限公司 交叉口的路口结构及其两次变左控制方法
JP6782370B2 (ja) * 2017-10-10 2020-11-11 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム
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CN110954128B (zh) * 2019-12-03 2021-11-16 阿波罗智能技术(北京)有限公司 检测车道线位置变化的方法、装置、电子设备和存储介质
CN110909711B (zh) * 2019-12-03 2022-08-02 阿波罗智能技术(北京)有限公司 检测车道线位置变化的方法、装置、电子设备和存储介质
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CN107963077A (zh) * 2017-10-26 2018-04-27 东软集团股份有限公司 一种车辆通过路口的控制方法、装置及系统

Also Published As

Publication number Publication date
CN116547730A (zh) 2023-08-04
JP7422248B2 (ja) 2024-01-25
JPWO2022112811A1 (https=) 2022-06-02
US11840226B1 (en) 2023-12-12
WO2022112811A1 (ja) 2022-06-02
US20230391325A1 (en) 2023-12-07
EP4254381A1 (en) 2023-10-04
EP4254381B1 (en) 2024-10-23
EP4254381A4 (en) 2024-01-10

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