DE102016114535B8 - Wegbestimmung für automatisierte Fahrzeuge - Google Patents

Wegbestimmung für automatisierte Fahrzeuge Download PDF

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Publication number
DE102016114535B8
DE102016114535B8 DE102016114535.1A DE102016114535A DE102016114535B8 DE 102016114535 B8 DE102016114535 B8 DE 102016114535B8 DE 102016114535 A DE102016114535 A DE 102016114535A DE 102016114535 B8 DE102016114535 B8 DE 102016114535B8
Authority
DE
Germany
Prior art keywords
route determination
automated vehicles
automated
vehicles
route
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.)
Expired - Fee Related
Application number
DE102016114535.1A
Other languages
English (en)
Other versions
DE102016114535B4 (de
DE102016114535A1 (de
Inventor
Rohit Pandita
Vladimeros Vladimerou
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.)
Toyota Motor Corp
Original Assignee
Toyota Motor Engineering and Manufacturing North America Inc
Toyota Engineering and Manufacturing North America Inc
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 Toyota Motor Engineering and Manufacturing North America Inc, Toyota Engineering and Manufacturing North America Inc filed Critical Toyota Motor Engineering and Manufacturing North America Inc
Publication of DE102016114535A1 publication Critical patent/DE102016114535A1/de
Application granted granted Critical
Publication of DE102016114535B4 publication Critical patent/DE102016114535B4/de
Publication of DE102016114535B8 publication Critical patent/DE102016114535B8/de
Expired - Fee Related 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
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Combustion & Propulsion (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)
DE102016114535.1A 2015-08-27 2016-08-05 Wegbestimmung für automatisierte Fahrzeuge Expired - Fee Related DE102016114535B8 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/837,363 US9815462B2 (en) 2015-08-27 2015-08-27 Path determination for automated vehicles
US14/837,363 2015-08-27

Publications (3)

Publication Number Publication Date
DE102016114535A1 DE102016114535A1 (de) 2017-03-02
DE102016114535B4 DE102016114535B4 (de) 2020-07-09
DE102016114535B8 true DE102016114535B8 (de) 2020-11-12

Family

ID=58011430

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102016114535.1A Expired - Fee Related DE102016114535B8 (de) 2015-08-27 2016-08-05 Wegbestimmung für automatisierte Fahrzeuge

Country Status (3)

Country Link
US (1) US9815462B2 (de)
JP (1) JP6445497B2 (de)
DE (1) DE102016114535B8 (de)

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US10328949B2 (en) * 2016-01-28 2019-06-25 Toyota Motor Engineering & Manufacturing North America, Inc. Sensor blind spot indication for vehicles
US10078916B2 (en) * 2016-07-01 2018-09-18 Invia Robotics, Inc. Pick to augmented reality
IT201600087202A1 (it) * 2016-08-25 2018-02-25 I E T S P A Metodo ed apparato di regolazione automatica di un veicolo in una condizione di prestazione prestabilita
KR102354332B1 (ko) * 2017-03-13 2022-01-21 삼성전자주식회사 차량의 주행을 보조하는 장치 및 방법
US10417508B2 (en) 2017-07-19 2019-09-17 Aptiv Technologies Limited Object height determination for automated vehicle steering control system
CN111065564B (zh) * 2017-09-07 2023-06-13 本田技研工业株式会社 车辆及其控制装置以及控制方法
US10997431B2 (en) * 2018-06-05 2021-05-04 GM Global Technology Operations LLC Controlling a vehicle using an alternate anchor line
US11215999B2 (en) 2018-06-20 2022-01-04 Tesla, Inc. Data pipeline and deep learning system for autonomous driving
US10275667B1 (en) * 2018-09-05 2019-04-30 StradVision, Inc. Learning method, learning device for detecting lane through lane model and testing method, testing device using the same
KR102115915B1 (ko) * 2018-10-08 2020-05-27 주식회사 만도 차선 인식의 왜곡을 판단하여 차량을 제어하는 장치 및 방법
CN111123735B (zh) * 2018-10-31 2022-09-09 百度在线网络技术（北京）有限公司 自动驾驶仿真运行方法和装置
KR102592830B1 (ko) * 2018-12-05 2023-10-23 현대자동차주식회사 차량용 센서퓨전 타겟 예측 장치 및 그의 센서 퓨전 타겟 예측 방법과 그를 포함하는 차량
US11560690B2 (en) * 2018-12-11 2023-01-24 SafeAI, Inc. Techniques for kinematic and dynamic behavior estimation in autonomous vehicles
US10507841B1 (en) * 2019-01-23 2019-12-17 GM Global Technology Operations LLC System and method for sensor diagnostics
CN110001637B (zh) * 2019-04-10 2023-09-29 吉林大学 一种基于多点跟踪的无人驾驶汽车路径跟踪控制装置及控制方法
JP7368319B2 (ja) * 2020-06-08 2023-10-24 株式会社Soken 自動運転システム
US20220055659A1 (en) * 2020-08-20 2022-02-24 Denso International America, Inc. Mode selection according to system conditions
US11932245B2 (en) 2020-09-01 2024-03-19 Toyota Motor Engineering & Manufacturing North America, Inc. Systems and methods for improving path selection for automated driving
US11798295B2 (en) * 2021-04-27 2023-10-24 GM Global Technology Operations LLC Model free lane tracking system
CN114056337B (zh) * 2021-10-29 2023-12-29 阿里巴巴新加坡控股有限公司 车辆行驶行为预测方法、装置及计算机程序产品

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010013398A1 (de) * 2009-04-02 2010-11-11 GM Global Technology Operations, Inc., Detroit Fahrspur auf Windschutzscheiben-Head-Up-Anzeige
US20140236482A1 (en) * 2013-02-19 2014-08-21 Navteq B.V. Path curve confidence factors

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DE19749086C1 (de) * 1997-11-06 1999-08-12 Daimler Chrysler Ag Vorrichtung zur Ermittlung fahrspurverlaufsindikativer Daten
JP3642310B2 (ja) * 2001-11-20 2005-04-27 日産自動車株式会社 車線逸脱防止装置
JP3689065B2 (ja) * 2002-05-13 2005-08-31 三菱電機株式会社 車両用走行制御装置
WO2004008648A2 (en) * 2002-07-15 2004-01-22 Automotive Systems Laboratory, Inc. Road curvature estimation and automotive target state estimation system
JP3941677B2 (ja) * 2002-11-26 2007-07-04 日産自動車株式会社 車線逸脱防止装置
JP3900099B2 (ja) * 2003-03-20 2007-04-04 日産自動車株式会社 車線逸脱防止装置
US20100121518A1 (en) * 2008-11-11 2010-05-13 Timothy Arthur Tiernan Map enhanced positioning sensor system
US8775063B2 (en) * 2009-01-26 2014-07-08 GM Global Technology Operations LLC System and method of lane path estimation using sensor fusion
US8547298B2 (en) * 2009-04-02 2013-10-01 GM Global Technology Operations LLC Continuation of exterior view on interior pillars and surfaces
US9090263B2 (en) * 2010-07-20 2015-07-28 GM Global Technology Operations LLC Lane fusion system using forward-view and rear-view cameras
US8712691B2 (en) * 2011-12-19 2014-04-29 Ford Global Technologies Fusion of road geometry model information gathered from disparate sources
US9261601B2 (en) * 2013-06-01 2016-02-16 Savari, Inc. System and method for lane boundary estimation and host vehicle position and orientation

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010013398A1 (de) * 2009-04-02 2010-11-11 GM Global Technology Operations, Inc., Detroit Fahrspur auf Windschutzscheiben-Head-Up-Anzeige
US20140236482A1 (en) * 2013-02-19 2014-08-21 Navteq B.V. Path curve confidence factors

Also Published As

Publication number Publication date
JP6445497B2 (ja) 2018-12-26
US9815462B2 (en) 2017-11-14
JP2017076371A (ja) 2017-04-20
DE102016114535B4 (de) 2020-07-09
US20170057502A1 (en) 2017-03-02
DE102016114535A1 (de) 2017-03-02

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Owner name: TOYOTA JIDOSHA KABUSHIKI KAISHA, TOYOTA-SHI, JP

Free format text: FORMER OWNER: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA INC., ERLANGER, KY., US

Owner name: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH, US

Free format text: FORMER OWNER: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA INC., ERLANGER, KY., US

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Representative=s name: KUHNEN & WACKER PATENT- UND RECHTSANWALTSBUERO, DE

R016 Response to examination communication
R016 Response to examination communication
R018 Grant decision by examination section/examining division
R081 Change of applicant/patentee

Owner name: TOYOTA JIDOSHA KABUSHIKI KAISHA, TOYOTA-SHI, JP

Free format text: FORMER OWNER: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., PLANO, TEX., US

R082 Change of representative

Representative=s name: KUHNEN & WACKER PATENT- UND RECHTSANWALTSBUERO, DE

R020 Patent grant now final
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee