WO2017163366A1 - 走路推定方法及び走路推定装置 - Google Patents
走路推定方法及び走路推定装置 Download PDFInfo
- Publication number
- WO2017163366A1 WO2017163366A1 PCT/JP2016/059396 JP2016059396W WO2017163366A1 WO 2017163366 A1 WO2017163366 A1 WO 2017163366A1 JP 2016059396 W JP2016059396 W JP 2016059396W WO 2017163366 A1 WO2017163366 A1 WO 2017163366A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- travel
- vehicle
- locus
- travel path
- host vehicle
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000008602 contraction Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 description 23
- 238000004364 calculation method Methods 0.000 description 19
- 238000012545 processing Methods 0.000 description 12
- 238000001514 detection method Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000003550 marker Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 240000004050 Pentaglottis sempervirens Species 0.000 description 1
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
-
- 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
-
- 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
- B60W2552/30—Road curve radius
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/404—Characteristics
- B60W2554/4044—Direction of movement, e.g. backwards
-
- 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
-
- 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
- B60W2554/801—Lateral distance
-
- 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
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
Definitions
- the present invention relates to a runway estimation method and a runway estimation apparatus.
- Patent Document 1 it is difficult to estimate the curve shape of the own lane from the running trajectory of surrounding vehicles traveling in a lane other than the own lane.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a travel path estimation method and a travel path estimation apparatus capable of estimating the travel path of the host vehicle from the travel trajectories of surrounding vehicles.
- the traveling path of the surrounding vehicle is estimated by enlarging or reducing the traveling locus of the surrounding vehicle based on the turning direction and the lateral position of the surrounding vehicle.
- the travel path of the host vehicle is estimated by enlarging or reducing the travel path of the surrounding vehicle, the travel path of the host vehicle is determined using the travel path of the surrounding vehicle traveling in a lane other than the host lane. Can be estimated.
- FIG. 1 is a block diagram showing an overall configuration of a runway estimation apparatus 1a according to the first embodiment.
- FIG. 2 is a flowchart for explaining an example of a runway estimation method using the runway estimation apparatus 1a shown in FIG.
- FIG. 3 is an overhead view of the surrounding vehicles (82i, 82j) and their travel loci (83i, 83j) as viewed from above the host vehicle 81. 4, a plurality of loci points on the map (P 1, P 2, P 3, P 4, P 5, ⁇ ) and indicates the travel locus 83 M consisting of the approximate curve, the reference travel locus 83 M It is a bird's-eye view for demonstrating an example of the specific method which correct
- FIG. 5A is an overhead view showing a situation in which the vehicle 81 cannot detect the position of the preceding vehicle 89 by the surrounding vehicle 82, and FIG. 5B appropriately estimates the curve shape 90 of the vehicle lane. It is an overhead view which shows a mode that cannot be performed.
- FIG. 6 is a block diagram showing the overall configuration of the road estimator 1b according to the second embodiment.
- FIG. 7 is a flowchart showing an example of a runway estimation method using the runway estimation device 1b shown in FIG.
- FIG. 8 is an overhead view showing a case where it is determined that the host vehicle 81 passes the branch point 87 within a predetermined time.
- FIG. 9 is a block diagram showing the overall configuration of the road estimation device 1c according to the third embodiment.
- FIG. 10 is a flowchart showing an example of a runway estimation method using the runway estimation apparatus 1c shown in FIG.
- FIG. 11 is an overhead view showing a case where the host vehicle 81 is determined to pass the intersection 88 within a predetermined time.
- the travel path estimation device 1a estimates the travel path of the host vehicle from the positions of surrounding vehicles. “Ambient vehicles” are other vehicles that travel around the host vehicle and travel in the lane (adjacent lane) adjacent to the lane (own lane) in which the host vehicle travels, the lane further adjacent to the adjacent lane, etc. Indicates other vehicles to play.
- the travel path estimation device 1a is a micro that executes a series of information calculation processes for estimating the travel path of the host vehicle from the position detection sensor 9 that detects the position of the surrounding vehicle and the position of the surrounding vehicle detected by the position detection sensor 9. And a computer 8. Both the position detection sensor 9 and the microcomputer 8 are mounted on the host vehicle, and are connected to each other by a cable for transmitting and receiving the positions of surrounding vehicles.
- the position detection sensor 9 includes a radar, a laser radar, a laser range finder (LRF), and a camera, but the present invention is not limited to this, and other known methods may be used.
- a means for obtaining depth information using a camera not only a stereo camera but also a monocular camera can be used.
- the microcomputer 8 can be realized by using a general-purpose microcomputer including a CPU (Central Processing Unit), a memory, and an input / output unit.
- the microcomputer 8 installs and executes in the microcomputer 8 a computer program (running path estimation program) for executing a series of information calculation processing for estimating the travel path of the host vehicle from the positions of surrounding vehicles.
- the microcomputer 8 functions as an information arithmetic circuit (10, 20, 30, 40) that executes a series of information arithmetic processing.
- achieves the runway estimation apparatus 1a by software is shown here, of course, the following information arithmetic circuits (10, 20, 30, 40) are not general purpose microcomputers, but dedicated ASICs etc. It is also possible to configure each as hardware.
- each information calculation circuit (10, 20, 30, 40) realized by the microcomputer 8 may be configured by individual hardware.
- the microcomputer 8 may also be used as an electronic control unit (ECU) used for other control related to the vehicle.
- ECU electronice control unit
- the microcomputer 8 functions as a position acquisition circuit 10, a travel locus calculation circuit 20, a lateral deviation amount calculation circuit 30, and a travel path estimation circuit 40.
- the position acquisition circuit 10 acquires the positions of surrounding vehicles.
- the position of the surrounding vehicle detected by the position detection sensor 9 may be acquired from the position detection sensor 9.
- the travel locus calculation circuit 20 calculates the travel locus of the surrounding vehicles from the history of the positions of the surrounding vehicles acquired by the position acquisition circuit 10. That is, the travel locus calculation circuit 20 calculates the travel locus of the surrounding vehicles by connecting the positions of the surrounding vehicles detected at a plurality of consecutive times. For example, as shown in FIG. 4, the travel locus calculation circuit 20 has positions (P 1 , P 2 , P 3 , P 4 , P 5 ,...) Of surrounding vehicles detected every predetermined time. Is repeatedly plotted on the map in consideration of the moving direction and moving distance of the host vehicle during the predetermined time, and a plurality of positions (trajectory points: P 1 to P 5 ,...) Plotted on the map are curved. Approximate. The approximate curve 83 M forms a running path around the vehicle.
- the lateral deviation amount calculation circuit 30 calculates the position of the traveling vehicle calculated by the traveling locus calculation circuit 20 with respect to the host vehicle and in the vehicle width direction (hereinafter referred to as “lateral position”).
- lateral position For example, in a two-dimensional coordinate system in which the host vehicle is the origin, the vehicle longitudinal direction is the x axis, and the vehicle width direction is the y axis, the lateral position is the intersection of the travel locus and the y axis, that is, the y coordinate of the y intercept. Can show.
- the lateral position will be described later with reference to FIG.
- the lateral deviation amount calculation circuit 30 may determine the lane to which the travel locus belongs as the lateral position of the travel locus. For example, the lane marker attached to the road surface is detected using a camera or the like mounted on the host vehicle, and the position of the lane marker relative to the host vehicle is calculated. Then, from the position of the lane marker and the position of the travel locus, the lane in which the surrounding vehicle travels, that is, the lane to which the travel locus belongs (adjacent lane, lane further adjacent to the adjacent lane, etc.) is determined.
- the lateral position of the travel locus determined to be an adjacent lane is, for example, 3 m, and the travel locus determined to be a lane further adjacent to the adjacent lane
- the horizontal position may be 6 m.
- the travel path estimation circuit 40 estimates the travel path of the host vehicle by enlarging or reducing the travel trajectory of the surrounding vehicle based on the turning direction of the surrounding vehicle and the lateral position calculated by the lateral deviation calculation circuit 30.
- the traveling path estimation circuit 40 identifies the turning direction of the surrounding vehicle from the traveling locus of the surrounding vehicle calculated by the traveling locus calculation circuit 20. For example, if the travel locus is a right curve shape, the turning direction may be determined as the right direction, and if the travel locus is a left curve shape, the turning direction may be determined as the left direction.
- the travel path estimation circuit 40 includes a reference travel path selection unit 40a, a reference travel path correction unit 40b, and a travel path determination unit 40c.
- the reference travel locus selection unit 40a selects a reference travel locus (hereinafter referred to as “reference travel locus”) for estimating the travel path from the travel loci of a plurality of surrounding vehicles.
- reference travel locus a reference travel locus
- the position acquisition circuit 10 acquires the positions of a plurality of surrounding vehicles, a plurality of travel loci and lateral positions are also calculated.
- the reference travel trajectory selection unit 40a selects a travel trajectory suitable for estimating the travel path based on the lateral position of the travel trajectory. The selection of the reference travel locus will be described later with reference to FIG.
- the reference travel locus correction unit 40b corrects the reference travel locus selected by the reference travel locus selection unit 40a based on the turning direction of the surrounding vehicle and the lateral position of the reference travel locus. The correction of the reference travel locus will be described later with reference to FIG.
- the travel path determination unit 40c sets the reference travel path corrected by the reference travel path correction unit 40b as the travel path of the host vehicle.
- the position acquisition circuit 10 acquires the positions of a plurality of surrounding vehicles (82i, 82j), and the traveling locus calculation circuit 20 obtains the traveling locus (83i, 83j) of each surrounding vehicle (82i, 82j). calculate. Then, the lateral deviation amount calculation circuit 30 calculates each of the lateral positions (Di, Dj) of the travel locus (83i, 83j) relative to the host vehicle 81. As shown in FIG. 3, since the travel locus (83i, 83j) has a left curve shape, the travel path estimation circuit 40 determines that the turning direction of the surrounding vehicle is the left direction.
- the reference traveling locus selection unit 40a selects a reference traveling locus from a plurality of traveling locus (83i, 83j) based on the lateral position (Di, Dj) of the traveling locus. Specifically, the reference travel locus selection unit 40a selects the travel locus (83i, 83j) of the surrounding vehicle closer to the host vehicle 81 than the predetermined reference distance as the reference travel locus. For example, when there are a plurality of surrounding vehicles, the absolute value of the lateral position (Di, Dj) is set to the first reference distance so as to be selected from the surrounding vehicles in the own lane and the adjacent lane among the plurality of traveling tracks. A travel locus (83i, 83j) smaller than (3m) is selected.
- the “distance between the surrounding vehicles (82i, 82j) and the host vehicle 81” is a concept including not only the distance in the vehicle width direction but also the distance in the traveling direction.
- the reference travel locus selection unit 40a may select the travel locus 83j having the smallest absolute value of the lateral position (Di, Dj) as the reference travel locus. In this case, the reference travel locus selection unit 40a does not consider the “distance between the surrounding vehicles (82i, 82j) and the host vehicle 81”. Further, the reference travel locus selection unit 40a may select a travel locus having the smallest “distance between the surrounding vehicles (82i, 82j) and the host vehicle 81” as the reference travel locus. In this case, the reference travel locus selection unit 40a does not consider “absolute value of the lateral position (Di, Dj)”.
- the reference travel locus selection unit 40a selects the travel locus that belongs to the adjacent lane. A travel locus belonging to a lane further adjacent to the adjacent lane is not selected.
- Reference travel locus correcting unit 40b based on the lateral position D M of the turning direction and the reference traveling locus 83 M around the vehicle, the reference traveling locus selection unit 40a will expand or contract the reference travel locus 83 M selected.
- the reference travel locus correction unit 40b calculates a turning radius R and a turning center 84 at each locus point (P 1 to P 5 ,).
- the coordinates of the turning radius R and the turning center 84 are calculated by the least square method or the like using the locus point P 3 to be calculated and the two front and rear points (P 2 , P 4 ).
- the turning radius R and the turning center 84 are calculated in the same manner.
- the reference traveling locus correction unit 40b expands each locus point (P 1 to P 5 ,%) From the turning radius R centered on the turning center 84 to the turning radius (R + D M ), or Reduce to turning radius (R ⁇ D M ). Reference travel locus correcting unit 40b, the expansion and contraction of the determination made based on the turning direction and the lateral position D M of the reference traveling locus 83 M.
- the own vehicle 81 is set to the traveling locus 83i of the surrounding vehicle 82i.
- the locus points (P 1 to P 5 ,...) Of the traveling locus 83i are expanded to the turning radius (R + Di) in the same manner as in FIG.
- the reference travel locus correction unit 40b changes the distance (turning radius) from the turning center 84 to the locus points (P 1 to P 5 ,...) Without changing the turning center 84. If the own vehicle 81 is located outside the turning direction of the travel locus, the turning radius is increased, and if the own vehicle 81 is located inside, the turning radius is reduced. Then, the reference travel track correction unit 40b, to the enlarged or reduced trajectory point (P 3 '), again, by curve approximation, it is possible to correct the reference travel locus 83 M.
- Reference travel locus correcting unit 40b increases the size enlarging or reducing the more lateral position D M around the vehicle 82 is away from the vehicle 81. That is, when the turning radius R is constant, as the absolute value of the lateral position D M is large, enlargement ratio and reduction ratio increases.
- the travel path determination unit 40c determines the reference travel path 91 corrected by the reference travel path correction unit 40b as it is as the travel path of the host vehicle.
- FIG. 2 An example of a runway estimation method using the runway estimation apparatus 1a shown in FIG. 1 will be described with reference to the flowchart of FIG.
- an operation procedure of the microcomputer 8 in the travel path estimation apparatus 1a shown in FIG. 1 will be described.
- the process shown in FIG. 2 is repeatedly executed at a predetermined cycle.
- step S110 the position acquisition circuit 10 acquires the positions of surrounding vehicles.
- the travel locus calculation circuit 20 uses the surrounding vehicle position history (trajectory points: P 1 to P 5 ,%) Acquired by the position acquisition circuit 10 to Is calculated (approximate curve 83 M ).
- the lateral deviation calculation circuit 30 calculates the lateral position (Di, Dj) of the traveling locus (83i, 83j) calculated by the traveling locus calculation circuit 20 with respect to the host vehicle 81, as shown in FIG. .
- the reference travel locus selection unit 40a selects a reference travel locus from a plurality of travel tracks (83i, 83j) based on the lateral position (Di, Dj) of the travel locus. Select. For example, the travel locus 83j of the surrounding vehicle 82j that is the travel locus (83i, 83j) in which the absolute value of the lateral position (Di, Dj) is smaller than the first reference distance (3m) and that is closest to the host vehicle 81 to select as a reference traveling locus 83 M.
- the method of selecting the reference travel locus is not limited to this, and other methods described above may be used.
- the reference travel locus selection unit 40a may select the travel locus of the surrounding vehicle as the reference travel locus. If there is no travel locus whose absolute value of the lateral position is smaller than the first reference distance, the processing may be interrupted and restarted from step S110, or the travel locus having the smallest absolute value of the lateral position may be resumed. You may select as a locus.
- step S0150 the reference travel locus correction unit 40b calculates the turning radius R and the turning center 84 at each locus point (P 1 to P 5 ,%) As shown in FIG.
- step S0160 as shown in FIG. 4, the reference traveling locus correction unit 40b moves each of the locus points (P 1 to P 5 ,%) From the turning radius R around the turning center 84 to the turning radius ( R + D M ) or reduced to the turning radius (R ⁇ D M ). The expansion and contraction of the determination made based on the turning direction and the lateral position of the reference travel locus 83 M. Then, the reference travel track correction unit 40b, for each locus point is enlarged or reduced (P 3 '), again, by curve approximation, to correct the reference travel locus 83 M.
- the travel path determination unit 40c determines the reference travel path 91 corrected by the reference travel path correction unit 40b as it is as the travel path of the host vehicle.
- step S0180 it is determined whether or not the ignition switch of the host vehicle 81 is turned off, and the above-described steps S110 to 170 are repeated at predetermined intervals until the vehicle is turned off. If it is turned off (YES in S180), the processing cycle described above ends.
- the microcomputer 8 estimates the traveling path of the host vehicle 81 by enlarging or reducing the traveling locus (83i, 83j) of the surrounding vehicles (82i, 82j). Thereby, the travel path of the own vehicle 81 can be estimated using the travel locus (83i, 83j) of the surrounding vehicles (82i, 82j) traveling in the lane other than the own lane. For example, as shown in FIG. 5A, consider a situation in which the host vehicle 81 cannot detect the position of the preceding vehicle 89 by the surrounding vehicle 82 or the like. The curve shape of the travel locus (adjacent lane) of the surrounding vehicle 82 is different from the curve shape of the travel locus (own lane) of the preceding vehicle 89.
- the curve shape 90 of the own lane cannot be estimated appropriately as shown in FIG. According to the first embodiment, even in the situation shown in FIG. 5A, the curve shape of the host vehicle 81 can be accurately estimated using the travel locus 83 of the surrounding vehicle 82 traveling in the adjacent lane or the like. .
- the reference travel locus correction unit 40 b decreases the size of enlargement or reduction as the turning radius R of the travel locus 83 ⁇ / b> M increases. Thereby, a runway can be estimated appropriately according to the curve shape.
- Reference travel locus correcting unit 40b as shown in FIG. 4, to increase the size enlarging or reducing the more lateral position D M around the vehicle 82 is away from the vehicle 81. Thereby, even when the lane in which the host vehicle 81 travels and the lane in which the surrounding vehicle 82 travels are different (the next lane or the next adjacent lane), the travel path can be estimated appropriately.
- the microcomputer 8 estimates the travel path based on the travel trajectory (83i, 83j) of the surrounding vehicle that is closest to the host vehicle 81.
- the travel path is estimated based on the travel trajectory 83j of the surrounding vehicle in the lane adjacent to the travel lane of the host vehicle 81. Thereby, a traveling path can be estimated appropriately from the highly accurate traveling locus 83j.
- the travel path estimation device 1b acquires map information including at least road branch information, and if it is determined that the host vehicle 81 passes through a branch point, the travel path estimation device 1b does not estimate the travel path of the host vehicle.
- the travel path determination unit 40c determines the reference travel path 91 corrected by the reference travel path correction unit 40b as the travel path of the host vehicle.
- the runway estimation device 1 b further includes a map database 7. Both the map database 7 and the microcomputer 8 are mounted on the host vehicle 81 and are connected to each other by cables for transmitting and receiving map information including at least road branch information.
- the microcomputer 8 further functions as a map acquisition circuit 50 as well as an information calculation circuit (10, 20, 30, 40).
- the map acquisition circuit 50 acquires map information including at least road branch information from the map database 7.
- FIG. 7 With reference to the flowchart of FIG. 7, an example of a runway estimation method using the runway estimation apparatus 1b shown in FIG. 6 will be described.
- the operation procedure of the microcomputer 8 in the road estimation device 1b shown in FIG. 6 will be described.
- the process shown in FIG. 7 is repeatedly executed at a predetermined cycle.
- the flowchart of FIG. 7 further includes step S165 as compared to FIG. 2, and the content of step S170 is different.
- the processing contents of steps S110 to S160 and S180 in FIG. 7 are the same as those in FIG.
- step S160 the process proceeds to step S165, and the map acquisition circuit 50 acquires map information including at least road branch information from the map database 7. Specifically, the map acquisition circuit 50 reads map information including branch information of a road on which the host vehicle 81 travels from the map database 7.
- the process proceeds to step S170, runway determiner 40c, the reference travel locus 91, the map information after correction, and the absolute value of the lateral position D M, estimates the lane of the vehicle.
- the traveling path determination unit 40c determines whether or not the host vehicle 81 passes through the branch point within a predetermined time based on the map information. Specifically, as shown in FIG. 8, on the road on which the host vehicle 81 travels, the point at which the road branches into two or more roads (85, 86) within a predetermined distance ahead of the host vehicle 81 ( It is determined whether or not there is a branch point 87).
- Runway determiner 40c is the absolute value of the lateral position D M of the reference traveling locus 83 M third reference distance (1.5 m) or above and the vehicle 81 passes the branch point 87 within a predetermined time If determined, the travel path of the host vehicle 81 is not estimated.
- the runway determiner 40c is nearby vehicle traveling locus can be calculated is traveling lane other than the own lane (lateral position D M are separated third reference distance (1.5 m) or more)
- trajectory 91 which the reference
- runway determiner 40c is either the absolute value of the lateral position D M of the reference traveling locus 83 M is less than the third reference distance (1.5 m), or, the branch point vehicle 81 is within a predetermined time 87 If it is determined that the vehicle does not pass the vehicle, the reference travel locus 91 corrected by the reference travel locus correction unit 40b is set as the travel path of the host vehicle 81.
- the travel path determination unit 40c is configured such that the surrounding vehicle whose travel locus can be calculated is traveling in the own lane (the lateral position DM is less than the third reference distance (1.5 m)), or the own vehicle 81 is When it is determined that the vehicle does not pass the branch point, the reference travel locus 91 corrected by the reference travel locus correction unit 40b is set as the travel path of the host vehicle 81.
- the runway is not estimated. Therefore, as shown in FIG. 8, when the surrounding vehicle 82 leaves in the direction (road 86) different from the traveling path (road 85) of the own vehicle 81 at the branch point 87, it is prevented that an erroneous traveling path is estimated. it can.
- the travel path determination unit 40c corrects the reference travel after correction. It is possible to prevent the locus 91 from being set as the traveling path of the host vehicle 81. As a result, it is possible to avoid estimating an incorrect runway.
- the travel path determination unit 40c may determine the travel path determination based only on the presence or absence of the branch point 87 in step S170. For example, regardless of the lane position around the vehicle can be calculated travel locus, runway determiner 40c, when the vehicle 81 is determined to pass through the branch point 87 within a predetermined time is the reference running locus 83 M regardless of the lateral position D M, does not estimate the road of the host vehicle lane, it may be.
- the travel path estimation device 1 c acquires at least travel route information of the host vehicle 81 on the map, and estimates the travel path based on the travel path 83 of the surrounding vehicle 82 similar to the travel route of the host vehicle 81. Only when it is determined that the reference travel path 91 corrected by the reference travel path correction unit 40b is similar to the travel route of the host vehicle 81, the travel path determination unit 40c uses the corrected reference travel path 91 as a reference. Determined as the vehicle's track.
- the runway estimation device 1 c further includes a navigation device 6.
- the navigation device 6, the map database 7, and the microcomputer 8 are all mounted on the host vehicle 81.
- the navigation device 6 and the microcomputer 8 are connected to each other by a cable for transmitting and receiving traveling route information of the host vehicle 81.
- the microcomputer 8 further functions as a route acquisition circuit 60 as well as an information arithmetic circuit (10, 20, 30, 40, 50).
- the route acquisition circuit 60 acquires the travel route information of the host vehicle 81 from the navigation device 6.
- the map acquisition circuit 50 acquires map information including road branch information, intersection information, and road shape information (including turning radius information).
- FIG. 10 An example of a runway estimation method using the runway estimation device 1c shown in FIG. 9 will be described with reference to the flowchart of FIG. Here, the operation procedure of the microcomputer 8 in the road estimation device 1c shown in FIG. 9 will be described. The process shown in FIG. 10 is repeatedly executed at a predetermined cycle.
- the flowchart of FIG. 10 further includes step S100 as compared to FIG. 7, and the content of step S170 is different.
- the processing contents of steps S110 to S160 and S180 in FIG. 10 are the same as those in FIG.
- step S100 the route acquisition circuit 60 acquires the travel route information of the host vehicle 81 from the navigation device 6. Then, it progresses to step S110.
- step S170 the runway determiner 40c, the absolute value of the lateral position D M of the reference traveling locus 83 M is at the first reference distance or more, and, when the vehicle 81 is determined to pass through the branch point 87 Does not set the corrected reference travel locus 91 as the travel path of the host vehicle 81. This is the same as in the second embodiment.
- the travel path determination unit 40c further determines whether or not the branch point 87 is an intersection 88 in step S170. Then, when the branch point 87 is the intersection 88, the traveling path determination unit 40c determines whether or not the reference traveling locus 91 corrected in step S160 is similar to the traveling route of the host vehicle 81 acquired in step S100. .
- the runway determination part 40c correct
- trajectory 91 is similar to the driving
- the reference traveling locus 91 is set as the traveling path of the own lane.
- the travel path determination unit 40c does not satisfy the following condition.
- the corrected reference traveling locus 91 may not be set as the traveling path of the own lane. That is, the runway determiner 40c, the absolute value of the lateral position D M of the reference traveling locus 83 M is, the third state is the reference distance (1.5 m) or more of a predetermined time (e.g., 5 seconds), continued In this case, the corrected reference traveling locus 91 may not be set as the traveling path of the own lane.
- the travel locus of the surrounding vehicle similar to the travel route of the own vehicle 81 is used, the travel of the surrounding vehicle traveling in parallel with the travel route of the own vehicle 81 is used.
- the runway can be estimated appropriately from the trajectory.
- step S170 the travel path determination unit 40c determines whether or not the reference travel locus 91 corrected in step S160 is similar to the travel route of the host vehicle 81 acquired in step S100. If they are not similar, the travel path determination unit 40c does not set the reference travel path 91 corrected by the reference travel path correction unit 40b as the travel path of the host vehicle. On the other hand, if they are similar, the travel path determination unit 40c sets the reference travel path 91 corrected by the reference travel path correction unit 40b as the travel path of the host vehicle.
- step S170 the runway determiner 40c determines whether the absolute value of the lateral position D M is the first reference distance or more, whether the vehicle 81 has passed the branching point 87, and branch point 87 intersection Whether it is 88 or not is not judged. Step S165 (map reading) is also unnecessary.
- the travel path estimation devices (1 a, 1 b, 1 c) may not include the position detection sensor 9.
- the travel path estimation devices (1a to 1c) include a wireless communication device, and the position acquisition circuit 10 can acquire information indicating the positions of surrounding vehicles from the outside via the wireless communication network.
- the travel path estimation devices (1a to 1c) may not include the map database 7 or the navigation device 6.
- the map acquisition circuit 50 and the route acquisition circuit 60 can acquire map information and travel route information from the outside via a computer network.
- the travel path estimation devices (1a to 1c) may not be mounted on the host vehicle 81.
- it may be a back end (cloud itself) in a cloud computing model.
- the host vehicle 81 as the front end is connected to the travel path estimation devices (1a to 1c) as the back end via a network such as the Internet.
- the travel path estimation device (1a to 1c) acquires information indicating the position of the surrounding vehicle 82 from the surrounding vehicle 82 itself or the host vehicle 81 (detection result of the position detection sensor 9), estimates the travel path of the host vehicle 81, and estimates You may provide the runway to the own vehicle 81 via a network.
- the processing circuit includes a programmed processing device such as a processing device including an electrical circuit.
- Processing devices also include devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.
- ASICs application specific integrated circuits
- 1a, 1b, 1c track estimating apparatus 10 position obtaining circuit 40 runway estimation circuit 81 vehicle 82,82i, 82j surrounding the vehicle 83,83i, 83j, 83 M running locus 87 branch points Di, Dj, D M lateral position P 1 ⁇ position R the turning radius of the P 5 around the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
次に、図面を参照して、実施形態を詳細に説明する。
図6を参照して、第2実施形態に係わる走路推定装置1bの全体構成を説明する。走路推定装置1bは、少なくとも道路の分岐情報を含む地図情報を取得し、自車両81が分岐点を通過すると判断される場合には、自車両の走路を推定しない。走路決定部40cは、自車両81が分岐点を通過しないと判断される場合には、基準走行軌跡補正部40bが補正した基準走行軌跡91を、自車両の走路として決定する。
図9を参照して、第3実施形態に係わる走路推定装置1cの全体構成を説明する。走路推定装置1cは、少なくとも地図上の自車両81の走行ルート情報を取得し、自車両81の走行ルートと類似した周囲車両82の走行軌跡83に基づいて走路を推定する。走路決定部40cは、基準走行軌跡補正部40bが補正した基準走行軌跡91が、自車両81の走行ルートに類似していると判断される場合に限り、補正後の基準走行軌跡91を、自車両の走路として決定する。
10 位置取得回路
40 走路推定回路
81 自車両
82、82i、82j 周囲車両
83、83i、83j、83M 走行軌跡
87 分岐点
Di、Dj、DM 横位置
P1~P5 周囲車両の位置
R 旋回半径
Claims (8)
- 周囲車両の位置を取得する位置取得回路と、前記周囲車両の位置の履歴による前記周囲車両の走行軌跡に基づいて自車両の走路を推定する走路推定回路とを用いた走路推定方法において、
前記周囲車両の旋回方向および横位置に基づいて前記周囲車両の走行軌跡を拡大または縮小して前記走路を推定することを特徴とする走路推定方法。 - 前記走行軌跡の旋回半径が大きいほど、拡大または縮小する大きさを小さくすることを特徴とする請求項1に記載の走路推定方法。
- 前記周囲車両の横位置が前記自車両から離れているほど拡大または縮小する大きさを大きくすることを特徴とする請求項1又は2に記載の走路推定方法。
- 前記自車両に対する周囲車両の距離が最も近い前記周囲車両の走行軌跡に基づいて前記走路を推定することを特徴とする請求項1~3のいずれか一項に記載の走路推定方法。
- 前記自車両の走行車線の隣接車線にいる前記周囲車両の走行軌跡に基づいて前記走路を推定することを特徴とする請求項1~4のいずれか一項に記載の走路推定方法。
- 少なくとも地図上の前記自車両の走行ルートを取得し、
前記走行ルートと類似した前記周囲車両の走行軌跡に基づいて前記走路を推定することを特徴とする請求項1~5のいずれか一項に記載の走路推定方法。 - 少なくとも道路の分岐情報を含む地図情報を取得し、
前記自車両が分岐点を通過すると判断される場合には、前記走路を推定しないことを特徴とする請求項1~6のいずれか一項に記載の走路推定方法。 - 周囲車両の位置を取得する位置取得回路と、
前記周囲車両の位置の履歴による前記周囲車両の走行軌跡に基づいて自車両の走路を推定する走路推定回路と、を備え、
前記走路推定回路は、前記周囲車両の旋回方向および横位置に基づいて前記周囲車両の走行軌跡を拡大または縮小して前記走路を推定することを特徴とする走路推定装置。
Priority Applications (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA3018659A CA3018659C (en) | 2016-03-24 | 2016-03-24 | Course prediction method and course prediction device |
CN201680083902.3A CN108883770B (zh) | 2016-03-24 | 2016-03-24 | 行进路推定方法及行进路推定装置 |
RU2018137210A RU2689921C1 (ru) | 2016-03-24 | 2016-03-24 | Способ прогнозирования курса и устройство прогнозирования курса |
MX2018011511A MX2018011511A (es) | 2016-03-24 | 2016-03-24 | Metodo de prediccion de curso y dispositivo de prediccion de curso. |
JP2018506706A JP6690703B2 (ja) | 2016-03-24 | 2016-03-24 | 走路推定方法及び走路推定装置 |
EP16895402.2A EP3434545B1 (en) | 2016-03-24 | 2016-03-24 | Course estimation method and course estimation device |
PCT/JP2016/059396 WO2017163366A1 (ja) | 2016-03-24 | 2016-03-24 | 走路推定方法及び走路推定装置 |
KR1020187029837A KR101942230B1 (ko) | 2016-03-24 | 2016-03-24 | 주로 추정 방법 및 주로 추정 장치 |
US16/087,268 US10435019B2 (en) | 2016-03-24 | 2016-03-24 | Course prediction method and course prediction device |
BR112018069433-9A BR112018069433B1 (pt) | 2016-03-24 | 2016-03-24 | Método de predição de curso e dispositivo de predição de curso |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/059396 WO2017163366A1 (ja) | 2016-03-24 | 2016-03-24 | 走路推定方法及び走路推定装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017163366A1 true WO2017163366A1 (ja) | 2017-09-28 |
Family
ID=59900072
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/059396 WO2017163366A1 (ja) | 2016-03-24 | 2016-03-24 | 走路推定方法及び走路推定装置 |
Country Status (10)
Country | Link |
---|---|
US (1) | US10435019B2 (ja) |
EP (1) | EP3434545B1 (ja) |
JP (1) | JP6690703B2 (ja) |
KR (1) | KR101942230B1 (ja) |
CN (1) | CN108883770B (ja) |
BR (1) | BR112018069433B1 (ja) |
CA (1) | CA3018659C (ja) |
MX (1) | MX2018011511A (ja) |
RU (1) | RU2689921C1 (ja) |
WO (1) | WO2017163366A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021511997A (ja) * | 2018-12-26 | 2021-05-13 | バイドゥドットコム タイムズ テクノロジー (ベイジン) カンパニー リミテッドBaidu.com Times Technology (Beijing) Co., Ltd. | 地図及び測位を必要としない自動運転車両のコーナネゴシエーション方法 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6520863B2 (ja) * | 2016-08-11 | 2019-05-29 | 株式会社デンソー | 走行制御装置 |
JP6592423B2 (ja) * | 2016-11-25 | 2019-10-16 | 株式会社デンソー | 車両制御装置 |
US11167753B2 (en) * | 2017-01-11 | 2021-11-09 | Honda Motor Co., Ltd. | Vehicle control device, vehicle control method, and vehicle control program |
KR102215325B1 (ko) * | 2017-02-28 | 2021-02-15 | 현대자동차주식회사 | 차량의 위치 추정 장치 및 방법과 이를 이용한 차량 |
KR102463720B1 (ko) * | 2017-12-18 | 2022-11-07 | 현대자동차주식회사 | 차량의 경로 생성 시스템 및 방법 |
CN111301411B (zh) * | 2018-12-10 | 2021-04-20 | 广州汽车集团股份有限公司 | 车辆的行驶控制方法和装置 |
KR20200130888A (ko) * | 2019-05-07 | 2020-11-23 | 현대모비스 주식회사 | 복합정보 기반 scc시스템 제어 방법 및 장치 |
CN111561938A (zh) * | 2020-05-28 | 2020-08-21 | 北京百度网讯科技有限公司 | Ar导航方法和装置 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006003166A (ja) * | 2004-06-16 | 2006-01-05 | Denso Corp | 走行路推定装置 |
JP2007137248A (ja) * | 2005-11-17 | 2007-06-07 | Toyota Motor Corp | 走行支援装置及び走行支援システム |
WO2010122639A1 (ja) * | 2009-04-21 | 2010-10-28 | トヨタ自動車株式会社 | 走行支援装置 |
JP2013226973A (ja) | 2012-04-26 | 2013-11-07 | Denso Corp | 車両用挙動制御装置 |
JP2014123283A (ja) * | 2012-12-21 | 2014-07-03 | Nippon Soken Inc | 走行経路生成装置 |
JP2015058920A (ja) * | 2013-09-20 | 2015-03-30 | トヨタ自動車株式会社 | 運転支援装置 |
JP2016027740A (ja) * | 2015-09-18 | 2016-02-18 | 株式会社ニコン | 撮像装置 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5941934A (en) * | 1995-06-09 | 1999-08-24 | Xanavi Informatics Corporation | Current position calculating device |
JP4059033B2 (ja) * | 2002-08-12 | 2008-03-12 | 日産自動車株式会社 | 走行経路生成装置 |
DE102004028404A1 (de) * | 2004-06-14 | 2006-01-19 | Daimlerchrysler Ag | Verfahren zur Schätzung des Verlaufs einer Fahrspur eines Kraftfahrzeuges |
US8024112B2 (en) * | 2005-09-29 | 2011-09-20 | Microsoft Corporation | Methods for predicting destinations from partial trajectories employing open-and closed-world modeling methods |
JP5507243B2 (ja) * | 2006-06-30 | 2014-05-28 | コンチネンタル・テベス・アーゲー・ウント・コンパニー・オーハーゲー | 車両内の、およびその車両からの車両関連情報を送信するための方法、装置、コンピュータプログラム、および、コンピュータプログラムプロダクト |
JP4525670B2 (ja) * | 2006-11-20 | 2010-08-18 | トヨタ自動車株式会社 | 走行制御計画生成システム |
CN103917432B (zh) * | 2011-11-08 | 2016-06-15 | 丰田自动车株式会社 | 车辆的行驶轨迹控制装置 |
CN202641689U (zh) * | 2011-11-30 | 2013-01-02 | 富士重工业株式会社 | 车外监视装置及具有该车外监视装置的行驶控制装置 |
JP2013161113A (ja) | 2012-02-01 | 2013-08-19 | Toyota Motor Corp | 走行車線認識装置 |
EP2637072B1 (en) * | 2012-03-05 | 2017-10-11 | Volvo Car Corporation | Path following of a target vehicle |
DE102012214206B4 (de) * | 2012-08-09 | 2022-12-22 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Krümmungserkennung eines Fahrspurverlaufs während einer vollautomatischen Fahrzeugführung |
JP6040945B2 (ja) * | 2014-02-14 | 2016-12-07 | 株式会社デンソー | 先行車選択装置 |
JP6369390B2 (ja) * | 2015-05-19 | 2018-08-08 | 株式会社デンソー | 車線合流判定装置 |
-
2016
- 2016-03-24 WO PCT/JP2016/059396 patent/WO2017163366A1/ja active Application Filing
- 2016-03-24 CA CA3018659A patent/CA3018659C/en active Active
- 2016-03-24 MX MX2018011511A patent/MX2018011511A/es active IP Right Grant
- 2016-03-24 EP EP16895402.2A patent/EP3434545B1/en active Active
- 2016-03-24 US US16/087,268 patent/US10435019B2/en active Active
- 2016-03-24 KR KR1020187029837A patent/KR101942230B1/ko active IP Right Grant
- 2016-03-24 CN CN201680083902.3A patent/CN108883770B/zh active Active
- 2016-03-24 RU RU2018137210A patent/RU2689921C1/ru active
- 2016-03-24 JP JP2018506706A patent/JP6690703B2/ja active Active
- 2016-03-24 BR BR112018069433-9A patent/BR112018069433B1/pt active IP Right Grant
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006003166A (ja) * | 2004-06-16 | 2006-01-05 | Denso Corp | 走行路推定装置 |
JP2007137248A (ja) * | 2005-11-17 | 2007-06-07 | Toyota Motor Corp | 走行支援装置及び走行支援システム |
WO2010122639A1 (ja) * | 2009-04-21 | 2010-10-28 | トヨタ自動車株式会社 | 走行支援装置 |
JP2013226973A (ja) | 2012-04-26 | 2013-11-07 | Denso Corp | 車両用挙動制御装置 |
JP2014123283A (ja) * | 2012-12-21 | 2014-07-03 | Nippon Soken Inc | 走行経路生成装置 |
JP2015058920A (ja) * | 2013-09-20 | 2015-03-30 | トヨタ自動車株式会社 | 運転支援装置 |
JP2016027740A (ja) * | 2015-09-18 | 2016-02-18 | 株式会社ニコン | 撮像装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021511997A (ja) * | 2018-12-26 | 2021-05-13 | バイドゥドットコム タイムズ テクノロジー (ベイジン) カンパニー リミテッドBaidu.com Times Technology (Beijing) Co., Ltd. | 地図及び測位を必要としない自動運転車両のコーナネゴシエーション方法 |
Also Published As
Publication number | Publication date |
---|---|
US20190100199A1 (en) | 2019-04-04 |
KR20180123544A (ko) | 2018-11-16 |
CN108883770B (zh) | 2020-09-22 |
EP3434545A1 (en) | 2019-01-30 |
CA3018659C (en) | 2020-01-14 |
JPWO2017163366A1 (ja) | 2019-02-14 |
MX2018011511A (es) | 2019-01-10 |
CA3018659A1 (en) | 2017-09-28 |
RU2689921C1 (ru) | 2019-05-29 |
KR101942230B1 (ko) | 2019-01-24 |
JP6690703B2 (ja) | 2020-04-28 |
BR112018069433B1 (pt) | 2023-01-17 |
EP3434545B1 (en) | 2021-03-10 |
US10435019B2 (en) | 2019-10-08 |
EP3434545A4 (en) | 2019-09-04 |
BR112018069433A2 (pt) | 2019-02-12 |
CN108883770A (zh) | 2018-11-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2017163366A1 (ja) | 走路推定方法及び走路推定装置 | |
RU2645388C2 (ru) | Устройство определения неправильного распознавания | |
JP6427908B2 (ja) | 地図情報生成システム、方法およびプログラム | |
JP6616257B2 (ja) | 位置推定装置 | |
JP6838285B2 (ja) | レーンマーカ認識装置、自車両位置推定装置 | |
WO2021205193A1 (ja) | 地図情報補正方法、運転支援方法及び地図情報補正装置 | |
CN112673230B (zh) | 行驶辅助方法及行驶辅助装置 | |
WO2018062291A1 (ja) | 他車線監視装置 | |
EP3260878B1 (en) | Moving object detection device, program, and recording medium | |
JP7418196B2 (ja) | 走行軌跡推定方法及び走行軌跡推定装置 | |
JP2023164553A (ja) | 位置推定装置、推定装置、制御方法、プログラム及び記憶媒体 | |
JP2024038322A (ja) | 測定装置、測定方法およびプログラム | |
JP6631226B2 (ja) | 自車線情報推定装置 | |
US20230105255A1 (en) | Measurement device, measurement method and program | |
JP6819441B2 (ja) | 物標位置推定方法及び物標位置推定装置 | |
JP7151735B2 (ja) | 走路推定方法及び走路推定装置 | |
JP2019045341A (ja) | 車両位置検出方法及び車両位置検出装置 | |
JP2022146256A (ja) | 走路推定方法及び走路推定装置 | |
JP6986557B2 (ja) | 測定装置、測定方法およびプログラム | |
JP2006113627A (ja) | 車両用制御対象判定装置 | |
JP2021004803A (ja) | 走行レーン特定装置、及び走行レーン特定方法 | |
JP2022083093A (ja) | 走行支援方法及び走行支援装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 2018506706 Country of ref document: JP |
|
ENP | Entry into the national phase |
Ref document number: 3018659 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: MX/A/2018/011511 Country of ref document: MX |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 20187029837 Country of ref document: KR Kind code of ref document: A |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112018069433 Country of ref document: BR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2016895402 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2016895402 Country of ref document: EP Effective date: 20181024 |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16895402 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 112018069433 Country of ref document: BR Kind code of ref document: A2 Effective date: 20180924 |