KR102430097B9 - 자율주행차량의 장애물 회피 시스템 및 방법 - Google Patents

자율주행차량의 장애물 회피 시스템 및 방법

Info

Publication number
KR102430097B9
KR102430097B9 KR1020210143006A KR20210143006A KR102430097B9 KR 102430097 B9 KR102430097 B9 KR 102430097B9 KR 1020210143006 A KR1020210143006 A KR 1020210143006A KR 20210143006 A KR20210143006 A KR 20210143006A KR 102430097 B9 KR102430097 B9 KR 102430097B9
Authority
KR
South Korea
Prior art keywords
autonomous vehicle
avoiding obstacle
obstacle
avoiding
autonomous
Prior art date
Application number
KR1020210143006A
Other languages
English (en)
Other versions
KR102430097B1 (ko
KR20210134530A (ko
Inventor
이정희
Original Assignee
현대모비스 주식회사
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 현대모비스 주식회사 filed Critical 현대모비스 주식회사
Priority to KR1020210143006A priority Critical patent/KR102430097B1/ko
Publication of KR20210134530A publication Critical patent/KR20210134530A/ko
Application granted granted Critical
Publication of KR102430097B1 publication Critical patent/KR102430097B1/ko
Publication of KR102430097B9 publication Critical patent/KR102430097B9/ko

Links

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
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
KR1020210143006A 2014-11-12 2021-10-25 자율주행차량의 장애물 회피 시스템 및 방법 KR102430097B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020210143006A KR102430097B1 (ko) 2014-11-12 2021-10-25 자율주행차량의 장애물 회피 시스템 및 방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020140156954A KR102326062B1 (ko) 2014-11-12 2014-11-12 자율주행차량의 장애물 회피 시스템 및 방법
KR1020210143006A KR102430097B1 (ko) 2014-11-12 2021-10-25 자율주행차량의 장애물 회피 시스템 및 방법

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020140156954A Division KR102326062B1 (ko) 2014-11-12 2014-11-12 자율주행차량의 장애물 회피 시스템 및 방법

Publications (3)

Publication Number Publication Date
KR20210134530A KR20210134530A (ko) 2021-11-10
KR102430097B1 KR102430097B1 (ko) 2022-08-08
KR102430097B9 true KR102430097B9 (ko) 2023-05-11

Family

ID=55912182

Family Applications (2)

Application Number Title Priority Date Filing Date
KR1020140156954A KR102326062B1 (ko) 2014-11-12 2014-11-12 자율주행차량의 장애물 회피 시스템 및 방법
KR1020210143006A KR102430097B1 (ko) 2014-11-12 2021-10-25 자율주행차량의 장애물 회피 시스템 및 방법

Family Applications Before (1)

Application Number Title Priority Date Filing Date
KR1020140156954A KR102326062B1 (ko) 2014-11-12 2014-11-12 자율주행차량의 장애물 회피 시스템 및 방법

Country Status (2)

Country Link
US (1) US9625911B2 (ko)
KR (2) KR102326062B1 (ko)

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US10539961B2 (en) * 2016-11-01 2020-01-21 Ford Global Technologies Steering capability prediction
KR102585219B1 (ko) 2016-11-29 2023-10-05 삼성전자주식회사 차량 속도 제어 방법 및 장치
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US10409280B2 (en) * 2017-03-21 2019-09-10 Baidu Usa Llc Control dominated planning and control system for autonomous driving vehicles
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US10933886B2 (en) * 2017-10-27 2021-03-02 Waymo Llc Hierarchical messaging system
US10696299B2 (en) 2018-07-03 2020-06-30 International Business Machines Corporation Managing vehicle to vehicle communication to facilitate operational safety via risk assessment
US11188082B2 (en) * 2019-01-11 2021-11-30 Zoox, Inc. Occlusion prediction and trajectory evaluation
US20220355806A1 (en) * 2019-06-26 2022-11-10 Ihi Corporation Drive control system
KR20210099900A (ko) 2020-02-05 2021-08-13 유기석 회피 장치 및 회피 방법
US11993256B2 (en) 2020-05-22 2024-05-28 Cnh Industrial America Llc Dynamic perception zone estimation
CN111674465B (zh) * 2020-05-25 2022-01-04 长城汽车股份有限公司 一种倒车控制方法、系统及车辆
KR20210149547A (ko) 2020-06-02 2021-12-09 현대모비스 주식회사 차량의 전방 충돌 방지 제어 시스템 및 방법
CN111857135A (zh) * 2020-06-30 2020-10-30 北京百度网讯科技有限公司 用于车辆的避障方法、装置、电子设备和计算机存储介质
KR102370138B1 (ko) * 2020-09-09 2022-03-04 현대자동차주식회사 차량 및 그 제어 방법
CN112622934B (zh) * 2020-12-25 2022-06-24 上海商汤临港智能科技有限公司 一种参考轨迹点和参考轨迹生成方法、驾驶方法以及车辆
CN113282073B (zh) * 2021-05-24 2022-06-17 安徽江淮汽车集团股份有限公司 车辆行车轨迹模拟方法、车辆及计算机可读存储介质
CN113771850A (zh) * 2021-09-08 2021-12-10 恒大新能源汽车投资控股集团有限公司 车辆道路行驶控制方法及装置、计算机可读存储介质
US20230192075A1 (en) * 2021-12-22 2023-06-22 Joseph Burtch Automated driving obstacle avoidance along a path
CN114296458B (zh) * 2021-12-29 2023-08-01 深圳创维数字技术有限公司 车辆控制方法、装置及计算机可读存储介质
CN114758526B (zh) * 2022-03-31 2023-05-12 浙江吉利控股集团有限公司 基于车联网大数据的避障方法、装置及存储介质
CN114489087B (zh) * 2022-04-18 2022-07-05 北京理工大学 一种多无人驾驶车辆路径协同规划方法及系统

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Also Published As

Publication number Publication date
US20160132058A1 (en) 2016-05-12
US9625911B2 (en) 2017-04-18
KR102430097B1 (ko) 2022-08-08
KR102326062B1 (ko) 2021-11-12
KR20210134530A (ko) 2021-11-10
KR20160056561A (ko) 2016-05-20

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G170 Re-publication after modification of scope of protection [patent]