JP5868420B2 - 自律走行システム - Google Patents
自律走行システム Download PDFInfo
- Publication number
- JP5868420B2 JP5868420B2 JP2013542686A JP2013542686A JP5868420B2 JP 5868420 B2 JP5868420 B2 JP 5868420B2 JP 2013542686 A JP2013542686 A JP 2013542686A JP 2013542686 A JP2013542686 A JP 2013542686A JP 5868420 B2 JP5868420 B2 JP 5868420B2
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- 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.)
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- 238000007726 management method Methods 0.000 claims description 104
- 238000012544 monitoring process Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 description 108
- 238000012545 processing Methods 0.000 description 20
- 238000004891 communication Methods 0.000 description 16
- 230000000903 blocking effect Effects 0.000 description 8
- 238000005259 measurement Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
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Classifications
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- B60W30/14—Adaptive cruise control
-
- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
102 運行管理部
103、115 地図データベース
104 車両位置管理部
105 車両通過監視部
106 閉塞領域算出・設定部
107 車両走行計画部
108 通信部
109 閉塞領域データベース
110 メモリ領域
112 路車間通信部
113 運動計画部
114 運動制御部
116 自車位置算出部
117 路上装置
Claims (7)
- 車両の走行範囲が点と線で表わされた第1の区間と、車両の走行範囲が面で表わされた第2の区間の地図が混在する地図データベースと、
複数の車両の位置を管理する車両位置管理部と、
第1の区間と第2の区間の境界周辺における車両の有無を判断し、境界周辺に車両が存在する場合に、その境界を他の車両が進入しないように閉塞領域に設定する閉塞設定部と、
を備えた運行管理部を有し、
前記運行管理部から各車両に対し走行経路を通知する自律走行システムにおいて、
前記閉塞設定部は、閉塞領域が設定された前記境界を複数の領域に分割し、分割した各領域について通過する車両が存在しない分割領域の境界の閉塞を開放し、
第1の区間と第2の区間の境界に設定されている分割領域の閉塞領域に基づいて車両の走行経路を計画する車両走行計画部と、
を有することを特徴とする自律走行システム。 - 請求項1に記載の閉塞設定部において、境界を複数の領域に分割する際は、当該境界に近付く車両と該境界との位置関係によって、境界の複数に分割する領域の長さを決定することを特徴とする自律走行システム。
- 請求項1または2に記載の自律走行システムにおいて、前記閉塞設定部は、各車両には優先度が設定されており、小領域に対する閉塞領域の設定は優先度の高い車両が設定する閉塞が優先されること特徴とする自律走行システム。
- 請求項1−3に記載の自律走行システムのいずれかにおいて、前記車両走行計画部は、前記第1の区間と第2の区間の境界における境界点が優先度の高い車両により閉塞されていた場合、優先度の高い車両が閉塞していない境界のある1点を目標点として走行経路計画を立てることを特徴とする自律走行システム。
- 請求項4に記載の自律走行システムにおいて、前記車両走行計画部は、優先度の高い車両の走行経路を取得し、優先度の高い車両により閉塞領域が設定された分割された境界の領域を避けて走行経路を生成することを特徴とする自律走行システム。
- 請求項1に記載の運行管理装置において、路面の表現が点と線で表わされた区間から面で表わされた区間に入ったこと、もしくは路面が面で表わされた区間から点と線で表わされた区間に入ったことを検知する車両通過監視部を有することを特徴とする自律走行システム。
- 請求項1に記載の車両位置管理部において、地図データベースを用いて、路面が点と線で表わされた区間には線上もしくは点上の自車位置を計算する自車位置推定を行い、面で表わされた区間では面上の自車位置推定に切り替わることを特徴とする自律走行システム。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2011/006248 WO2013069054A1 (ja) | 2011-11-09 | 2011-11-09 | 自律走行システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2013069054A1 JPWO2013069054A1 (ja) | 2015-04-02 |
JP5868420B2 true JP5868420B2 (ja) | 2016-02-24 |
Family
ID=48288645
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013542686A Expired - Fee Related JP5868420B2 (ja) | 2011-11-09 | 2011-11-09 | 自律走行システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US8983709B2 (ja) |
JP (1) | JP5868420B2 (ja) |
AU (1) | AU2011380820B2 (ja) |
CA (1) | CA2854274C (ja) |
DE (1) | DE112011105829T5 (ja) |
WO (1) | WO2013069054A1 (ja) |
Families Citing this family (18)
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WO2015072896A1 (en) * | 2013-11-12 | 2015-05-21 | Husqvarna Ab | Improved navigation for a robotic working tool |
JP6467773B2 (ja) * | 2014-02-25 | 2019-02-13 | アイシン・エィ・ダブリュ株式会社 | 経路探索システム、経路探索方法及びコンピュータプログラム |
US9031758B1 (en) * | 2014-03-04 | 2015-05-12 | Nissan North America, Inc. | On-board vehicle control system and method for determining whether a vehicle is within a geographical area of interest |
US9304515B2 (en) | 2014-04-24 | 2016-04-05 | Lenovo Enterprise Solutions (Singapore) Pte. Ltd. | Regional operation modes for autonomous vehicles |
US9349284B2 (en) | 2014-04-24 | 2016-05-24 | International Business Machines Corporation | Regional driving trend modification using autonomous vehicles |
US10122790B2 (en) | 2015-09-22 | 2018-11-06 | Veniam, Inc. | Systems and methods for vehicle traffic management in a network of moving things |
US11235777B2 (en) * | 2015-10-15 | 2022-02-01 | Harman International Industries, Incorporated | Vehicle path prediction and target classification for autonomous vehicle operation |
US9958865B2 (en) * | 2015-12-18 | 2018-05-01 | GM Global Technology Operations LLC | Systems and methods to enable or disable autonomous driving |
US10127814B2 (en) * | 2017-02-03 | 2018-11-13 | Ford Global Technologies, Llc | Advanced V2X event dissemination |
JP7009751B2 (ja) * | 2017-03-15 | 2022-01-26 | オムロン株式会社 | 計測システム、制御装置、計測方法 |
CN107168334B (zh) * | 2017-06-26 | 2020-07-07 | 上海联适导航技术有限公司 | 一种路径规划方法及机器人 |
US20200174490A1 (en) * | 2017-07-27 | 2020-06-04 | Waymo Llc | Neural networks for vehicle trajectory planning |
JP6780611B2 (ja) | 2017-08-25 | 2020-11-04 | トヨタ自動車株式会社 | 自動運転装置 |
US11126177B2 (en) * | 2018-01-24 | 2021-09-21 | Motional Ad Llc | Speed behavior planning for vehicles |
US11050556B2 (en) * | 2018-07-13 | 2021-06-29 | Micron Technology, Inc. | Secure vehicular communication |
JP6678831B1 (ja) * | 2019-03-12 | 2020-04-08 | 三菱電機株式会社 | 制御装置および制御方法 |
CN111735466B (zh) * | 2020-01-02 | 2021-11-12 | 北京京东乾石科技有限公司 | 一种多车协同轨迹规划方法、装置、设备及存储介质 |
CN115328108B (zh) * | 2021-04-23 | 2024-06-18 | 南京泉峰科技有限公司 | 智能割草设备及其运行控制方法 |
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-
2011
- 2011-11-09 US US14/357,130 patent/US8983709B2/en active Active
- 2011-11-09 WO PCT/JP2011/006248 patent/WO2013069054A1/ja active Application Filing
- 2011-11-09 DE DE112011105829.2T patent/DE112011105829T5/de not_active Ceased
- 2011-11-09 JP JP2013542686A patent/JP5868420B2/ja not_active Expired - Fee Related
- 2011-11-09 CA CA2854274A patent/CA2854274C/en not_active Expired - Fee Related
- 2011-11-09 AU AU2011380820A patent/AU2011380820B2/en not_active Ceased
Also Published As
Publication number | Publication date |
---|---|
CA2854274C (en) | 2015-10-13 |
DE112011105829T5 (de) | 2014-08-07 |
US20140316635A1 (en) | 2014-10-23 |
AU2011380820B2 (en) | 2014-11-13 |
US8983709B2 (en) | 2015-03-17 |
JPWO2013069054A1 (ja) | 2015-04-02 |
WO2013069054A1 (ja) | 2013-05-16 |
CA2854274A1 (en) | 2013-05-16 |
AU2011380820A1 (en) | 2014-05-29 |
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