JP7422248B2 - 走行制御方法及び走行制御装置 - Google Patents

走行制御方法及び走行制御装置 Download PDF

Info

Publication number
JP7422248B2
JP7422248B2 JP2022564700A JP2022564700A JP7422248B2 JP 7422248 B2 JP7422248 B2 JP 7422248B2 JP 2022564700 A JP2022564700 A JP 2022564700A JP 2022564700 A JP2022564700 A JP 2022564700A JP 7422248 B2 JP7422248 B2 JP 7422248B2
Authority
JP
Japan
Prior art keywords
vehicle
lane
predetermined position
predetermined
stored
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
Application number
JP2022564700A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022112811A5 (https=
JPWO2022112811A1 (https=
Inventor
千加夫 土谷
翔一 武井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Publication of JPWO2022112811A1 publication Critical patent/JPWO2022112811A1/ja
Publication of JPWO2022112811A5 publication Critical patent/JPWO2022112811A5/ja
Application granted granted Critical
Publication of JP7422248B2 publication Critical patent/JP7422248B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • B60W30/18159—Traversing an intersection
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2540/20—Direction indicator values
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2022564700A 2020-11-27 2020-11-27 走行制御方法及び走行制御装置 Active JP7422248B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2020/000979 WO2022112811A1 (ja) 2020-11-27 2020-11-27 走行制御方法及び走行制御装置

Publications (3)

Publication Number Publication Date
JPWO2022112811A1 JPWO2022112811A1 (https=) 2022-06-02
JPWO2022112811A5 JPWO2022112811A5 (https=) 2023-09-12
JP7422248B2 true JP7422248B2 (ja) 2024-01-25

Family

ID=81754117

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022564700A Active JP7422248B2 (ja) 2020-11-27 2020-11-27 走行制御方法及び走行制御装置

Country Status (5)

Country Link
US (1) US11840226B1 (https=)
EP (1) EP4254381B1 (https=)
JP (1) JP7422248B2 (https=)
CN (1) CN116547730B (https=)
WO (1) WO2022112811A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116963948A (zh) * 2021-03-11 2023-10-27 日立安斯泰莫株式会社 车辆控制装置、车辆控制方法、目标轨迹算出方法及车辆
CN114179805B (zh) * 2021-12-10 2023-12-19 北京百度网讯科技有限公司 一种行驶方向确定方法、装置、设备以及存储介质
US20240416909A1 (en) * 2023-06-16 2024-12-19 Magna Electronics Inc. Vehicular driving assistance system with vehicle state estimation

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010271999A (ja) 2009-05-22 2010-12-02 Toyota Motor Corp 運転支援装置
JP2016218539A (ja) 2015-05-15 2016-12-22 トヨタ自動車株式会社 車両の走路認識装置

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101290230B (zh) * 2008-04-14 2011-03-30 深圳市凯立德软件技术股份有限公司 一种交叉路口的导航方法及使用了此导航方法的导航系统
KR101406457B1 (ko) * 2009-11-27 2014-06-27 도요타지도샤가부시키가이샤 운전 지원 장치 및 운전 지원 방법
JP5708449B2 (ja) * 2011-11-08 2015-04-30 アイシン・エィ・ダブリュ株式会社 レーン案内表示システム、方法およびプログラム
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
US20140267415A1 (en) * 2013-03-12 2014-09-18 Xueming Tang Road marking illuminattion system and method
JP6197393B2 (ja) * 2013-06-20 2017-09-20 株式会社豊田中央研究所 レーン地図生成装置及びプログラム
JP6564618B2 (ja) 2015-05-28 2019-08-21 アイシン・エィ・ダブリュ株式会社 道路形状検出システム、道路形状検出方法及びコンピュータプログラム
DE102015211150B4 (de) * 2015-06-17 2023-05-11 Bayerische Motoren Werke Aktiengesellschaft Verfahren, Fahrerassistenzsystem und Fahrzeug zum Lernen einer Trajektorie eines Straßenabschnitts
CN105787455A (zh) * 2016-03-01 2016-07-20 江苏大学 一种引入图像虚拟引导线的车道保持控制算法
CA3030538C (en) * 2016-07-12 2024-06-11 Nissan Motor Co., Ltd. Travel control method and travel control apparatus
CN106023606B (zh) * 2016-07-15 2018-12-04 珠海达理宇航科技有限公司 交叉口的路口结构及其两次变左控制方法
JP2019012308A (ja) 2017-06-29 2019-01-24 株式会社デンソーテン 画像処理装置及び画像処理方法
JP6782370B2 (ja) * 2017-10-10 2020-11-11 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム
CN107963077B (zh) * 2017-10-26 2020-02-21 东软集团股份有限公司 一种车辆通过路口的控制方法、装置及系统
US11181920B2 (en) * 2018-08-28 2021-11-23 Denso Corporation Travel assistance method and travel assistance apparatus
US10703365B1 (en) * 2018-12-26 2020-07-07 Automotive Research & Testing Center Lane tracking method and lane tracking system for an autonomous vehicle
CN110954128B (zh) * 2019-12-03 2021-11-16 阿波罗智能技术(北京)有限公司 检测车道线位置变化的方法、装置、电子设备和存储介质
CN110909711B (zh) * 2019-12-03 2022-08-02 阿波罗智能技术(北京)有限公司 检测车道线位置变化的方法、装置、电子设备和存储介质
US11560131B2 (en) * 2020-01-13 2023-01-24 Nio Technology (Anhui) Co., Ltd. Lane prediction and smoothing for extended motion planning horizon
FR3107589B1 (fr) * 2020-02-21 2022-03-18 Commissariat Energie Atomique Procédé de détermination de la position et de l’orientation d’un véhicule.
JP7191065B2 (ja) * 2020-07-06 2022-12-16 本田技研工業株式会社 処理装置、処理方法、およびプログラム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010271999A (ja) 2009-05-22 2010-12-02 Toyota Motor Corp 運転支援装置
JP2016218539A (ja) 2015-05-15 2016-12-22 トヨタ自動車株式会社 車両の走路認識装置

Also Published As

Publication number Publication date
CN116547730B (zh) 2025-02-21
CN116547730A (zh) 2023-08-04
JPWO2022112811A1 (https=) 2022-06-02
US11840226B1 (en) 2023-12-12
WO2022112811A1 (ja) 2022-06-02
US20230391325A1 (en) 2023-12-07
EP4254381A1 (en) 2023-10-04
EP4254381B1 (en) 2024-10-23
EP4254381A4 (en) 2024-01-10

Similar Documents

Publication Publication Date Title
KR102890048B1 (ko) 자동 발렛 파킹 시스템의 위치 추정 장치 및 방법
CN111066071B (zh) 驾驶辅助车辆的位置误差校正方法及位置误差校正装置
JP5747787B2 (ja) 車線認識装置
US11526173B2 (en) Traveling trajectory correction method, traveling control method, and traveling trajectory correction device
CN115427759B (zh) 地图信息校正方法、驾驶辅助方法及地图信息校正装置
JP7422248B2 (ja) 走行制御方法及び走行制御装置
US20170088168A1 (en) Vehicle steering control apparatus
JP2018155731A (ja) 自己位置推定装置
JP7037317B2 (ja) 自車位置検出装置
JP7463997B2 (ja) 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム
JP7418196B2 (ja) 走行軌跡推定方法及び走行軌跡推定装置
JP6535561B2 (ja) 車両の走行制御装置
JP6836446B2 (ja) 車両の走行車線推定装置
CN114526747A (zh) 用于视觉转向的自动化车辆的车道延伸
JP6539129B2 (ja) 自車位置推定装置、及びそれを用いた操舵制御装置、並びに自車位置推定方法
US11919567B2 (en) Automatic steering control apparatus
US20230286583A1 (en) Vehicle Control Device, Vehicle Control Method, and Vehicle Control System
JP6972528B2 (ja) 自己位置推定方法、移動体の走行制御方法、自己位置推定装置、及び移動体の走行制御装置
JP7084792B2 (ja) 走行軌跡推定方法及び走行軌跡推定装置
JP7554173B2 (ja) 車両
JP7414683B2 (ja) 自車位置推定装置及び自車位置推定方法
JP7753958B2 (ja) 走行制御方法及び走行制御装置
JP7800262B2 (ja) 先行車両判定方法及び先行車両判定装置
CN120534425A (zh) 行驶控制装置
JP2025168953A (ja) 操舵制御装置

Legal Events

Date Code Title Description
A529 Written submission of copy of amendment under article 34 pct

Free format text: JAPANESE INTERMEDIATE CODE: A5211

Effective date: 20230510

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230510

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: 20231220

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240115

R150 Certificate of patent or registration of utility model

Ref document number: 7422248

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150