GB2570887B - A system for a vehicle - Google Patents

A system for a vehicle Download PDF

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Publication number
GB2570887B
GB2570887B GB1801968.7A GB201801968A GB2570887B GB 2570887 B GB2570887 B GB 2570887B GB 201801968 A GB201801968 A GB 201801968A GB 2570887 B GB2570887 B GB 2570887B
Authority
GB
United Kingdom
Prior art keywords
vehicle
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.)
Active
Application number
GB1801968.7A
Other versions
GB201801968D0 (en
GB2570887A (en
Inventor
Montanaro Umberto
Fallah Saber
Dianati Mehrdad
Dixit Shilp
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.)
University of Surrey
University of Warwick
Jaguar Land Rover Ltd
Original Assignee
University of Surrey
University of Warwick
Jaguar Land Rover Ltd
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 University of Surrey, University of Warwick, Jaguar Land Rover Ltd filed Critical University of Surrey
Priority to GB1801968.7A priority Critical patent/GB2570887B/en
Publication of GB201801968D0 publication Critical patent/GB201801968D0/en
Priority to DE102019201124.1A priority patent/DE102019201124A1/en
Publication of GB2570887A publication Critical patent/GB2570887A/en
Application granted granted Critical
Publication of GB2570887B publication Critical patent/GB2570887B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2552/05—Type of road
    • 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
    • B60W2552/35—Road bumpiness, e.g. pavement or potholes
    • 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
    • B60W2552/50—Barriers
    • 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
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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 for navigation systems
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—Lateral 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
GB1801968.7A 2018-02-07 2018-02-07 A system for a vehicle Active GB2570887B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB1801968.7A GB2570887B (en) 2018-02-07 2018-02-07 A system for a vehicle
DE102019201124.1A DE102019201124A1 (en) 2018-02-07 2019-01-29 A system for a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1801968.7A GB2570887B (en) 2018-02-07 2018-02-07 A system for a vehicle

Publications (3)

Publication Number Publication Date
GB201801968D0 GB201801968D0 (en) 2018-03-28
GB2570887A GB2570887A (en) 2019-08-14
GB2570887B true GB2570887B (en) 2020-08-12

Family

ID=61731330

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1801968.7A Active GB2570887B (en) 2018-02-07 2018-02-07 A system for a vehicle

Country Status (2)

Country Link
DE (1) DE102019201124A1 (en)
GB (1) GB2570887B (en)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110095983B (en) * 2019-04-22 2021-11-23 浙江工业大学 Mobile robot prediction tracking control method based on path parameterization
US11663913B2 (en) * 2019-07-01 2023-05-30 Baidu Usa Llc Neural network with lane aggregation for lane selection prediction of moving objects during autonomous driving
CN111176272B (en) * 2019-11-28 2023-05-12 的卢技术有限公司 Artificial potential field track planning method and system based on motion constraint
CN111152790B (en) * 2019-12-29 2022-05-24 的卢技术有限公司 Multi-device interactive vehicle-mounted head-up display method and system based on use scene
US11841708B2 (en) 2020-02-28 2023-12-12 Zoox, Inc. System and method for adjusting a planned trajectory of an autonomous vehicle
DE102020110303A1 (en) 2020-04-15 2021-10-21 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system and driver assistance procedures for automated driving
CN113525375B (en) * 2020-04-21 2023-07-21 宇通客车股份有限公司 Vehicle lane changing method and device based on artificial potential field method
US11592830B2 (en) 2020-05-29 2023-02-28 Zoox, Inc. Trajectory generation using lateral offset biasing
CN113960996A (en) * 2020-07-20 2022-01-21 华为技术有限公司 Planning method and device for obstacle avoidance path of driving device
CN111873992A (en) * 2020-08-11 2020-11-03 北京理工大学重庆创新中心 Artificial potential field method for automatic driving vehicle decision layer path planning
US11603095B2 (en) 2020-10-30 2023-03-14 Zoox, Inc. Collision avoidance planning system
US11794732B2 (en) 2020-11-05 2023-10-24 Zoox, Inc. Allocation of safety system resources based on probability of intersection
CN114516342A (en) * 2020-11-19 2022-05-20 上海汽车集团股份有限公司 Vehicle control method and device and vehicle
WO2022140063A1 (en) * 2020-12-21 2022-06-30 Zoox, Inc. Autonomous control engagement
US11738777B2 (en) 2020-12-21 2023-08-29 Zoox, Inc. Dynamic autonomous control engagement
US11912302B2 (en) 2020-12-21 2024-02-27 Zoox, Inc. Autonomous control engagement
CN112256064B (en) * 2020-12-22 2021-03-09 北京航空航天大学 Hypersonic aircraft reentry glide section trajectory planning method and system
US20240067209A1 (en) 2020-12-30 2024-02-29 Budapesti Müszaki És Gazdaságtudományi Egyetem Method And System For An Autonomous Motion Control And Motion Planning Of A Vehicle
EP4271598A1 (en) * 2020-12-30 2023-11-08 Zoox, Inc. Collision avoidance using an object contour
CN112644486B (en) * 2021-01-05 2022-04-08 南京航空航天大学 Intelligent vehicle obstacle avoidance trajectory planning method based on driving safety field
US20220234618A1 (en) * 2021-01-28 2022-07-28 Motional Ad Llc Homotopic-based planner for autonomous vehicles
CN113492882B (en) * 2021-07-14 2022-09-23 清华大学 Method and device for realizing vehicle control, computer storage medium and terminal
US11608084B1 (en) * 2021-08-27 2023-03-21 Motional Ad Llc Navigation with drivable area detection
CN114610077B (en) * 2022-05-11 2022-07-12 北京航空航天大学 Multi-hypersonic aircraft trajectory planning method and system

Citations (7)

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Publication number Priority date Publication date Assignee Title
EP1990788A1 (en) * 2006-03-01 2008-11-12 Toyota Jidosha Kabushiki Kaisha Vehicle path determining method and vehicle course determining device
US20140074388A1 (en) * 2011-03-01 2014-03-13 Kai Bretzigheimer Method and Device for the Prediction and Adaptation of Movement Trajectories of Motor Vehicles
US20140277194A1 (en) * 2013-03-14 2014-09-18 Terry Mattchen Vector compression system
US20160272199A1 (en) * 2013-10-30 2016-09-22 Denso Corporation Travel controller, server, and in-vehicle device
EP3178715A1 (en) * 2014-08-07 2017-06-14 Hitachi Automotive Systems, Ltd. Vehicle control system and action plan system provided with same
US20170242435A1 (en) * 2016-02-22 2017-08-24 Volvo Car Corporation Method and system for evaluating inter-vehicle traffic gaps and time instances to perform a lane change maneuver
US20170277194A1 (en) * 2016-03-23 2017-09-28 nuTonomy Inc. Facilitating Vehicle Driving and Self-Driving

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1990788A1 (en) * 2006-03-01 2008-11-12 Toyota Jidosha Kabushiki Kaisha Vehicle path determining method and vehicle course determining device
US20140074388A1 (en) * 2011-03-01 2014-03-13 Kai Bretzigheimer Method and Device for the Prediction and Adaptation of Movement Trajectories of Motor Vehicles
US20140277194A1 (en) * 2013-03-14 2014-09-18 Terry Mattchen Vector compression system
US20160272199A1 (en) * 2013-10-30 2016-09-22 Denso Corporation Travel controller, server, and in-vehicle device
EP3178715A1 (en) * 2014-08-07 2017-06-14 Hitachi Automotive Systems, Ltd. Vehicle control system and action plan system provided with same
US20170242435A1 (en) * 2016-02-22 2017-08-24 Volvo Car Corporation Method and system for evaluating inter-vehicle traffic gaps and time instances to perform a lane change maneuver
US20170277194A1 (en) * 2016-03-23 2017-09-28 nuTonomy Inc. Facilitating Vehicle Driving and Self-Driving

Non-Patent Citations (1)

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Title
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Also Published As

Publication number Publication date
GB201801968D0 (en) 2018-03-28
GB2570887A (en) 2019-08-14
DE102019201124A1 (en) 2019-08-14

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