JP7411653B2 - 軌道生成のためのシステム、方法、およびコンピュータプログラム - Google Patents

軌道生成のためのシステム、方法、およびコンピュータプログラム Download PDF

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JP7411653B2
JP7411653B2 JP2021523870A JP2021523870A JP7411653B2 JP 7411653 B2 JP7411653 B2 JP 7411653B2 JP 2021523870 A JP2021523870 A JP 2021523870A JP 2021523870 A JP2021523870 A JP 2021523870A JP 7411653 B2 JP7411653 B2 JP 7411653B2
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trajectory
cost
point
vehicle
environment
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JP2022506475A5 (https=
JP2022506475A (ja
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クリシュナ アケラ アビシェク
フデチェク ジャネク
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ズークス インコーポレイテッド
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Priority claimed from US16/179,711 external-priority patent/US11208096B2/en
Priority claimed from US16/179,679 external-priority patent/US11048260B2/en
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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
    • B60W30/08—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
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
    • B60W30/08—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
    • B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
    • 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
    • B60W60/0021—Planning or execution of driving tasks specially adapted for travel time
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • 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

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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)
  • Traffic Control Systems (AREA)
JP2021523870A 2018-11-02 2019-10-30 軌道生成のためのシステム、方法、およびコンピュータプログラム Active JP7411653B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US16/179,711 US11208096B2 (en) 2018-11-02 2018-11-02 Cost scaling in trajectory generation
US16/179,679 2018-11-02
US16/179,679 US11048260B2 (en) 2018-11-02 2018-11-02 Adaptive scaling in trajectory generation
US16/179,711 2018-11-02
PCT/US2019/058760 WO2020092500A1 (en) 2018-11-02 2019-10-30 Trajectory generation

Publications (3)

Publication Number Publication Date
JP2022506475A JP2022506475A (ja) 2022-01-17
JP2022506475A5 JP2022506475A5 (https=) 2022-11-09
JP7411653B2 true JP7411653B2 (ja) 2024-01-11

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JP2021523870A Active JP7411653B2 (ja) 2018-11-02 2019-10-30 軌道生成のためのシステム、方法、およびコンピュータプログラム

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Country Link
EP (1) EP3873783A1 (https=)
JP (1) JP7411653B2 (https=)
CN (1) CN112955358A (https=)
WO (1) WO2020092500A1 (https=)

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US11520343B2 (en) 2020-06-15 2022-12-06 Argo AI, LLC Methods and systems for performing inter-trajectory re-linearization about an evolving reference path for an autonomous vehicle
US11458991B2 (en) * 2020-06-29 2022-10-04 Woven Planet North America, Inc Systems and methods for optimizing trajectory planner based on human driving behaviors
CN112193239B (zh) * 2020-08-27 2022-01-18 武汉乐庭软件技术有限公司 自动泊车控制系统中的轨迹计算方法、设备及存储设备
EP3960562A1 (en) * 2020-08-31 2022-03-02 Aptiv Technologies Limited Methods and systems for path planning
CN112146667B (zh) * 2020-09-29 2022-10-14 广州小鹏自动驾驶科技有限公司 一种车辆过渡轨迹的生成方法和装置
CN112405537B (zh) * 2020-11-11 2022-07-12 配天机器人技术有限公司 一种机器人空间轨迹插补方法及机器人
CN114708723B (zh) * 2020-12-16 2023-07-21 华为技术有限公司 轨迹预测方法和装置
WO2022132713A1 (en) * 2020-12-16 2022-06-23 Zoox, Inc. Lateral safety area
CN112810630B (zh) * 2021-02-05 2022-03-04 山东大学 一种自动驾驶车辆轨迹规划方法及系统
CN113074734B (zh) * 2021-03-23 2023-05-30 北京三快在线科技有限公司 一种轨迹规划方法、装置、存储介质及电子设备
US20220371613A1 (en) * 2021-05-21 2022-11-24 Zoox, Inc. Vehicle trajectory determination
CN113401141B (zh) 2021-07-12 2022-07-29 北京百度网讯科技有限公司 路线处理方法及装置
CN113479199B (zh) * 2021-07-30 2022-08-30 三一专用汽车有限责任公司 开放区域避障方法、车辆和计算机可读存储介质
CN113340311B (zh) * 2021-08-04 2021-11-05 北京三快在线科技有限公司 一种无人驾驶设备的路径规划方法及装置
CN114153204B (zh) * 2021-11-09 2024-03-08 北京三快在线科技有限公司 一种行驶轨迹的修复方法及修复装置
CN114228710B (zh) * 2021-12-27 2024-02-20 浙江大学 基于虚拟边界的二维智能驾驶模型的车辆轨迹预测方法
CN114954524A (zh) * 2022-05-24 2022-08-30 深圳优地科技有限公司 车辆转向控制方法、装置、终端设备和存储介质
CN117341724B (zh) * 2022-06-29 2026-04-07 比亚迪股份有限公司 车辆行驶轨迹规划方法、存储介质、电子设备及车辆
CN115170609B (zh) * 2022-06-29 2026-04-28 北京市商汤科技开发有限公司 轨迹处理方法和装置、介质和计算机设备
US12304476B2 (en) * 2022-09-02 2025-05-20 Ford Global Technologies, Llc Systems and methods for deweighting veering margins based on crossing time
JP2024042454A (ja) * 2022-09-15 2024-03-28 三菱重工業株式会社 経路設定方法、プログラム及び移動体
CN118046917A (zh) * 2022-11-09 2024-05-17 北京三快在线科技有限公司 轨迹修正方法以及自动驾驶车辆
CN116009556B (zh) * 2023-01-20 2026-03-31 阿波罗智联(北京)科技有限公司 场景生成方法、装置及电子设备
CN116817949A (zh) * 2023-06-07 2023-09-29 东软睿驰汽车技术（上海）有限公司 路径规划方法、装置、电子设备及存储介质
CN117104270B (zh) * 2023-09-04 2024-08-27 电子科技大学长三角研究院(衢州) 一种基于规则辅助强化学习的自动驾驶决策方法
CN119027773A (zh) * 2024-10-23 2024-11-26 深圳市智绘科技有限公司 路径生成方法、装置、电子设备及存储介质

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WO2020092500A1 (en) 2020-05-07
EP3873783A1 (en) 2021-09-08
JP2022506475A (ja) 2022-01-17
CN112955358A (zh) 2021-06-11

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