EP3758998A4 - System und verfahren zur automatischen spurwechselsteuerung für autonome fahrzeuge - Google Patents

System und verfahren zur automatischen spurwechselsteuerung für autonome fahrzeuge Download PDF

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Publication number
EP3758998A4
EP3758998A4 EP19788382.0A EP19788382A EP3758998A4 EP 3758998 A4 EP3758998 A4 EP 3758998A4 EP 19788382 A EP19788382 A EP 19788382A EP 3758998 A4 EP3758998 A4 EP 3758998A4
Authority
EP
European Patent Office
Prior art keywords
lane change
change control
autonomous vehicles
automated lane
automated
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.)
Pending
Application number
EP19788382.0A
Other languages
English (en)
French (fr)
Other versions
EP3758998A1 (de
Inventor
Kai-Chieh Ma
Xing SUN
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.)
Tusimple Inc
Original Assignee
Tusimple 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
Priority claimed from US15/946,171 external-priority patent/US10953880B2/en
Application filed by Tusimple Inc filed Critical Tusimple Inc
Publication of EP3758998A1 publication Critical patent/EP3758998A1/de
Publication of EP3758998A4 publication Critical patent/EP3758998A4/de
Pending legal-status Critical Current

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
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
EP19788382.0A 2018-04-05 2019-04-05 System und verfahren zur automatischen spurwechselsteuerung für autonome fahrzeuge Pending EP3758998A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/946,171 US10953880B2 (en) 2017-09-07 2018-04-05 System and method for automated lane change control for autonomous vehicles
PCT/US2019/025995 WO2019204053A1 (en) 2018-04-05 2019-04-05 System and method for automated lane change control for autonomous vehicles

Publications (2)

Publication Number Publication Date
EP3758998A1 EP3758998A1 (de) 2021-01-06
EP3758998A4 true EP3758998A4 (de) 2021-12-01

Family

ID=68239948

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19788382.0A Pending EP3758998A4 (de) 2018-04-05 2019-04-05 System und verfahren zur automatischen spurwechselsteuerung für autonome fahrzeuge

Country Status (4)

Country Link
EP (1) EP3758998A4 (de)
CN (1) CN112154088B (de)
AU (1) AU2019257245A1 (de)
WO (1) WO2019204053A1 (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3104518B1 (fr) * 2019-12-13 2022-06-24 Renault Sas Système et procédé de prédiction de la trajectoire d’un véhicule
US11292470B2 (en) * 2020-01-06 2022-04-05 GM Global Technology Operations LLC System method to establish a lane-change maneuver
CN113525373B (zh) * 2020-03-30 2023-04-28 华为技术有限公司 一种车辆的变道控制系统、控制方法以及变道控制装置
CN111539345B (zh) * 2020-04-27 2023-09-26 阿波罗智能技术(北京)有限公司 用于确定变道动作的方法、装置、设备及可读存储介质
CN111717199B (zh) * 2020-06-24 2021-09-17 中国第一汽车股份有限公司 自动换道避撞控制方法、装置、车辆及存储介质
CN113320543B (zh) * 2021-06-29 2024-03-22 东软睿驰汽车技术（沈阳）有限公司 行车方法、装置、车辆及存储介质
CN114103957B (zh) * 2021-12-22 2024-02-06 阿波罗智联(北京)科技有限公司 变道控制方法、装置、电子设备和存储介质

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US20140207325A1 (en) * 2013-01-21 2014-07-24 GM Global Technology Operations LLC Efficient data flow algorithms for autonomous lane changing, passing and overtaking behaviors
WO2017094849A1 (ja) * 2015-12-04 2017-06-08 株式会社デンソー 車両制御装置

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JP3183501B2 (ja) * 1997-07-07 2001-07-09 本田技研工業株式会社 車両用走行制御装置
DE102005023185A1 (de) * 2005-05-19 2006-11-23 Robert Bosch Gmbh Spurwechselassistent für Kraftfahrzeuge
DE102006043150A1 (de) * 2006-09-14 2008-03-27 Bayerische Motoren Werke Ag Längsführungsassistent für ein Kraftfahrzeug zur Unterstützung bei Fahrspurwechsel
US8457827B1 (en) * 2012-03-15 2013-06-04 Google Inc. Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles
EP3808634A1 (de) * 2013-12-04 2021-04-21 Mobileye Vision Technologies Ltd. Steuerung eines fahrzeugs, um an einem anderen fahrzeug vorbeizukommen
US9079587B1 (en) * 2014-02-14 2015-07-14 Ford Global Technologies, Llc Autonomous control in a dense vehicle environment
EP2942765B1 (de) * 2014-05-07 2018-12-26 Honda Research Institute Europe GmbH Verfahren und System zur prädiktiven Spurwechselassistenz, Programm, Softwareprodukt und Fahrzeug
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WO2017094849A1 (ja) * 2015-12-04 2017-06-08 株式会社デンソー 車両制御装置

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Also Published As

Publication number Publication date
EP3758998A1 (de) 2021-01-06
CN112154088A (zh) 2020-12-29
WO2019204053A1 (en) 2019-10-24
AU2019257245A1 (en) 2020-10-15
CN112154088B (zh) 2024-05-24

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