JP6764945B2 - 車両の運転および自動運転を簡易化する方法 - Google Patents
車両の運転および自動運転を簡易化する方法 Download PDFInfo
- Publication number
- JP6764945B2 JP6764945B2 JP2018559805A JP2018559805A JP6764945B2 JP 6764945 B2 JP6764945 B2 JP 6764945B2 JP 2018559805 A JP2018559805 A JP 2018559805A JP 2018559805 A JP2018559805 A JP 2018559805A JP 6764945 B2 JP6764945 B2 JP 6764945B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- track
- candidate
- world
- given
- 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
Links
Images
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
- G05D1/60—Intended control result
- G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or 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
- 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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
-
- 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
- B60W60/0011—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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- 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
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
-
- 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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/242—Means based on the reflection of waves generated by the vehicle
-
- 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
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
-
- 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
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
-
- 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
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
- G09B19/167—Control of land vehicles
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0013—Optimal controllers
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
-
- 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
-
- 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
-
- 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
- B60W2554/406—Traffic density
-
- 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
- B60W2554/60—Traversable objects, e.g. speed bumps or curbs
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative 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
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W2556/65—Data transmitted between vehicles
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering 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
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from the vehicle
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2101/00—Details of software or hardware architectures used for the control of position
- G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/10—Optical signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/50—Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Human Computer Interaction (AREA)
- Business, Economics & Management (AREA)
- Entrepreneurship & Innovation (AREA)
- Theoretical Computer Science (AREA)
- Educational Technology (AREA)
- Educational Administration (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Electromagnetism (AREA)
- Control Of Transmission Device (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/078,143 | 2016-03-23 | ||
| US15/078,143 US9645577B1 (en) | 2016-03-23 | 2016-03-23 | Facilitating vehicle driving and self-driving |
| PCT/US2017/023193 WO2017165286A1 (en) | 2016-03-23 | 2017-03-20 | Facilitating vehicle driving and self-driving |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2019512824A JP2019512824A (ja) | 2019-05-16 |
| JP2019512824A5 JP2019512824A5 (OSRAM) | 2019-10-31 |
| JP6764945B2 true JP6764945B2 (ja) | 2020-10-07 |
Family
ID=58644557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2018559805A Active JP6764945B2 (ja) | 2016-03-23 | 2017-03-20 | 車両の運転および自動運転を簡易化する方法 |
Country Status (7)
| Country | Link |
|---|---|
| US (4) | US9645577B1 (OSRAM) |
| EP (1) | EP3433691B1 (OSRAM) |
| JP (1) | JP6764945B2 (OSRAM) |
| KR (2) | KR102071412B1 (OSRAM) |
| CN (1) | CN109313445B (OSRAM) |
| SG (1) | SG11201808076UA (OSRAM) |
| WO (1) | WO2017165286A1 (OSRAM) |
Families Citing this family (256)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10096067B1 (en) * | 2014-01-24 | 2018-10-09 | Allstate Insurance Company | Reward system related to a vehicle-to-vehicle communication system |
| US9657925B2 (en) | 2014-05-22 | 2017-05-23 | Feit Electric Company, Inc. | Twist and lock mounting bracket |
| US10093181B1 (en) | 2015-09-30 | 2018-10-09 | Waymo Llc | Occupant facing vehicle display |
| US10012984B2 (en) * | 2015-12-14 | 2018-07-03 | Mitsubishi Electric Research Laboratories, Inc. | System and method for controlling autonomous vehicles |
| EP4664353A2 (en) * | 2016-01-05 | 2025-12-17 | Mobileye Vision Technologies Ltd. | Trained navigational system with imposed constraints |
| JP6294905B2 (ja) * | 2016-03-31 | 2018-03-14 | 株式会社Subaru | 表示装置 |
| US10303166B2 (en) * | 2016-05-23 | 2019-05-28 | nuTonomy Inc. | Supervisory control of vehicles |
| JP7181092B2 (ja) * | 2016-06-10 | 2022-11-30 | デューク・ユニバーシティ | 自律型車両用動作計画及び再構成可能な動作計画プロセッサ |
| US10309792B2 (en) | 2016-06-14 | 2019-06-04 | nuTonomy Inc. | Route planning for an autonomous vehicle |
| US11092446B2 (en) | 2016-06-14 | 2021-08-17 | Motional Ad Llc | Route planning for an autonomous vehicle |
| US10126136B2 (en) | 2016-06-14 | 2018-11-13 | nuTonomy Inc. | Route planning for an autonomous vehicle |
| US10829116B2 (en) * | 2016-07-01 | 2020-11-10 | nuTonomy Inc. | Affecting functions of a vehicle based on function-related information about its environment |
| US9884630B1 (en) | 2016-07-05 | 2018-02-06 | Uber Technologies, Inc. | Autonomous vehicle performance optimization system |
| DE102016009763A1 (de) * | 2016-08-11 | 2018-02-15 | Trw Automotive Gmbh | Steuerungssystem und Steuerungsverfahren zum Bestimmen einer Trajektorie und zum Erzeugen von zugehörigen Signalen oder Steuerbefehlen |
| US10599150B2 (en) | 2016-09-29 | 2020-03-24 | The Charles Stark Kraper Laboratory, Inc. | Autonomous vehicle: object-level fusion |
| US10489529B2 (en) | 2016-10-14 | 2019-11-26 | Zoox, Inc. | Scenario description language |
| US10331129B2 (en) | 2016-10-20 | 2019-06-25 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
| US10473470B2 (en) | 2016-10-20 | 2019-11-12 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
| US10681513B2 (en) | 2016-10-20 | 2020-06-09 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
| US10857994B2 (en) | 2016-10-20 | 2020-12-08 | Motional Ad Llc | Identifying a stopping place for an autonomous vehicle |
| US11042161B2 (en) * | 2016-11-16 | 2021-06-22 | Symbol Technologies, Llc | Navigation control method and apparatus in a mobile automation system |
| US10137945B2 (en) | 2016-11-30 | 2018-11-27 | Xstream Trucking Inc. | Deployable fairing for use with vehicles |
| CN110177732B (zh) | 2016-11-30 | 2021-11-26 | 艾克斯斯特里姆货车运输有限公司 | 供车辆使用的整流结构 |
| KR102090919B1 (ko) | 2017-02-10 | 2020-05-18 | 닛산 노쓰 아메리카, 인크. | 자율주행 차량 운용 관리 차단 모니터링 |
| WO2018147874A1 (en) | 2017-02-10 | 2018-08-16 | Nissan North America, Inc. | Autonomous vehicle operational management including operating a partially observable markov decision process model instance |
| KR102090920B1 (ko) | 2017-02-10 | 2020-03-19 | 닛산 노쓰 아메리카, 인크. | 자율주행 차량 운용 관리 제어 |
| US10671076B1 (en) | 2017-03-01 | 2020-06-02 | Zoox, Inc. | Trajectory prediction of third-party objects using temporal logic and tree search |
| US10353390B2 (en) * | 2017-03-01 | 2019-07-16 | Zoox, Inc. | Trajectory generation and execution architecture |
| US10095234B2 (en) * | 2017-03-07 | 2018-10-09 | nuTonomy Inc. | Planning for unknown objects by an autonomous vehicle |
| US10234864B2 (en) | 2017-03-07 | 2019-03-19 | nuTonomy Inc. | Planning for unknown objects by an autonomous vehicle |
| US10281920B2 (en) | 2017-03-07 | 2019-05-07 | nuTonomy Inc. | Planning for unknown objects by an autonomous vehicle |
| WO2018170074A1 (en) | 2017-03-14 | 2018-09-20 | Starsky Robotics, Inc. | Vehicle sensor system and method of use |
| US10168705B2 (en) * | 2017-04-06 | 2019-01-01 | Uber Technologies, Inc. | Automatic tuning of autonomous vehicle cost functions based on human driving data |
| US10101745B1 (en) * | 2017-04-26 | 2018-10-16 | The Charles Stark Draper Laboratory, Inc. | Enhancing autonomous vehicle perception with off-vehicle collected data |
| JP6790258B2 (ja) * | 2017-06-02 | 2020-12-02 | 本田技研工業株式会社 | ポリシー生成装置及び車両 |
| US12347342B2 (en) | 2017-06-15 | 2025-07-01 | Faac Incorporated | Driving simulation scoring system |
| WO2018232319A1 (en) * | 2017-06-15 | 2018-12-20 | Faac Incorporated | Driving simulation scoring system |
| US10496099B2 (en) * | 2017-07-18 | 2019-12-03 | Uatc, Llc | Systems and methods for speed limit context awareness |
| GB2564897A (en) * | 2017-07-27 | 2019-01-30 | Kompetenzzentrum Das Virtuelle Fahrzeug | Method and process for motion planning in (un-)structured environments with pedestrians and use of probabilistic manifolds |
| IL253769B (en) * | 2017-07-31 | 2022-03-01 | Israel Aerospace Ind Ltd | Planning a path in motion |
| US10620634B2 (en) * | 2017-08-23 | 2020-04-14 | Uatc, Llc | Vehicle interface for autonomous vehicle |
| US10558217B2 (en) * | 2017-08-28 | 2020-02-11 | GM Global Technology Operations LLC | Method and apparatus for monitoring of an autonomous vehicle |
| US20190212747A1 (en) * | 2017-08-30 | 2019-07-11 | Continental Automotive Systems, Inc. | Lane Marker Signal Improvement through Mapped Geo-Referenced Lane Boundaries |
| US10831202B1 (en) | 2017-09-01 | 2020-11-10 | Zoox, Inc. | Onboard use of scenario description language |
| US10860019B2 (en) * | 2017-09-08 | 2020-12-08 | Motional Ad Llc | Planning autonomous motion |
| US12276983B2 (en) | 2017-09-08 | 2025-04-15 | Motional Ad Llc | Planning autonomous motion |
| CN115503752A (zh) * | 2017-09-08 | 2022-12-23 | 动态Ad有限责任公司 | 用于操作车辆的方法和系统 |
| US10515321B2 (en) * | 2017-09-11 | 2019-12-24 | Baidu Usa Llc | Cost based path planning for autonomous driving vehicles |
| US10496098B2 (en) * | 2017-09-12 | 2019-12-03 | Baidu Usa Llc | Road segment-based routing guidance system for autonomous driving vehicles |
| US11003183B2 (en) * | 2017-09-13 | 2021-05-11 | Baidu Usa Llc | Driving scene based path planning for autonomous driving vehicles |
| WO2019053695A1 (en) * | 2017-09-18 | 2019-03-21 | Telefonaktiebolaget L M Ericsson (Publ) | SYSTEM AND METHOD FOR PROVIDING ACCURATE DRIVING RECOMMENDATIONS BASED ON NETWORK-ASSISTED SCAN OF AN AMBIENT ENVIRONMENT |
| US11533589B2 (en) | 2017-09-18 | 2022-12-20 | Telefonaktiebolaget Lm Ericsson (Publ) | Network-assisted scanning of a surrounding environment |
| US10739774B2 (en) * | 2017-10-06 | 2020-08-11 | Honda Motor Co., Ltd. | Keyframe based autonomous vehicle operation |
| DE102017124951A1 (de) * | 2017-10-25 | 2019-04-25 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zum Betrieb eines selbstfahrenden Kraftfahrzeugs und selbstfahrendes Kraftfahrzeug |
| WO2019088977A1 (en) | 2017-10-30 | 2019-05-09 | Nissan North America, Inc. | Continual planning and metareasoning for controlling an autonomous vehicle |
| US11702070B2 (en) | 2017-10-31 | 2023-07-18 | Nissan North America, Inc. | Autonomous vehicle operation with explicit occlusion reasoning |
| WO2019088989A1 (en) | 2017-10-31 | 2019-05-09 | Nissan North America, Inc. | Reinforcement and model learning for vehicle operation |
| US10677686B2 (en) * | 2017-11-14 | 2020-06-09 | GM Global Technology Operations LLC | Method and apparatus for autonomous system performance and grading |
| EP3717324B1 (en) | 2017-11-30 | 2024-05-15 | Nissan North America, Inc. | Autonomous vehicle operational management scenarios |
| US10860018B2 (en) | 2017-11-30 | 2020-12-08 | Tusimple, Inc. | System and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners |
| JP6911739B2 (ja) * | 2017-12-13 | 2021-07-28 | トヨタ自動車株式会社 | 運転支援装置 |
| SE542387C2 (en) * | 2017-12-20 | 2020-04-21 | Scania Cv Ab | Method and control arrangement in a transportation surveillance system, monitoring a system comprising autonomous vehicles, for assisting a human operator in predictive decision making |
| US10816990B2 (en) * | 2017-12-21 | 2020-10-27 | Baidu Usa Llc | Non-blocking boundary for autonomous vehicle planning |
| US11874120B2 (en) * | 2017-12-22 | 2024-01-16 | Nissan North America, Inc. | Shared autonomous vehicle operational management |
| DE102017223717B4 (de) * | 2017-12-22 | 2019-07-18 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Roboters in einem Multiagentensystem, Roboter und Multiagentensystem |
| US10466707B2 (en) * | 2017-12-22 | 2019-11-05 | X Development Llc | Planning robot stopping points to avoid collisions |
| US10713510B2 (en) * | 2017-12-29 | 2020-07-14 | Waymo Llc | Autonomous vehicle system configured to respond to temporary speed limit signs |
| US11718303B2 (en) | 2018-01-03 | 2023-08-08 | Toyota Research Institute, Inc. | Vehicles and methods for building vehicle profiles based on reactions created by surrounding vehicles |
| WO2019139815A1 (en) | 2018-01-12 | 2019-07-18 | Duke University | Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects |
| US11262756B2 (en) * | 2018-01-15 | 2022-03-01 | Uatc, Llc | Discrete decision architecture for motion planning system of an autonomous vehicle |
| US10908608B2 (en) * | 2018-01-18 | 2021-02-02 | Baidu Usa Llc | Method and system for stitching planning trajectories from consecutive planning cycles for smooth control execution of autonomous driving vehicles |
| US20180150081A1 (en) * | 2018-01-24 | 2018-05-31 | GM Global Technology Operations LLC | Systems and methods for path planning in autonomous vehicles |
| US10688991B2 (en) | 2018-01-24 | 2020-06-23 | GM Global Technology Operations LLC | Systems and methods for unprotected maneuver mitigation in autonomous vehicles |
| US10745006B2 (en) * | 2018-02-01 | 2020-08-18 | GM Global Technology Operations LLC | Managing automated driving complexity of the forward path using perception system measures |
| TWI822729B (zh) | 2018-02-06 | 2023-11-21 | 美商即時機器人股份有限公司 | 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備 |
| GB2570887B (en) * | 2018-02-07 | 2020-08-12 | Jaguar Land Rover Ltd | A system for a vehicle |
| US10955851B2 (en) | 2018-02-14 | 2021-03-23 | Zoox, Inc. | Detecting blocking objects |
| EP3759563B1 (en) | 2018-02-26 | 2023-11-22 | Nissan North America, Inc. | Centralized shared autonomous vehicle operational management |
| US11568434B2 (en) * | 2018-02-27 | 2023-01-31 | Verizon Patent And Licensing Inc. | Systems and methods for executing feedback actions based upon vehicle practices |
| US11636375B2 (en) * | 2018-02-27 | 2023-04-25 | Toyota Research Institute, Inc. | Adversarial learning of driving behavior |
| US10983522B2 (en) * | 2018-03-09 | 2021-04-20 | Baidu Usa Llc | Emergency stop speed profile for autonomous vehicles |
| WO2019174053A1 (zh) * | 2018-03-16 | 2019-09-19 | 深圳市大疆创新科技有限公司 | 可移动平台及其控制方法 |
| CN112896190B (zh) | 2018-03-20 | 2025-01-28 | 御眼视觉技术有限公司 | 用于导航主车辆的系统、方法及计算机可读介质 |
| EP3769174B1 (en) | 2018-03-21 | 2022-07-06 | Realtime Robotics, Inc. | Motion planning of a robot for various environments and tasks and improved operation of same |
| US11243541B2 (en) * | 2018-03-23 | 2022-02-08 | Uatc, Llc | Motion-plan validator for autonomous vehicle |
| US10414395B1 (en) | 2018-04-06 | 2019-09-17 | Zoox, Inc. | Feature-based prediction |
| US11315204B2 (en) * | 2018-04-12 | 2022-04-26 | Coursera, Inc. | Updating sequence of online courses for new learners while maintaining previous sequences of online courses for previous learners |
| US11511745B2 (en) | 2018-04-27 | 2022-11-29 | Huawei Technologies Co., Ltd. | Method and system for adaptively controlling object spacing |
| US11475182B1 (en) * | 2018-05-04 | 2022-10-18 | Apple Inc. | Simulation-based map validation |
| DE102018207102A1 (de) * | 2018-05-08 | 2019-11-14 | Robert Bosch Gmbh | Verfahren zur Ermittlung der Trajektorienfolgegenauigkeit |
| US11610165B2 (en) * | 2018-05-09 | 2023-03-21 | Volvo Car Corporation | Method and system for orchestrating multi-party services using semi-cooperative nash equilibrium based on artificial intelligence, neural network models,reinforcement learning and finite-state automata |
| US11126873B2 (en) | 2018-05-17 | 2021-09-21 | Zoox, Inc. | Vehicle lighting state determination |
| US10977605B2 (en) * | 2018-06-05 | 2021-04-13 | Signal Ocean Ltd | Carrier path prediction based on dynamic input data |
| US11994860B2 (en) | 2018-06-15 | 2024-05-28 | Allstate Insurance Company | Processing system for evaluating autonomous vehicle control systems through continuous learning |
| US11120688B2 (en) | 2018-06-29 | 2021-09-14 | Nissan North America, Inc. | Orientation-adjust actions for autonomous vehicle operational management |
| CN108897216A (zh) * | 2018-07-03 | 2018-11-27 | 吉林大学 | 一种基于区域虚拟力场的智能汽车模型预测决策方法 |
| US11112795B1 (en) * | 2018-08-07 | 2021-09-07 | GM Global Technology Operations LLC | Maneuver-based interaction system for an autonomous vehicle |
| EP4596359A2 (en) | 2018-08-14 | 2025-08-06 | Mobileye Vision Technologies Ltd. | Systems and methods for navigating with safe distances |
| US11237564B2 (en) * | 2018-08-23 | 2022-02-01 | Uatc, Llc | Motion planning system of an autonomous vehicle |
| CN112601641B (zh) | 2018-08-23 | 2024-03-08 | 实时机器人有限公司 | 用于机器人运动规划的碰撞检测 |
| CN109324608B (zh) * | 2018-08-31 | 2022-11-08 | 阿波罗智能技术(北京)有限公司 | 无人车控制方法、装置、设备以及存储介质 |
| CN109212572B (zh) * | 2018-08-31 | 2021-05-04 | 百度在线网络技术(北京)有限公司 | 定位漂移检测方法、装置、设备及计算机可读存储介质 |
| CN110928277B (zh) * | 2018-08-31 | 2023-11-17 | 阿波罗智能技术(北京)有限公司 | 智能路侧单元的障碍物提示方法、装置及设备 |
| US11181921B2 (en) * | 2018-09-14 | 2021-11-23 | Huawei Technologies Co., Ltd. | System and method for hierarchical planning in autonomous vehicles |
| DE102018215949A1 (de) * | 2018-09-19 | 2020-03-19 | Robert Bosch Gmbh | Verfahren zur Trajektorienplanung eines beweglichen Objektes |
| DE102018216423A1 (de) * | 2018-09-26 | 2020-03-26 | Robert Bosch Gmbh | Bestimmung eines Ansteuerungssignals für ein teilautonomes Fahrzeug |
| KR102223347B1 (ko) * | 2018-09-28 | 2021-03-04 | 바이두닷컴 타임즈 테크놀로지(베이징) 컴퍼니 리미티드 | 에뮬레이션 기반의 자율 주행 차량의 3점 방향 전환 계획 |
| EP3633468B1 (en) | 2018-10-04 | 2021-12-22 | Technische Universität München | Distributed automated synthesis of correct-by-construction controllers |
| US11256260B2 (en) | 2018-10-05 | 2022-02-22 | Waymo Llc | Generating trajectories for autonomous vehicles |
| CN112868022B (zh) * | 2018-10-16 | 2024-08-20 | 法弗人工智能有限公司 | 自动驾驶车辆的驾驶场景 |
| DK201970121A1 (en) * | 2018-10-30 | 2020-06-04 | Aptiv Technologies Limited | GENERATION OF OPTIMAL TRAJECTORIES FOR NAVIGATION OF VEHICLES |
| EP3648021A1 (en) * | 2018-10-30 | 2020-05-06 | Aptiv Technologies Limited | Generation of optimal trajectories for navigation of vehicles |
| TWI674984B (zh) | 2018-11-15 | 2019-10-21 | 財團法人車輛研究測試中心 | 自動駕駛車輛之行駛軌跡規劃系統及方法 |
| US11287272B2 (en) | 2018-11-19 | 2022-03-29 | International Business Machines Corporation | Combined route planning and opportunistic searching in variable cost environments |
| US11469906B2 (en) * | 2018-11-20 | 2022-10-11 | Motional Ad Llc | Systems and methods for implementing data security |
| US12204336B2 (en) | 2018-12-04 | 2025-01-21 | Duke University | Apparatus, method and article to facilitate motion planning in an environment having dynamic objects |
| US11192545B1 (en) | 2018-12-05 | 2021-12-07 | Waymo Llc | Risk mitigation in speed planning |
| US12179798B2 (en) | 2018-12-05 | 2024-12-31 | Waymo Llc | Tree policy planning for autonomous vehicle driving solutions |
| DK201970148A1 (en) | 2018-12-10 | 2020-07-06 | Aptiv Tech Ltd | Motion graph construction and lane level route planning |
| CN109711009B (zh) * | 2018-12-13 | 2023-06-27 | 北京掌行通信息技术有限公司 | 无人驾驶汽车性能评价方法、装置、电子设备及介质 |
| US10931374B1 (en) * | 2018-12-13 | 2021-02-23 | Waymo Llc | Vehicle with free-space optical link for log data uploading |
| GB2588013B (en) * | 2018-12-18 | 2022-10-05 | Motional Ad Llc | Operation of a vehicle using multiple motion constraints |
| US11803184B2 (en) | 2018-12-18 | 2023-10-31 | Motional Ad Llc | Methods for generating maps using hyper-graph data structures |
| GB2592293B (en) * | 2018-12-18 | 2022-11-30 | Motional Ad Llc | Operation of a vehicle using motion planning with machine learning |
| US10962372B1 (en) * | 2018-12-31 | 2021-03-30 | Accelerate Labs, Llc | Navigational routes for autonomous vehicles |
| US11364929B2 (en) | 2019-01-04 | 2022-06-21 | Toyota Research Institute, Inc. | Systems and methods for shared control of a vehicle |
| EP3680876A1 (en) * | 2019-01-08 | 2020-07-15 | Visteon Global Technologies, Inc. | Method for planning trajectory of vehicle |
| EP3914880B1 (en) * | 2019-01-25 | 2025-08-20 | Aurora Operations, Inc. | Vehicle routing with local and general routes |
| DE102019201045B4 (de) * | 2019-01-28 | 2020-11-26 | Robert Bosch Gmbh | Verfahren, Vorrichtung und Computerprogramm zum Ermitteln einer Aktion oder Trajektorie eines Roboters |
| US10832140B2 (en) * | 2019-01-30 | 2020-11-10 | StradVision, Inc. | Method and device for providing information for evaluating driving habits of driver by detecting driving scenarios occurring during driving |
| US11364936B2 (en) * | 2019-02-28 | 2022-06-21 | Huawei Technologies Co., Ltd. | Method and system for controlling safety of ego and social objects |
| JP7155043B2 (ja) * | 2019-02-28 | 2022-10-18 | 株式会社日立製作所 | サーバ、車両制御システム |
| US11427267B2 (en) | 2019-03-06 | 2022-08-30 | Trucklabs, Inc. | Deployable fairing system for use with vehicles |
| US11106212B2 (en) * | 2019-03-26 | 2021-08-31 | Baidu Usa Llc | Path planning for complex scenes with self-adjusting path length for autonomous driving vehicles |
| WO2020198937A1 (en) * | 2019-03-29 | 2020-10-08 | Baidu.Com Times Technology (Beijing) Co., Ltd. | Communications protocols between planning and control of autonomous driving vehicle |
| CN113905855B (zh) | 2019-04-17 | 2023-08-25 | 实时机器人有限公司 | 运动规划图生成用户界面、系统、方法和规则 |
| US11305765B2 (en) * | 2019-04-23 | 2022-04-19 | Baidu Usa Llc | Method for predicting movement of moving objects relative to an autonomous driving vehicle |
| RU2750152C1 (ru) * | 2019-04-25 | 2021-06-22 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Способы и системы для определения порядка оценивания траекторий транспортных средств |
| DE102019206562A1 (de) * | 2019-05-07 | 2020-11-12 | Volkswagen Aktiengesellschaft | Verfahren zum Ermitteln einer Fahrzeugtrajektorie |
| US11249184B2 (en) | 2019-05-07 | 2022-02-15 | The Charles Stark Draper Laboratory, Inc. | Autonomous collision avoidance through physical layer tracking |
| EP3739418B1 (en) * | 2019-05-14 | 2021-12-15 | Robert Bosch GmbH | Method of controlling a vehicle and apparatus for controlling a vehicle |
| CN110228473B (zh) * | 2019-05-27 | 2021-07-02 | 驭势科技(北京)有限公司 | 一种智能车换道决策方法、装置、存储介质和智能车 |
| EP3977226B1 (en) | 2019-06-03 | 2025-08-06 | Realtime Robotics, Inc. | Apparatus and method to facilitate motion planning in environments having dynamic obstacles |
| US10769953B1 (en) | 2019-06-11 | 2020-09-08 | Toyota Motor North America, Inc. | Vehicle-to-vehicle sensor data sharing |
| US11315427B2 (en) | 2019-06-11 | 2022-04-26 | Toyota Motor North America, Inc. | Vehicle-to-vehicle sensor data sharing |
| TWI873149B (zh) | 2019-06-24 | 2025-02-21 | 美商即時機器人股份有限公司 | 用於多個機械手臂於共用工作空間中之移動規劃系統及方法 |
| US11214270B2 (en) * | 2019-06-28 | 2022-01-04 | Woven Planet North America, Inc. | Systems and methods for navigating vehicles with redundant navigation systems |
| EP3760507A1 (en) * | 2019-07-04 | 2021-01-06 | TTTech Auto AG | Safe trajectory selection for autonomous vehicles |
| DE102019118366A1 (de) * | 2019-07-08 | 2021-01-14 | Zf Friedrichshafen Ag | Verfahren sowie Steuergerät für ein System zum Steuern eines Kraftfahrzeugs |
| JP7251629B2 (ja) * | 2019-07-15 | 2023-04-04 | 株式会社Soken | 走行記憶システム、および走行記憶方法 |
| JP7200868B2 (ja) * | 2019-07-23 | 2023-01-10 | トヨタ自動車株式会社 | 車両制御システム及び車両制御装置 |
| US11142214B2 (en) * | 2019-08-06 | 2021-10-12 | Bendix Commercial Vehicle Systems Llc | System, controller and method for maintaining an advanced driver assistance system as active |
| US20210039664A1 (en) * | 2019-08-08 | 2021-02-11 | Toyota Jidosha Kabushiki Kaisha | Machine learning system for modifying adas behavior to provide optimum vehicle trajectory in a region |
| WO2021033574A1 (ja) * | 2019-08-21 | 2021-02-25 | ソニー株式会社 | 情報処理装置、および情報処理方法、並びにプログラム |
| US11945440B2 (en) | 2019-08-23 | 2024-04-02 | Motional Ad Llc | Data driven rule books |
| GB201912145D0 (en) * | 2019-08-23 | 2019-10-09 | Five Ai Ltd | Performance testing for robotic systems |
| EP3993963B1 (en) | 2019-08-23 | 2025-07-16 | Realtime Robotics, Inc. | Motion planning for robots to optimize velocity while maintaining limits on acceleration and jerk |
| KR102720607B1 (ko) * | 2019-08-23 | 2024-10-23 | 볼보 트럭 코퍼레이션 | 차량 경로 추종 성능 정량화 방법 |
| CN110598311B (zh) * | 2019-09-06 | 2022-08-02 | 广东工业大学 | 一种自动驾驶车辆轨迹跟踪方法 |
| FR3100622B1 (fr) | 2019-09-10 | 2021-09-17 | Renault Sas | Procédé de démarrage de conduite autonome d’un véhicule automobile. |
| US11958183B2 (en) | 2019-09-19 | 2024-04-16 | The Research Foundation For The State University Of New York | Negotiation-based human-robot collaboration via augmented reality |
| DE102019125401A1 (de) * | 2019-09-20 | 2021-03-25 | Technische Universität Darmstadt | Modul und Verfahren zur Absicherung von Solltrajektorien für automatisiertes Fahren |
| US11279356B2 (en) * | 2019-09-23 | 2022-03-22 | Robert Bosch Gmbh | Vehicle dynamics control system utilizing heading error and derivative |
| US11643072B2 (en) * | 2019-09-27 | 2023-05-09 | Zoox, Inc. | Planning accommodations for particulate matter |
| US11754408B2 (en) * | 2019-10-09 | 2023-09-12 | Argo AI, LLC | Methods and systems for topological planning in autonomous driving |
| US11640170B1 (en) | 2019-10-29 | 2023-05-02 | Zoox, Inc. | Identification of particulate matter in sensor data |
| CN110764505B (zh) * | 2019-11-03 | 2022-10-04 | 华中师范大学 | 一种无人驾驶汽车控制系统 |
| RU2745804C1 (ru) * | 2019-11-06 | 2021-04-01 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Способ и процессор для управления перемещением в полосе движения автономного транспортного средства |
| US11635758B2 (en) | 2019-11-26 | 2023-04-25 | Nissan North America, Inc. | Risk aware executor with action set recommendations |
| US11899454B2 (en) | 2019-11-26 | 2024-02-13 | Nissan North America, Inc. | Objective-based reasoning in autonomous vehicle decision-making |
| US20210173402A1 (en) * | 2019-12-06 | 2021-06-10 | Lyft, Inc. | Systems and methods for determining vehicle trajectories directly from data indicative of human-driving behavior |
| CN115151882A (zh) * | 2019-12-16 | 2022-10-04 | 科特罗尔有限责任公司 | 用于机电系统的安全路径规划方法 |
| CN113091757B (zh) | 2019-12-23 | 2022-09-27 | 百度在线网络技术(北京)有限公司 | 地图生成方法和装置 |
| CN111007858B (zh) * | 2019-12-23 | 2023-04-28 | 北京三快在线科技有限公司 | 车辆行驶决策模型的训练方法、行驶决策确定方法及装置 |
| US11613269B2 (en) | 2019-12-23 | 2023-03-28 | Nissan North America, Inc. | Learning safety and human-centered constraints in autonomous vehicles |
| US11300957B2 (en) | 2019-12-26 | 2022-04-12 | Nissan North America, Inc. | Multiple objective explanation and control interface design |
| US20210197813A1 (en) * | 2019-12-27 | 2021-07-01 | Lyft, Inc. | Systems and methods for appropriate speed inference |
| CN111258325B (zh) * | 2020-01-08 | 2022-08-02 | 哈尔滨工业大学 | 对地遥感卫星高精度高性能的姿态容错控制方法、装置及计算机存储介质 |
| TWI887329B (zh) | 2020-01-22 | 2025-06-21 | 美商即時機器人股份有限公司 | 於多機器人操作環境中之機器人之建置之方法及系統 |
| US12351164B2 (en) | 2020-01-28 | 2025-07-08 | Five AI Limited | Planning in mobile robots |
| EP3859709B1 (en) * | 2020-01-30 | 2025-01-01 | Volkswagen Ag | Method for planning a cooperative driving maneuver, corresponding control unit and vehicle equipped with a control unit as well as computer program |
| US11577746B2 (en) | 2020-01-31 | 2023-02-14 | Nissan North America, Inc. | Explainability of autonomous vehicle decision making |
| US11714971B2 (en) | 2020-01-31 | 2023-08-01 | Nissan North America, Inc. | Explainability of autonomous vehicle decision making |
| CN115175841A (zh) * | 2020-02-19 | 2022-10-11 | 辉达公司 | 自主车辆的行为规划 |
| US11644331B2 (en) | 2020-02-28 | 2023-05-09 | International Business Machines Corporation | Probe data generating system for simulator |
| US11814080B2 (en) | 2020-02-28 | 2023-11-14 | International Business Machines Corporation | Autonomous driving evaluation using data analysis |
| US11702101B2 (en) | 2020-02-28 | 2023-07-18 | International Business Machines Corporation | Automatic scenario generator using a computer for autonomous driving |
| GB2597346B (en) * | 2020-03-03 | 2022-12-21 | Motional Ad Llc | Control architectures for autonomous vehicles |
| US11782438B2 (en) | 2020-03-17 | 2023-10-10 | Nissan North America, Inc. | Apparatus and method for post-processing a decision-making model of an autonomous vehicle using multivariate data |
| CN115297999A (zh) | 2020-03-18 | 2022-11-04 | 实时机器人有限公司 | 在机器人的运动规划中有用的机器人操作环境的数字表示 |
| US11407428B2 (en) | 2020-03-23 | 2022-08-09 | Toyota Motor North America, Inc. | Transport safety |
| EP3885226B1 (en) * | 2020-03-25 | 2024-08-14 | Aptiv Technologies AG | Method and system for planning the motion of a vehicle |
| EP3885867A1 (en) | 2020-03-27 | 2021-09-29 | embotech AG | Method and system for controlling autonomous or semi-autonomous vehicle |
| CN115769049A (zh) * | 2020-05-04 | 2023-03-07 | 马格纳电子系统公司 | 映射系统和方法 |
| CN111381597B (zh) * | 2020-05-14 | 2021-08-03 | 吉林大学 | 一种基于高斯伪谱法的车辆避障轨迹规划方法 |
| CN112199454B (zh) * | 2020-06-30 | 2022-12-13 | 武汉烽火众智数字技术有限责任公司 | 一种基于有向图的管控车辆拦截点设置方法及装置 |
| US20220019225A1 (en) * | 2020-07-14 | 2022-01-20 | Argo AI, LLC | Smart node for autonomous vehicle perception augmentation |
| US11473917B2 (en) | 2020-07-14 | 2022-10-18 | Argo AI, LLC | System for augmenting autonomous vehicle perception using smart nodes |
| DE102020209214A1 (de) | 2020-07-22 | 2022-01-27 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Bestimmen einer Trajektorie zum Steuern eines Fahrzeugs |
| US11835958B2 (en) * | 2020-07-28 | 2023-12-05 | Huawei Technologies Co., Ltd. | Predictive motion planning system and method |
| US11814075B2 (en) | 2020-08-26 | 2023-11-14 | Motional Ad Llc | Conditional motion predictions |
| US20220080962A1 (en) * | 2020-09-14 | 2022-03-17 | Motional Ad Llc | Vehicle operation using a behavioral rule model |
| EP3971526B1 (en) * | 2020-09-18 | 2024-05-08 | Zenuity AB | Path planning in autonomous driving environments |
| CN114355868B (zh) * | 2020-09-27 | 2024-05-24 | 财团法人车辆研究测试中心 | 自驾车的动态速度规划方法及其系统 |
| US11648965B2 (en) * | 2020-09-28 | 2023-05-16 | Argo AI, LLC | Method and system for using a reaction of other road users to ego-vehicle actions in autonomous driving |
| US11748995B2 (en) * | 2020-09-29 | 2023-09-05 | Toyota Research Institute, Inc. | Object state tracking and prediction using supplemental information |
| US11609582B2 (en) * | 2020-10-08 | 2023-03-21 | Ford Global Technologies, Llc | Systems and methods for planning a travel route of a multifunctional robot |
| US11731654B2 (en) * | 2020-10-16 | 2023-08-22 | GM Global Technology Operations LLC | Vehicle control systems and methods |
| US20220126876A1 (en) * | 2020-10-23 | 2022-04-28 | Motional Ad Llc | Vehicle operation using behavioral rule checks |
| EP4439525A3 (en) * | 2020-10-30 | 2024-12-11 | Five AI Limited | Tools for performance testing and/or training autonomous vehicle planners |
| US11753044B2 (en) * | 2020-11-18 | 2023-09-12 | Argo AI, LLC | Method and system for forecasting reactions of other road users in autonomous driving |
| US11620836B2 (en) | 2020-12-04 | 2023-04-04 | Argo AI, LLC | Light emitting diode flicker mitigation |
| US12054145B2 (en) | 2020-12-10 | 2024-08-06 | Motional Ad Llc | Lane connectors as a constraint |
| US11681296B2 (en) * | 2020-12-11 | 2023-06-20 | Motional Ad Llc | Scenario-based behavior specification and validation |
| US11733054B2 (en) | 2020-12-11 | 2023-08-22 | Motional Ad Llc | Systems and methods for implementing occlusion representations over road features |
| US11787438B2 (en) * | 2020-12-17 | 2023-10-17 | Zoox, Inc. | Collaborative vehicle path generation |
| US11995991B2 (en) * | 2020-12-22 | 2024-05-28 | Stack Av Co. | Shared control for vehicles travelling in formation |
| US20220219727A1 (en) * | 2021-01-12 | 2022-07-14 | Motional Ad Llc | Vehicle path planning |
| US12030485B2 (en) * | 2021-01-28 | 2024-07-09 | Motional Ad Llc | Vehicle operation using maneuver generation |
| JP7612883B2 (ja) * | 2021-02-12 | 2025-01-14 | ファイブ、エーアイ、リミテッド | 移動ロボットの軌道プランナのパフォーマンス・テスト |
| CN112818910B (zh) | 2021-02-23 | 2022-03-18 | 腾讯科技(深圳)有限公司 | 车辆挡位控制方法、装置、计算机设备和存储介质 |
| US11654913B2 (en) * | 2021-03-04 | 2023-05-23 | Southwest Research Institute | Vehicle control based on infrastructure and other vehicles |
| WO2022199855A1 (en) | 2021-03-26 | 2022-09-29 | Embotech Ag | Method and system for controlling autonomous or semi-autonomous vehicle |
| EP4330633A4 (en) | 2021-04-27 | 2025-03-26 | Motional AD LLC | Ride comfort improvement in different traffic scenarios for autonomous vehicle |
| DE102021112119A1 (de) | 2021-05-10 | 2022-11-10 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren und Vorrichtung zur Trajektorienplanung für ein Fahrzeug |
| CN115246416B (zh) * | 2021-05-13 | 2023-09-26 | 上海仙途智能科技有限公司 | 轨迹预测方法、装置、设备及计算机可读存储介质 |
| JP7350216B2 (ja) * | 2021-05-14 | 2023-09-25 | 三菱電機株式会社 | 設計支援装置、設計支援方法および設計支援プログラム |
| JP7701482B2 (ja) * | 2021-06-08 | 2025-07-01 | ファイブ、エーアイ、リミテッド | テスト視覚化ツール |
| CN113359779B (zh) * | 2021-07-22 | 2022-06-28 | 长沙理工大学 | 一种考虑节能减排的自动驾驶车辆速度控制方法 |
| US20230060776A1 (en) * | 2021-09-01 | 2023-03-02 | Baidu Usa Llc | Decision consistency profiler for an autonomous driving vehicle |
| JP7647901B2 (ja) * | 2021-09-13 | 2025-03-18 | 日本電気株式会社 | 制御システム、情報処理装置、制御方法、及び制御値生成方法 |
| US20230130814A1 (en) * | 2021-10-27 | 2023-04-27 | Nvidia Corporation | Yield scenario encoding for autonomous systems |
| JP2024543943A (ja) * | 2021-12-02 | 2024-11-26 | メイ モビリティー,インコーポレイテッド | 自律エージェントの実現可能性に基づく動作のための方法およびシステム |
| CN116802580A (zh) * | 2021-12-09 | 2023-09-22 | 华为技术有限公司 | 一种路径约束方法及装置 |
| CN114228707B (zh) * | 2021-12-22 | 2023-04-25 | 广西科技大学 | 一种无人驾驶车辆的防撞方法及系统 |
| US20230221128A1 (en) * | 2022-01-11 | 2023-07-13 | Motional Ad Llc | Graph Exploration for Rulebook Trajectory Generation |
| US11999386B2 (en) | 2022-01-31 | 2024-06-04 | Stack Av Co. | User interfaces for autonomy state control and alerts |
| US12298408B2 (en) * | 2022-02-01 | 2025-05-13 | Luminar Technologies, Inc. | System and method for validation of lidar-generated horizon estimation |
| US12415544B2 (en) * | 2022-05-04 | 2025-09-16 | The Regents Of The University Of Michigan | System and method for simulating autonomous vehicle testing environments |
| CN114644018B (zh) * | 2022-05-06 | 2024-07-30 | 重庆大学 | 一种基于博弈论的自动驾驶车辆人车交互决策规划方法 |
| CN115050181B (zh) * | 2022-06-06 | 2023-05-02 | 合肥工业大学 | 交叉口交通事故与交通违法的空间热点及其影响因素辨识方法 |
| US20230415772A1 (en) * | 2022-06-24 | 2023-12-28 | Motional Ad Llc | Trajectory planning based on extracted trajectory features |
| US20240059302A1 (en) * | 2022-08-18 | 2024-02-22 | Motional Ad Llc | Control system testing utilizing rulebook scenario generation |
| US12391246B2 (en) | 2022-08-31 | 2025-08-19 | Zoox, Inc. | Trajectory optimization in multi-agent environments |
| JP2024037589A (ja) * | 2022-09-07 | 2024-03-19 | 株式会社Subaru | 車両の運転支援装置 |
| WO2024090388A1 (ja) * | 2022-10-24 | 2024-05-02 | ソフトバンクグループ株式会社 | 情報処理装置及びプログラム |
| CN115562038B (zh) * | 2022-11-01 | 2023-08-29 | 南栖仙策(南京)高新技术有限公司 | 一种反馈控制系统变化的预警方法、装置、设备及介质 |
| DE102023201983A1 (de) | 2023-03-06 | 2024-09-12 | Robert Bosch Gesellschaft mit beschränkter Haftung | Computer-implementiertes Verfahren und System zur Verhaltensplanung eines Fahrzeugs |
| US20240326816A1 (en) * | 2023-03-31 | 2024-10-03 | Torc Robotics, Inc. | Lane change path generation using piecewise clothoid segments |
| US20240326815A1 (en) * | 2023-03-31 | 2024-10-03 | Ford Global Technologies, Llc | Vehicle maneuvering |
| CN116775795A (zh) * | 2023-07-06 | 2023-09-19 | 深圳依时货拉拉科技有限公司 | 限行面生成方法、装置、计算机设备及可读存储介质 |
| CN116580602B (zh) * | 2023-07-13 | 2023-10-03 | 四川大学 | 一种场面飞机滑行冲突预测与可视化方法 |
| JP2025024550A (ja) * | 2023-08-07 | 2025-02-20 | トヨタ自動車株式会社 | 車両の制御装置、車両の制御方法及びコンピュータプログラム |
| CN119659666B (zh) * | 2024-11-19 | 2025-09-30 | 清华大学 | 自动驾驶决策方法、装置、计算机设备、可读存储介质和程序产品 |
| CN120388120B (zh) * | 2025-06-30 | 2025-09-16 | 四川国创新视超高清视频科技有限公司 | 基于无人机轨迹预测的智能摄像机调度方法及系统 |
| CN120853390A (zh) * | 2025-09-19 | 2025-10-28 | 山东高速集团有限公司 | 基于多源数据融合的高速公路车辆逃费稽查方法及系统 |
Family Cites Families (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE59809476D1 (de) | 1997-11-03 | 2003-10-09 | Volkswagen Ag | Autonomes Fahrzeug und Verfahren zur Steuerung eines autonomen Fahrzeuges |
| EP1894180A4 (en) * | 2005-06-09 | 2011-11-02 | Greenroad Driving Technologies Ltd | SYSTEM AND METHOD FOR DISPLAYING A DRIVING PROFILE |
| JP4525670B2 (ja) * | 2006-11-20 | 2010-08-18 | トヨタ自動車株式会社 | 走行制御計画生成システム |
| JP4623057B2 (ja) * | 2007-06-05 | 2011-02-02 | トヨタ自動車株式会社 | 自車両の移動領域取得装置 |
| JP2009061878A (ja) * | 2007-09-05 | 2009-03-26 | Toyota Motor Corp | 走行制御装置 |
| US8126642B2 (en) * | 2008-10-24 | 2012-02-28 | Gray & Company, Inc. | Control and systems for autonomously driven vehicles |
| JP5262986B2 (ja) * | 2009-03-05 | 2013-08-14 | 日産自動車株式会社 | 走行経路生成装置、走行経路生成方法、及び運転操作支援装置 |
| US20100228427A1 (en) | 2009-03-05 | 2010-09-09 | Massachusetts Institute Of Technology | Predictive semi-autonomous vehicle navigation system |
| US8392117B2 (en) * | 2009-05-22 | 2013-03-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Using topological structure for path planning in semi-structured environments |
| SE534187C2 (sv) * | 2009-06-10 | 2011-05-24 | Scania Cv Ab | Modul för bestämning av börvärden till ett styrsystem i ett fordon |
| DE102009047333A1 (de) * | 2009-12-01 | 2011-06-09 | Robert Bosch Gmbh | Verfahren zur Bestimmung einer Trajektorie eines Fahrzeugs |
| US8289664B2 (en) * | 2010-03-08 | 2012-10-16 | Pass & Seymour, Inc. | Protective device for an electrical supply facility |
| EP2584515B1 (en) * | 2010-06-15 | 2020-06-10 | Navitime Japan Co., Ltd. | Navigation system, terminal apparatus, navigation server, navigation apparatus, navigation method, and program |
| US9075416B2 (en) * | 2010-09-21 | 2015-07-07 | Toyota Jidosha Kabushiki Kaisha | Mobile body |
| GB201100844D0 (en) * | 2011-01-18 | 2011-08-17 | Bae Systems Plc | Trajectory planning |
| JP2013007660A (ja) * | 2011-06-24 | 2013-01-10 | Daihatsu Motor Co Ltd | 車両用物体認識装置 |
| US9511668B2 (en) * | 2011-12-22 | 2016-12-06 | Scania Cv Ab | Method and module for controlling a vehicle's speed based on rules and/or costs |
| US20130201316A1 (en) * | 2012-01-09 | 2013-08-08 | May Patents Ltd. | System and method for server based control |
| EP2803059A4 (en) * | 2012-01-10 | 2016-04-06 | Massachusetts Inst Technology | TRAFFIC SIGNAL CONTROL METHOD AND TRAFFIC SIGNAL CONTROL |
| JPWO2013154073A1 (ja) * | 2012-04-10 | 2015-12-17 | 富士フイルム株式会社 | 光学異方性を有する積層体 |
| US9255989B2 (en) * | 2012-07-24 | 2016-02-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Tracking on-road vehicles with sensors of different modalities |
| US9120485B1 (en) | 2012-09-14 | 2015-09-01 | Google Inc. | Methods and systems for smooth trajectory generation for a self-driving vehicle |
| CN102890869B (zh) * | 2012-09-25 | 2015-01-14 | 孙涛 | 车辆行车路线预测通知方法及移动智能终端 |
| CN103035121A (zh) * | 2012-12-06 | 2013-04-10 | 南京航空航天大学 | 一种智能车辆自主行驶动态轨迹规划方法及系统 |
| US10451428B2 (en) * | 2013-03-15 | 2019-10-22 | Volkswagen Aktiengesellschaft | Automatic driving route planning application |
| DE102013207895A1 (de) * | 2013-04-30 | 2014-10-30 | Kuka Laboratories Gmbh | Fahrerloses Transportfahrzeug, System mit einem Rechner und einem fahrerlosen Transportfahrzeug, Verfahren zum Betreiben eines fahrerlosen Transportfahrzeugs |
| CN103383569B (zh) * | 2013-05-31 | 2016-12-28 | 浙江工业大学 | 基于线性时序逻辑的移动机器人最优巡回路径设定方法 |
| US9733090B2 (en) | 2013-07-15 | 2017-08-15 | Bae Systems Plc | Route planning |
| CN103390351A (zh) * | 2013-08-02 | 2013-11-13 | 常州市新科汽车电子有限公司 | 一种针对异地车辆分时限行路段的导航方法 |
| CN104616516B (zh) * | 2013-11-04 | 2017-11-14 | 深圳市赛格导航科技股份有限公司 | 一种行车安全辅助控制方法和系统 |
| US9278713B2 (en) * | 2013-12-11 | 2016-03-08 | GM Global Technology Operations LLC | Collision avoidance control integrated with EPS controller |
| US9650051B2 (en) * | 2013-12-22 | 2017-05-16 | Lytx, Inc. | Autonomous driving comparison and evaluation |
| US9097549B1 (en) | 2014-03-17 | 2015-08-04 | Ford Global Technologies, Llc | Learning automated vehicle |
| US20150292894A1 (en) | 2014-04-11 | 2015-10-15 | Telecommunication Systems, Inc. | Travel route |
| US9404761B2 (en) | 2014-05-30 | 2016-08-02 | Nissan North America, Inc. | Autonomous vehicle lane routing and navigation |
| US20150345971A1 (en) | 2014-06-03 | 2015-12-03 | Nissan North America, Inc. | Synchronously updated vehicle transportation network information for autonomous vehicle routing and navigation |
| US20150345967A1 (en) | 2014-06-03 | 2015-12-03 | Nissan North America, Inc. | Probabilistic autonomous vehicle routing and navigation |
| KR20160013713A (ko) * | 2014-07-28 | 2016-02-05 | 현대자동차주식회사 | 자율주행차량의 전역경로 생성장치 및 방법 |
| US9650042B2 (en) | 2014-09-11 | 2017-05-16 | Cummins Inc. | Systems and methods for route planning |
| CN104590259B (zh) * | 2015-01-07 | 2015-08-26 | 福州华鹰重工机械有限公司 | 一种轨迹搜寻方法和系统 |
| CN104821080B (zh) * | 2015-03-02 | 2017-04-12 | 北京理工大学 | 基于宏观城市交通流的智能车辆行驶速度及时间预测方法 |
| US20150348112A1 (en) | 2015-08-12 | 2015-12-03 | Madhusoodhan Ramanujam | Providing Advertisements to Autonomous Vehicles |
| US9720415B2 (en) * | 2015-11-04 | 2017-08-01 | Zoox, Inc. | Sensor-based object-detection optimization for autonomous vehicles |
| CN105573323A (zh) * | 2016-01-12 | 2016-05-11 | 福州华鹰重工机械有限公司 | 自动驾驶轨迹生成方法及装置 |
-
2016
- 2016-03-23 US US15/078,143 patent/US9645577B1/en active Active
-
2017
- 2017-03-20 CN CN201780031744.1A patent/CN109313445B/zh active Active
- 2017-03-20 EP EP17770901.1A patent/EP3433691B1/en active Active
- 2017-03-20 JP JP2018559805A patent/JP6764945B2/ja active Active
- 2017-03-20 KR KR1020187030608A patent/KR102071412B1/ko active Active
- 2017-03-20 KR KR1020207002223A patent/KR102413533B1/ko active Active
- 2017-03-20 SG SG11201808076UA patent/SG11201808076UA/en unknown
- 2017-03-20 WO PCT/US2017/023193 patent/WO2017165286A1/en not_active Ceased
- 2017-04-04 US US15/478,991 patent/US20170277193A1/en not_active Abandoned
- 2017-05-25 US US15/605,388 patent/US20170277195A1/en not_active Abandoned
- 2017-05-25 US US15/605,335 patent/US20170277194A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| US9645577B1 (en) | 2017-05-09 |
| CN109313445A (zh) | 2019-02-05 |
| EP3433691B1 (en) | 2021-04-28 |
| WO2017165286A1 (en) | 2017-09-28 |
| CN109313445B (zh) | 2022-02-18 |
| JP2019512824A (ja) | 2019-05-16 |
| SG11201808076UA (en) | 2018-10-30 |
| US20170277194A1 (en) | 2017-09-28 |
| KR20190028365A (ko) | 2019-03-18 |
| KR20200011582A (ko) | 2020-02-03 |
| KR102413533B1 (ko) | 2022-06-24 |
| US20170277195A1 (en) | 2017-09-28 |
| US20170277193A1 (en) | 2017-09-28 |
| EP3433691A4 (en) | 2019-04-03 |
| EP3433691A1 (en) | 2019-01-30 |
| KR102071412B1 (ko) | 2020-03-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6764945B2 (ja) | 車両の運転および自動運転を簡易化する方法 | |
| US11714413B2 (en) | Planning autonomous motion | |
| US11537127B2 (en) | Systems and methods for vehicle motion planning based on uncertainty | |
| CN115146523B (zh) | 选择用于评价自动运载工具的性能的测试情景 | |
| US11351996B2 (en) | Trajectory prediction of surrounding vehicles using predefined routes | |
| US20210191394A1 (en) | Systems and methods for presenting curated autonomy-system information of a vehicle | |
| JP2020507509A (ja) | 自律走行車の動作管理ブロックモニタ | |
| JP2020508509A (ja) | 自律走行車の動作管理制御 | |
| KR20220054534A (ko) | 거동 규칙 검사를 사용한 차량 작동 | |
| Matthaei et al. | Autonomous driving | |
| EP3454269A1 (en) | Planning autonomous motion | |
| US12276983B2 (en) | Planning autonomous motion | |
| US20230391367A1 (en) | Inferring autonomous driving rules from data | |
| Van Arem | A strategic approach to intelligent functions in vehicles | |
| US20240249571A1 (en) | Systems and methods for identifying subsets of data in a dataset | |
| US20250196884A1 (en) | Method and system for predicting external agent behavior | |
| Faghihiana et al. | Introduction to autonomous vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20181109 Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20181012 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20181109 |
|
| A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20181109 |
|
| A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20190412 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190417 |
|
| A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20190716 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190913 |
|
| A524 | Written submission of copy of amendment under article 19 pct |
Free format text: JAPANESE INTERMEDIATE CODE: A524 Effective date: 20190913 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20191205 |
|
| A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20200305 |
|
| A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20200427 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200520 |
|
| 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: 20200819 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200914 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 6764945 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
| S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
| R360 | Written notification for declining of transfer of rights |
Free format text: JAPANESE INTERMEDIATE CODE: R360 |
|
| R360 | Written notification for declining of transfer of rights |
Free format text: JAPANESE INTERMEDIATE CODE: R360 |
|
| R371 | Transfer withdrawn |
Free format text: JAPANESE INTERMEDIATE CODE: R371 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
| S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| 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 |