EP3924795A4 - Prédiction de trajectoire servant à une stratégie de conduite - Google Patents

Prédiction de trajectoire servant à une stratégie de conduite Download PDF

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Publication number
EP3924795A4
EP3924795A4 EP19914873.5A EP19914873A EP3924795A4 EP 3924795 A4 EP3924795 A4 EP 3924795A4 EP 19914873 A EP19914873 A EP 19914873A EP 3924795 A4 EP3924795 A4 EP 3924795A4
Authority
EP
European Patent Office
Prior art keywords
driving strategy
trajectory prediction
trajectory
prediction
strategy
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
EP19914873.5A
Other languages
German (de)
English (en)
Other versions
EP3924795A1 (fr
Inventor
Yao Ge
Maximilian DOEMLING
Dominik Notz
Gaowei Xu
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.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP3924795A1 publication Critical patent/EP3924795A1/fr
Publication of EP3924795A4 publication Critical patent/EP3924795A4/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • 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
    • B60W2554/20—Static objects
    • 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
    • B60W2554/402—Type
    • B60W2554/4026—Cycles
    • 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
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/044—Recurrent networks, e.g. Hopfield networks
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
EP19914873.5A 2019-02-15 2019-02-15 Prédiction de trajectoire servant à une stratégie de conduite Pending EP3924795A4 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/075159 WO2020164090A1 (fr) 2019-02-15 2019-02-15 Prédiction de trajectoire servant à une stratégie de conduite

Publications (2)

Publication Number Publication Date
EP3924795A1 EP3924795A1 (fr) 2021-12-22
EP3924795A4 true EP3924795A4 (fr) 2022-12-21

Family

ID=72044174

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19914873.5A Pending EP3924795A4 (fr) 2019-02-15 2019-02-15 Prédiction de trajectoire servant à une stratégie de conduite

Country Status (3)

Country Link
EP (1) EP3924795A4 (fr)
CN (1) CN113454555A (fr)
WO (1) WO2020164090A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112733270B (zh) * 2021-01-08 2022-06-24 浙江大学 车辆行驶轨迹预测和轨迹偏离危险度评估的系统与方法
CN113342005B (zh) * 2021-08-04 2021-11-30 北京三快在线科技有限公司 一种无人驾驶设备的横向控制方法及装置
CN113844446B (zh) * 2021-10-14 2023-08-15 安徽江淮汽车集团股份有限公司 融合长短程的车辆轨迹预测方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2562060A1 (fr) * 2011-08-22 2013-02-27 Honda Research Institute Europe GmbH Procédé et système de prédiction de comportement de mouvement d'un objet de trafic cible
US20190025841A1 (en) * 2017-07-21 2019-01-24 Uber Technologies, Inc. Machine Learning for Predicting Locations of Objects Perceived by Autonomous Vehicles

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015221920A1 (de) * 2015-11-09 2017-05-11 Bayerische Motoren Werke Aktiengesellschaft Verfahren, Computerprogrammprodukt, Vorrichtung, und Fahrzeug umfassend die Vorrichtung zum Steuern einer Trajektorienplanung eines Egofahrzeugs
US10345815B2 (en) * 2016-09-14 2019-07-09 Qualcomm Incorporated Motion planning and intention prediction for autonomous driving in highway scenarios via graphical model-based factorization
US10394245B2 (en) * 2016-11-22 2019-08-27 Baidu Usa Llc Method and system to predict vehicle traffic behavior for autonomous vehicles to make driving decisions
US10268200B2 (en) * 2016-12-21 2019-04-23 Baidu Usa Llc Method and system to predict one or more trajectories of a vehicle based on context surrounding the vehicle
CN106950956B (zh) * 2017-03-22 2020-02-14 合肥工业大学 融合运动学模型和行为认知模型的行车轨迹预测系统
DE102017205230A1 (de) * 2017-03-28 2018-10-04 Continental Teves Ag & Co. Ohg Verfahren zum Ermitteln eines Kooperationspartners zur Ausführung eines Fahrmanövers und System
US11545033B2 (en) * 2017-06-22 2023-01-03 Apollo Intelligent Driving Technology (Beijing) Co., Ltd. Evaluation framework for predicted trajectories in autonomous driving vehicle traffic prediction
US20180374341A1 (en) * 2017-06-27 2018-12-27 GM Global Technology Operations LLC Systems and methods for predicting traffic patterns in an autonomous vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2562060A1 (fr) * 2011-08-22 2013-02-27 Honda Research Institute Europe GmbH Procédé et système de prédiction de comportement de mouvement d'un objet de trafic cible
US20190025841A1 (en) * 2017-07-21 2019-01-24 Uber Technologies, Inc. Machine Learning for Predicting Locations of Objects Perceived by Autonomous Vehicles

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2020164090A1 *

Also Published As

Publication number Publication date
EP3924795A1 (fr) 2021-12-22
WO2020164090A1 (fr) 2020-08-20
CN113454555A (zh) 2021-09-28

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