JP7411593B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP7411593B2 JP7411593B2 JP2021019589A JP2021019589A JP7411593B2 JP 7411593 B2 JP7411593 B2 JP 7411593B2 JP 2021019589 A JP2021019589 A JP 2021019589A JP 2021019589 A JP2021019589 A JP 2021019589A JP 7411593 B2 JP7411593 B2 JP 7411593B2
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- 238000004891 communication Methods 0.000 description 8
- 230000007257 malfunction Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
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- 238000005192 partition Methods 0.000 description 2
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- 238000002485 combustion reaction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- 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
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- 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
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- 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
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
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- 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
- B60W2556/40—High definition maps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Navigation (AREA)
Description
(1)運転支援装置200は、予め定められた目標経路上を目標軌道110に沿って走行する車両101の運転を支援する(図1)。運転支援装置200は、車線LNを規定する区画線102の位置情報を含む環境地図エリアARaの環境地図情報と、環境地図エリアARaに隣接するクラウド地図エリアARbのクラウド地図情報とを記憶する記憶部52と、記憶部52に記憶された環境地図情報に基づいて環境地図エリアARaにおける車両101の目標軌道110aを生成し、クラウド地図情報に基づいてクラウド地図エリアARbにおける車両101の目標軌道110bを生成する目標軌道生成部551と、環境地図エリアARaとクラウド地図エリアARbとの境界部ARcにおける目標軌道110aを目標軌道110bに基づいて補正する目標軌道補正部552と、を備える(図4)。
Claims (4)
- 予め定められた経路上を目標軌道に沿って走行する車両の運転を支援する運転支援装置であって、
車線を規定する区画線の位置情報を含む、第1エリアの書き換え可能な第1地図情報と、前記第1エリアと一部が重複する第2エリアの書き換え不能な第2地図情報と、を記憶する記憶部と、
前記記憶部に記憶された前記第1地図情報に含まれる前記区画線の位置情報に基づいて前記第1エリアにおける前記車両の第1目標軌道を生成し、前記第2地図情報に含まれる前記区画線の位置情報に基づいて前記第2エリアにおける前記車両の第2目標軌道を生成する目標軌道生成部と、
前記第1エリアと前記第2エリアとの重複部を含む前記第1エリアと前記第2エリアとの境界領域における前記第1目標軌道を、前記境界領域における前記第1目標軌道上の第1点と前記境界領域における前記第2目標軌道上の第2点とが、前記第1点と前記第2点との間の前記第1目標軌道上の点群および前記第2目標軌道上の点群を制御点とするベジエ曲線またはB-スプライン曲線で接続されるように補正する目標軌道補正部と、を備えることを特徴とする運転支援装置。 - 請求項1に記載の運転支援装置において、
前記第1地図情報は、前記車両に搭載された第1センサにより検出された前記車両の周辺の外部状況に基づいて生成された地図情報であり、
前記第2地図情報は、前記車両以外の車両に搭載された第2センサにより検出された前記車両以外の車両の周辺の外部状況に基づいて生成された地図情報であることを特徴とする運転支援装置。 - 請求項1または2に記載の運転支援装置において、
前記第2点は、前記重複部に含まれることを特徴とする運転支援装置。 - 請求項1~3のいずれか1項に記載の運転支援装置において、
前記第1点は、前記第2エリアの端部の点であり、
前記第2点は、前記第1エリアの端部の点であることを特徴とする運転支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021019589A JP7411593B2 (ja) | 2021-02-10 | 2021-02-10 | 運転支援装置 |
CN202210082178.XA CN114940172A (zh) | 2021-02-10 | 2022-01-24 | 驾驶辅助装置 |
US17/592,450 US20220250619A1 (en) | 2021-02-10 | 2022-02-03 | Traveling assist apparatus |
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JP2021019589A JP7411593B2 (ja) | 2021-02-10 | 2021-02-10 | 運転支援装置 |
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JP2022122393A JP2022122393A (ja) | 2022-08-23 |
JP7411593B2 true JP7411593B2 (ja) | 2024-01-11 |
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JP2021019589A Active JP7411593B2 (ja) | 2021-02-10 | 2021-02-10 | 運転支援装置 |
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US (1) | US20220250619A1 (ja) |
JP (1) | JP7411593B2 (ja) |
CN (1) | CN114940172A (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US12001958B2 (en) * | 2020-03-19 | 2024-06-04 | Nvidia Corporation | Future trajectory predictions in multi-actor environments for autonomous machine |
US11904906B2 (en) | 2021-08-05 | 2024-02-20 | Argo AI, LLC | Systems and methods for prediction of a jaywalker trajectory through an intersection |
US20230043601A1 (en) * | 2021-08-05 | 2023-02-09 | Argo AI, LLC | Methods And System For Predicting Trajectories Of Actors With Respect To A Drivable Area |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014006759A1 (ja) | 2012-07-06 | 2014-01-09 | トヨタ自動車株式会社 | 車両の走行制御装置 |
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2021
- 2021-02-10 JP JP2021019589A patent/JP7411593B2/ja active Active
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2022
- 2022-01-24 CN CN202210082178.XA patent/CN114940172A/zh active Pending
- 2022-02-03 US US17/592,450 patent/US20220250619A1/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2014006759A1 (ja) | 2012-07-06 | 2014-01-09 | トヨタ自動車株式会社 | 車両の走行制御装置 |
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Publication number | Publication date |
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CN114940172A (zh) | 2022-08-26 |
JP2022122393A (ja) | 2022-08-23 |
US20220250619A1 (en) | 2022-08-11 |
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