DE102018120723B4 - Trajektorienplanmodifikation für einen autonomen Fahrzeugbetrieb in einer heterogenen Fahrzeugumgebung - Google Patents

Trajektorienplanmodifikation für einen autonomen Fahrzeugbetrieb in einer heterogenen Fahrzeugumgebung Download PDF

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Publication number
DE102018120723B4
DE102018120723B4 DE102018120723.9A DE102018120723A DE102018120723B4 DE 102018120723 B4 DE102018120723 B4 DE 102018120723B4 DE 102018120723 A DE102018120723 A DE 102018120723A DE 102018120723 B4 DE102018120723 B4 DE 102018120723B4
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Prior art keywords
vehicle
trajectory
response
autonomous vehicle
autonomous
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DE102018120723.9A
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German (de)
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DE102018120723A1 (de
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Katsuhiro Sakai
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Toyota Motor Corp
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Toyota Research Institute Inc
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    • 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
    • G05D1/0248—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 in combination with a laser
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
DE102018120723.9A 2017-08-28 2018-08-24 Trajektorienplanmodifikation für einen autonomen Fahrzeugbetrieb in einer heterogenen Fahrzeugumgebung Active DE102018120723B4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/688,372 2017-08-28
US15/688,372 US10545505B2 (en) 2017-08-28 2017-08-28 Trajectory plan modification for an autonomous vehicle operation in a heterogeneous vehicle environment

Publications (2)

Publication Number Publication Date
DE102018120723A1 DE102018120723A1 (de) 2019-02-28
DE102018120723B4 true DE102018120723B4 (de) 2023-12-21

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US (1) US10545505B2 (enExample)
JP (2) JP7638055B2 (enExample)
DE (1) DE102018120723B4 (enExample)

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US11372100B2 (en) * 2018-10-23 2022-06-28 Baidu Usa Llc Radar object classification and communication using smart targets
US11221405B2 (en) * 2018-10-25 2022-01-11 Baidu Usa Llc Extended perception based on radar communication of autonomous driving vehicles
KR102764256B1 (ko) * 2018-11-13 2025-02-07 현대자동차주식회사 자율주행차량의 주차 관제 시스템
US11682296B2 (en) 2019-06-28 2023-06-20 Zoox, Inc. Planning accommodations for reversing vehicles
EP3770881B1 (en) * 2019-07-26 2023-11-15 Volkswagen AG Methods, computer programs, apparatuses, a vehicle, and a traffic entity for updating an environmental model of a vehicle
US20220363254A1 (en) * 2019-08-27 2022-11-17 Lg Electronics Inc. Method for transmitting and receiving signal by vehicle in wireless communication system, and vehicle therefor
CN112712729B (zh) * 2019-10-26 2023-01-06 华为技术有限公司 预测运动轨迹的方法和系统
US12160804B2 (en) * 2020-02-11 2024-12-03 Ford Global Technologies, Llc V2X traffic maneuver handshaking between traffic participants
KR20220061341A (ko) * 2020-11-05 2022-05-13 현대자동차주식회사 자율 주행 제어 방법 및 장치
US11807268B2 (en) * 2021-01-14 2023-11-07 GM Global Technology Operations LLC Selecting trajectories for controlling autonomous vehicles
AT524685B1 (de) * 2021-01-22 2022-08-15 Rosenbauer Int Ag Verfahren zum Bereitstellen und Betreiben einer Fahrzeugkolonne
DE102021105052A1 (de) * 2021-03-03 2022-09-08 Valeo Schalter Und Sensoren Gmbh Automatisches Führen eines Ego-Fahrzeugs in Abhängigkeit von Trajektoriendaten eines anderen Fahrzeugs
EP4063215B1 (en) * 2021-03-26 2023-12-20 Aptiv Technologies Limited Longitudinal acceleration control for autonomous driving
DE102021109425B3 (de) * 2021-04-15 2022-07-21 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Steuern eines Fahrzeugs und Steuervorrichtung für ein Fahrzeug
KR20230111408A (ko) * 2022-01-18 2023-07-25 현대자동차주식회사 차량의 주행 모드 설정방법 및 장치
US12021107B2 (en) 2022-06-03 2024-06-25 Lg Innotek Co., Ltd. Systems and methods for breakdown voltage correction in Geiger-mode avalanche photodiode (APD) focal plane arrays (FPA)
US12043290B2 (en) 2022-06-08 2024-07-23 Ford Global Technologies, Llc State identification for road actors with uncertain measurements based on compliant priors
US20250044790A1 (en) * 2023-08-03 2025-02-06 Kodiak Robotics, Inc. Systems and methods for controlling movement of a vehicle using autonomous operation based on perception and planner data

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DE102010013647A1 (de) 2009-04-06 2011-02-03 GM Global Technology Operations, Inc., Detroit Kolonnenfahrzeugmanagement
DE102013005073A1 (de) 2013-03-22 2014-09-25 Volkswagen Aktiengesellschaft Verfahren und Warnvorrichtung zur Absicherung einer Gefahrenstelle, insbesondere im Straßenverkehr
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DE102018120723A1 (de) 2019-02-28
JP2024012399A (ja) 2024-01-30
JP2019059464A (ja) 2019-04-18
US10545505B2 (en) 2020-01-28
US20190064839A1 (en) 2019-02-28
JP7638055B2 (ja) 2025-03-03

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

Free format text: FORMER OWNER: TOYOTA RESEARCH INSTITUTE, INC., 94022 LOS ALTOS, CALIF., US

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