JP7900612B2 - 車両が走行軌道に沿って衝突しないで走行する経路を算出する方法、制御装置、車両およびコンピュータプログラム - Google Patents

車両が走行軌道に沿って衝突しないで走行する経路を算出する方法、制御装置、車両およびコンピュータプログラム

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Publication number
JP7900612B2
JP7900612B2 JP2025533382A JP2025533382A JP7900612B2 JP 7900612 B2 JP7900612 B2 JP 7900612B2 JP 2025533382 A JP2025533382 A JP 2025533382A JP 2025533382 A JP2025533382 A JP 2025533382A JP 7900612 B2 JP7900612 B2 JP 7900612B2
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Japan
Prior art keywords
vehicle
contour
collision
information
contour information
Prior art date
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Application number
JP2025533382A
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English (en)
Japanese (ja)
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JP2025539530A (ja
Inventor
ユ・ヨンホ
シュタイン・ニコラス
ドイシュ・ヘンドリク
エーリッケ・マティアス
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.)
Aumovio Autonomous Mobility Germany GmbH
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Aumovio Autonomous Mobility Germany GmbH
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • 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
    • 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
    • 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
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
JP2025533382A 2022-12-14 2023-11-16 車両が走行軌道に沿って衝突しないで走行する経路を算出する方法、制御装置、車両およびコンピュータプログラム Active JP7900612B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102022213586.5A DE102022213586A1 (de) 2022-12-14 2022-12-14 Verfahren zum Ermitteln einer von einem Fahrzeug kollisionsfrei zu befahrenden Strecke entlang einer Fahrtrajektorie, Steuereinrichtung, Fahrzeug und Computerprogramm
DE102022213586.5 2022-12-14
PCT/DE2023/200227 WO2024125728A1 (de) 2022-12-14 2023-11-16 Verfahren zum ermitteln einer von einem fahrzeug kollisionsfrei zu befahrenden strecke entlang einer fahrtrajektorie, steuereinrichtung, fahrzeug und computerprogramm

Publications (2)

Publication Number Publication Date
JP2025539530A JP2025539530A (ja) 2025-12-05
JP7900612B2 true JP7900612B2 (ja) 2026-08-04

Family

ID=89068402

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2025533382A Active JP7900612B2 (ja) 2022-12-14 2023-11-16 車両が走行軌道に沿って衝突しないで走行する経路を算出する方法、制御装置、車両およびコンピュータプログラム

Country Status (4)

Country Link
EP (1) EP4634039A1 (de)
JP (1) JP7900612B2 (de)
DE (1) DE102022213586A1 (de)
WO (1) WO2024125728A1 (de)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009214832A (ja) 2008-03-12 2009-09-24 Toyota Motor Corp 衝突予測装置
JP2014524382A (ja) 2011-08-12 2014-09-22 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング 自動車ドライバの運転操作を支援する方法及び装置
JP2015507776A (ja) 2011-12-07 2015-03-12 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 車体部及び／又は車輪と対象物との衝突を回避するための能動的警報及び／又はナビゲーション補助の方法
JP2020147220A (ja) 2019-03-15 2020-09-17 日立オートモティブシステムズ株式会社 車両制御装置
US20210132615A1 (en) 2018-07-16 2021-05-06 Brain Corporation Systems and methods for optimizing route planning for tight turns for robotic apparatuses
CN114637283A (zh) 2020-12-16 2022-06-17 郑州宇通客车股份有限公司 一种基于动态避障的车辆路径规划方法及装置
JP2022545173A (ja) 2019-08-21 2022-10-26 ウェイモ エルエルシー 自律車両のポリライン輪郭表現

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017215519A1 (de) * 2017-09-05 2019-03-07 Robert Bosch Gmbh Verfahren und Vorrichtung zur Kollisionserkennung für ein Fahrzeug
DE102019204651A1 (de) 2019-04-02 2020-10-08 Continental Teves Ag & Co. Ohg Verfahren zum Planen einer Parktrajektorie eines von einem Parkassistenzsystem unterstützten Parkvorgangs

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009214832A (ja) 2008-03-12 2009-09-24 Toyota Motor Corp 衝突予測装置
JP2014524382A (ja) 2011-08-12 2014-09-22 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング 自動車ドライバの運転操作を支援する方法及び装置
JP2015507776A (ja) 2011-12-07 2015-03-12 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 車体部及び／又は車輪と対象物との衝突を回避するための能動的警報及び／又はナビゲーション補助の方法
US20210132615A1 (en) 2018-07-16 2021-05-06 Brain Corporation Systems and methods for optimizing route planning for tight turns for robotic apparatuses
JP2020147220A (ja) 2019-03-15 2020-09-17 日立オートモティブシステムズ株式会社 車両制御装置
JP2022545173A (ja) 2019-08-21 2022-10-26 ウェイモ エルエルシー 自律車両のポリライン輪郭表現
CN114637283A (zh) 2020-12-16 2022-06-17 郑州宇通客车股份有限公司 一种基于动态避障的车辆路径规划方法及装置

Also Published As

Publication number Publication date
EP4634039A1 (de) 2025-10-22
JP2025539530A (ja) 2025-12-05
WO2024125728A1 (de) 2024-06-20
DE102022213586A1 (de) 2024-06-20

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