JP5476252B2 - 経路の最適速度プロフィールを決定する方法及びシステム - Google Patents

経路の最適速度プロフィールを決定する方法及びシステム Download PDF

Info

Publication number
JP5476252B2
JP5476252B2 JP2010182208A JP2010182208A JP5476252B2 JP 5476252 B2 JP5476252 B2 JP 5476252B2 JP 2010182208 A JP2010182208 A JP 2010182208A JP 2010182208 A JP2010182208 A JP 2010182208A JP 5476252 B2 JP5476252 B2 JP 5476252B2
Authority
JP
Japan
Prior art keywords
speed
path
profile
route
speed profile
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
JP2010182208A
Other languages
English (en)
Japanese (ja)
Other versions
JP2011039518A (ja
JP2011039518A5 (https=
Inventor
エム ホフマン ガブリエル
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.)
Palo Alto Research Center Inc
Original Assignee
Palo Alto Research Center 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 Palo Alto Research Center Inc filed Critical Palo Alto Research Center Inc
Publication of JP2011039518A publication Critical patent/JP2011039518A/ja
Publication of JP2011039518A5 publication Critical patent/JP2011039518A5/ja
Application granted granted Critical
Publication of JP5476252B2 publication Critical patent/JP5476252B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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 or segments such as motorways, toll roads or ferries
    • 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
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/448—Execution paradigms, e.g. implementations of programming paradigms
    • G06F9/4494—Execution paradigms, e.g. implementations of programming paradigms data driven

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Optimization (AREA)
  • Probability & Statistics with Applications (AREA)
  • Evolutionary Biology (AREA)
  • Operations Research (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Algebra (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Databases & Information Systems (AREA)
  • Navigation (AREA)
  • Instructional Devices (AREA)
  • Traffic Control Systems (AREA)
JP2010182208A 2009-08-18 2010-08-17 経路の最適速度プロフィールを決定する方法及びシステム Expired - Fee Related JP5476252B2 (ja)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US23489809P 2009-08-18 2009-08-18
US61/234,898 2009-08-18
US12/544,706 2009-08-20
US12/544,706 US8306732B2 (en) 2009-08-18 2009-08-20 Model based method to assess road curvature effect on travel time and comfort for route planning

Publications (3)

Publication Number Publication Date
JP2011039518A JP2011039518A (ja) 2011-02-24
JP2011039518A5 JP2011039518A5 (https=) 2013-10-03
JP5476252B2 true JP5476252B2 (ja) 2014-04-23

Family

ID=42833357

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2010182208A Expired - Fee Related JP5476252B2 (ja) 2009-08-18 2010-08-17 経路の最適速度プロフィールを決定する方法及びシステム

Country Status (4)

Country Link
US (2) US8306732B2 (https=)
EP (1) EP2287568B1 (https=)
JP (1) JP5476252B2 (https=)
KR (1) KR101620807B1 (https=)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7920962B2 (en) 2006-06-19 2011-04-05 Kiva Systems, Inc. System and method for coordinating movement of mobile drive units
US7912574B2 (en) 2006-06-19 2011-03-22 Kiva Systems, Inc. System and method for transporting inventory items
US20130302132A1 (en) 2012-05-14 2013-11-14 Kiva Systems, Inc. System and Method for Maneuvering a Mobile Drive Unit
US8538692B2 (en) 2006-06-19 2013-09-17 Amazon Technologies, Inc. System and method for generating a path for a mobile drive unit
US7873469B2 (en) * 2006-06-19 2011-01-18 Kiva Systems, Inc. System and method for managing mobile drive units
US8220710B2 (en) 2006-06-19 2012-07-17 Kiva Systems, Inc. System and method for positioning a mobile drive unit
US8649899B2 (en) 2006-06-19 2014-02-11 Amazon Technologies, Inc. System and method for maneuvering a mobile drive unit
JP4873042B2 (ja) * 2009-04-13 2012-02-08 トヨタ自動車株式会社 車両制御装置および車両制御方法
US8285485B2 (en) * 2010-03-18 2012-10-09 Harman International Industries, Incorporated Vehicle navigation system with route determination based on a measure of sportiness
US8543308B2 (en) * 2010-04-19 2013-09-24 GM Global Technology Operations LLC Systems and methods for communicating optimal driving information
US20120195491A1 (en) * 2010-07-21 2012-08-02 Palo Alto Research Center Incorporated System And Method For Real-Time Mapping Of An Indoor Environment Using Mobile Robots With Limited Sensing
US8892240B1 (en) 2011-06-29 2014-11-18 Amazon Technologies, Inc. Modular material handling system for order fulfillment
US9045041B2 (en) 2013-02-27 2015-06-02 Here Global B.V. Driver behavior from probe data for augmenting a data model
KR102037036B1 (ko) * 2013-04-11 2019-10-28 현대모비스 주식회사 자동주행 제어시스템
JP6161942B2 (ja) * 2013-04-19 2017-07-12 株式会社デンソーアイティーラボラトリ カーブ形状モデル化装置、車両情報処理システム、カーブ形状モデル化方法、及びカーブ形状モデル化プログラム
CN103354044B (zh) * 2013-05-23 2017-04-12 深圳市有伴科技有限公司 用于电子终端的语音应用app中的互动方法及其产品
KR101504252B1 (ko) * 2013-11-28 2015-03-19 현대모비스 주식회사 곡선 도로에서 차량의 속도를 제어하기 위한 시스템 및 그 방법
US20150158495A1 (en) * 2013-12-05 2015-06-11 Elwha Llc Systems and methods for reporting characteristics of operator performance
US10049129B2 (en) * 2014-12-22 2018-08-14 Here Global B.V. Method and apparatus for providing map updates from distance based bucket processing
JP2017072440A (ja) * 2015-10-06 2017-04-13 クラリオン株式会社 運転快適度算出装置、運転快適度算出方法、および運転快適度算出システム
JP6414005B2 (ja) * 2015-10-09 2018-10-31 トヨタ自動車株式会社 車両用制御装置
JP6672711B2 (ja) * 2015-11-04 2020-03-25 富士通株式会社 経路グラフ生成方法、装置、及びプログラム
US10234300B2 (en) * 2015-11-13 2019-03-19 Here Global B.V. Private and personalized estimation of travel time
US10059287B2 (en) * 2016-02-17 2018-08-28 Toyota Motor Engineering & Manufacturing North America, Inc. System and method for enhanced comfort prediction
US10107635B2 (en) * 2016-08-19 2018-10-23 Waymo Llc Method and system for determining and dynamically updating a route and driving style for passenger comfort
GB2556876A (en) * 2016-11-09 2018-06-13 Inventive Cogs Campbell Ltd Vehicle route guidance
GB2567854B (en) * 2017-10-27 2020-01-08 Jaguar Land Rover Ltd Motion sickness well being route planner
CN108088456B (zh) * 2017-12-21 2021-07-16 北京工业大学 一种具有时间一致性的无人驾驶车辆局部路径规划方法
US11359925B2 (en) * 2018-08-02 2022-06-14 Salesforce.Com, Inc. Utilizing estimated traversal values to accelerate the determination of high quality solutions to routing problems
TWI744742B (zh) * 2019-12-17 2021-11-01 神達數位股份有限公司 潛在危險道路鑑別及資訊共享的方法、雲端伺服器、電腦可讀取的記錄媒體及特殊應用積體電路晶片
IT202000023227A1 (it) * 2020-10-01 2022-04-01 Laura Quinale Metodo e dispositivo per determinare un percorso
CN112527010B (zh) * 2020-11-09 2022-04-01 福州大学 基于人工势场与粒子优化的室内变电站无人机多机协同巡检方法
CA3249405A1 (en) * 2022-01-28 2023-03-09 Boris Valerevich PANKOV GENERATION OF A RESOURCE-EFFICIENT WAY FOR A MOTOR VEHICLE
CN118010059B (zh) * 2024-04-08 2024-07-05 逸航汽车零部件无锡有限公司 基于个性化舒适度控制的路径规划系统及方法

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4361202A (en) * 1979-06-15 1982-11-30 Michael Minovitch Automated road transportation system
JP4470311B2 (ja) * 1999-10-15 2010-06-02 日産自動車株式会社 走行パターン生成装置
DE10031787A1 (de) * 2000-07-04 2002-01-24 Daimler Chrysler Ag Assistenzsystem zur Auswahl von Strecken
US7096428B2 (en) 2001-09-28 2006-08-22 Fuji Xerox Co., Ltd. Systems and methods for providing a spatially indexed panoramic video
JP2004046580A (ja) 2002-05-14 2004-02-12 Sanyo Electric Co Ltd 搬送装置
US7447593B2 (en) 2004-03-26 2008-11-04 Raytheon Company System and method for adaptive path planning
US7513508B2 (en) * 2004-06-04 2009-04-07 Romeo Fernando Malit Computer assisted driving of vehicles
KR100497781B1 (ko) * 2004-09-24 2005-06-28 주식회사 삼안 에스형, 복합형 및 난형 도로설계에서 크로소이드파라메타 계산방법
JP2007106170A (ja) 2005-10-11 2007-04-26 Fujifilm Corp 運転支援システム
ES2350232T3 (es) 2006-06-29 2011-01-20 Navigon Ag Procedimiento para la determinación automática asistida por ordenador de una ruta que ha de ser recorrida por vehículos.
EP1890110A3 (de) 2006-08-18 2013-04-24 Volkswagen Aktiengesellschaft Verfahren zur Bestimmung einer optimalen Fahrstrategie eines Kraftfahrzeugs und entsprechend ausgestaltete Vorrichtung sowie zugehörige Anzeige und zugehöriges Kraftfahrzeug
JP4946374B2 (ja) * 2006-11-13 2012-06-06 トヨタ自動車株式会社 自動運転車両
JP5023894B2 (ja) * 2007-08-31 2012-09-12 トヨタ自動車株式会社 走行計画生成装置

Also Published As

Publication number Publication date
KR101620807B1 (ko) 2016-05-23
US20130090823A1 (en) 2013-04-11
US8583340B2 (en) 2013-11-12
KR20110018847A (ko) 2011-02-24
EP2287568A1 (en) 2011-02-23
JP2011039518A (ja) 2011-02-24
US20110046877A1 (en) 2011-02-24
EP2287568B1 (en) 2015-11-04
US8306732B2 (en) 2012-11-06

Similar Documents

Publication Publication Date Title
JP5476252B2 (ja) 経路の最適速度プロフィールを決定する方法及びシステム
JP6831420B2 (ja) 自動運転車の軌跡候補を評価するための方法
JP6873170B2 (ja) 加速カーブの投影に用いられるシステム及び方法
US10579062B2 (en) Scalable smooth reference path generator for autonomous driving vehicles
US11584377B2 (en) Lidar based detection of road surface features
US8896464B2 (en) Navigation device and method for providing warnings for a speed trap
JP6861272B2 (ja) 衝突後の分析に基づく自動運転車の車両動作の最適化
JP6494715B2 (ja) 自律走行車の速度制御率の動的調整方法
US20040049339A1 (en) Assistance system for selecting routes
CN113313933A (zh) 用于自动驾驶车辆的基于车道的路线选择系统
US20190250000A1 (en) Determining driving paths for autonomous driving vehicles based on offset points
EP2387698A1 (en) Method for creating speed profiles for digital maps
JP2009293996A (ja) 運転者疲労度推定装置、運転者疲労度推定方法
US20220057218A1 (en) Method and apparatus for automatic generation of context-based guidance information from behavior and context-based machine learning models
JP3366043B2 (ja) 車両の通過可能車速設定装置
CN114754790A (zh) 一种多地图的导航方法、系统及存储介质
JP7226018B2 (ja) 車両運転支援装置
Tomar et al. Neural network based lane change trajectory prediction in autonomous vehicles
JP2013033461A (ja) 運転状態診断装置
JP7145007B2 (ja) 経路案内システムおよび経路案内プログラム
US20260056021A1 (en) Control system
US20260049828A1 (en) Vehicle control system and navigation system
US20260056027A1 (en) Vehicle management system
JP2021041801A (ja) 走行軌道推定方法、車両制御方法及び走行軌道推定装置
CN120153331A (zh) 针对车辆的xyz运动规划

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130814

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20130814

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20130814

A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20130906

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20130924

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20131217

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20140114

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20140207

R150 Certificate of patent or registration of utility model

Ref document number: 5476252

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees