CN118843571B - 车辆行驶控制方法及车辆行驶控制装置 - Google Patents

车辆行驶控制方法及车辆行驶控制装置

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Publication number
CN118843571B
CN118843571B CN202280093441.3A CN202280093441A CN118843571B CN 118843571 B CN118843571 B CN 118843571B CN 202280093441 A CN202280093441 A CN 202280093441A CN 118843571 B CN118843571 B CN 118843571B
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CN
China
Prior art keywords
lane
link
vehicle
trajectory
road
Prior art date
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Active
Application number
CN202280093441.3A
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English (en)
Chinese (zh)
Other versions
CN118843571A (zh
Inventor
上村熙孝
长泽雄二
出川胜彦
山本敬一
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
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Nissan Motor Co Ltd
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Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of CN118843571A publication Critical patent/CN118843571A/zh
Application granted granted Critical
Publication of CN118843571B publication Critical patent/CN118843571B/zh
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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
    • B60W30/10—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
    • B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
    • 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
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2556/40—High definition maps
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
CN202280093441.3A 2022-03-18 2022-03-18 车辆行驶控制方法及车辆行驶控制装置 Active CN118843571B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/012837 WO2023175966A1 (ja) 2022-03-18 2022-03-18 車両走行制御方法及び車両走行制御装置

Publications (2)

Publication Number Publication Date
CN118843571A CN118843571A (zh) 2024-10-25
CN118843571B true CN118843571B (zh) 2025-11-11

Family

ID=88023062

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280093441.3A Active CN118843571B (zh) 2022-03-18 2022-03-18 车辆行驶控制方法及车辆行驶控制装置

Country Status (7)

Country Link
US (1) US12466400B2 (https=)
EP (1) EP4494959A4 (https=)
JP (1) JP7816491B2 (https=)
CN (1) CN118843571B (https=)
MX (1) MX2024011082A (https=)
MY (1) MY208918A (https=)
WO (1) WO2023175966A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026022924A1 (ja) * 2024-07-23 2026-01-29 日産自動車株式会社 車線境界線検出方法及び車線境界線検出装置

Citations (2)

* Cited by examiner, † Cited by third party
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JP2020082772A (ja) * 2018-11-16 2020-06-04 アイシン・エィ・ダブリュ株式会社 目標軌道取得システムおよび目標軌道取得プログラム
CN111731286A (zh) * 2019-02-06 2020-10-02 丰田自动车株式会社 车辆控制系统

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JPH0944243A (ja) * 1995-08-01 1997-02-14 Komatsu Ltd 移動体の走行コース作成装置
JP4853005B2 (ja) * 2005-12-12 2012-01-11 株式会社豊田中央研究所 車両走行シミュレーション装置
JP5066123B2 (ja) * 2009-03-24 2012-11-07 日立オートモティブシステムズ株式会社 車両運転支援装置
JP2012002753A (ja) * 2010-06-18 2012-01-05 Navitime Japan Co Ltd ナビゲーションシステム、ナビゲーション装置、ナビゲーションサーバ、ナビゲーション方法、および、プログラム
JP5656067B2 (ja) * 2010-12-03 2015-01-21 アイシン・エィ・ダブリュ株式会社 道路ノード位置管理システム、道路ノード位置管理方法、及び道路ノード位置管理プログラム
JP2018181034A (ja) * 2017-04-17 2018-11-15 株式会社ゼンリン 走行支援装置、走行支援方法およびそのためのデータ構造
CN111094897A (zh) * 2017-09-08 2020-05-01 日产自动车株式会社 驾驶辅助方法以及驾驶辅助装置
JP7067290B2 (ja) * 2018-06-11 2022-05-16 株式会社デンソー 軌道設定装置
US11181920B2 (en) * 2018-08-28 2021-11-23 Denso Corporation Travel assistance method and travel assistance apparatus
US11097748B2 (en) 2018-10-23 2021-08-24 Baidu Usa Llc Two-step reference line smoothing method to mimic human driving behaviors for autonomous driving cars
JP6818788B2 (ja) * 2019-02-05 2021-01-20 本田技研工業株式会社 車両並びにその制御装置及び制御方法
JP7331450B2 (ja) * 2019-05-15 2023-08-23 日産自動車株式会社 車両の走行制御方法及び走行制御装置
JP2021043047A (ja) * 2019-09-10 2021-03-18 トヨタ自動車株式会社 走行予定経路通知装置
JP7400508B2 (ja) * 2020-02-03 2023-12-19 株式会社デンソー 軌道生成装置、軌道生成方法、軌道生成プログラム
JP7484317B2 (ja) * 2020-03-27 2024-05-16 株式会社アイシン 運転支援装置及びコンピュータプログラム
FR3122390B1 (fr) * 2021-05-03 2023-11-03 Renault Sas Procédé de commande d’un véhicule autonome.

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020082772A (ja) * 2018-11-16 2020-06-04 アイシン・エィ・ダブリュ株式会社 目標軌道取得システムおよび目標軌道取得プログラム
CN111731286A (zh) * 2019-02-06 2020-10-02 丰田自动车株式会社 车辆控制系统

Also Published As

Publication number Publication date
US12466400B2 (en) 2025-11-11
JPWO2023175966A1 (https=) 2023-09-21
WO2023175966A1 (ja) 2023-09-21
US20250100552A1 (en) 2025-03-27
CN118843571A (zh) 2024-10-25
MY208918A (en) 2025-06-11
EP4494959A4 (en) 2025-04-16
EP4494959A1 (en) 2025-01-22
MX2024011082A (es) 2024-09-23
JP7816491B2 (ja) 2026-02-18

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