WO2019065696A1 - Structure de données de caractéristiques - Google Patents

Structure de données de caractéristiques Download PDF

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Publication number
WO2019065696A1
WO2019065696A1 PCT/JP2018/035598 JP2018035598W WO2019065696A1 WO 2019065696 A1 WO2019065696 A1 WO 2019065696A1 JP 2018035598 W JP2018035598 W JP 2018035598W WO 2019065696 A1 WO2019065696 A1 WO 2019065696A1
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WIPO (PCT)
Prior art keywords
feature
feature data
stop position
stop
vehicle
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PCT/JP2018/035598
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English (en)
Japanese (ja)
Inventor
晴彦 高木
吉洋 安原
昌嗣 左近
真武 下平
里紗 夏川
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パイオニア株式会社
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Publication of WO2019065696A1 publication Critical patent/WO2019065696A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids

Definitions

  • the present invention relates to a feature data structure indicating features.
  • Patent Document 1 when calling a taxi from home or on the go, there has been proposed a system or the like capable of arranging dispatch from a terminal device possessed by a user such as a smartphone (see, for example, Patent Document 1).
  • Patent Document 1 also describes a self-driving vehicle, in the case of a self-driving vehicle, since the human driver is not on board, the intention of the user when arriving at a designated place at the time of dispatch etc. It is possible that the vehicle is stopped at a position not suitable for use or at a position not suitable for use.
  • One of the problems to be solved by the present invention is to stop the vehicle at an appropriate position in a vehicle capable of autonomous traveling as described above.
  • the invention according to claim 1 is a feature data structure indicating a feature, and a stop position indicating a stop position at which an autonomous vehicle visiting a feature is to stop the feature It is characterized by including information.
  • the invention according to claim 4 is a feature data structure indicating a feature, wherein the autonomous driving vehicle visiting the feature includes limit position information indicating a position at which the stop of the feature is limited. There is.
  • the invention according to claim 5 is a feature data storage device for storing feature data indicating a feature, wherein the feature data is a stop position at which the automatically driven vehicle visiting the feature is to stop the feature. And stop position information indicating.
  • the invention according to claim 6 is a feature data storage device for storing feature data representing a feature, wherein the feature data is such that an autonomous vehicle that visits a feature is restricted from stopping for the feature. It is characterized by including limit position information indicating a position.
  • FIG. 1 is a schematic configuration diagram of a system having a feature data storage device according to a first example of the present invention. It is a functional block diagram of the server apparatus shown by FIG. It is the figure which showed the example of the feature data structure memorize
  • a feature data structure according to an embodiment of the present invention includes stop position information indicating a stop position at which an autonomous vehicle visiting a feature should stop for the feature. By doing this, the autonomous driving vehicle can stop at an appropriate position on the feature by referring to the stop position information.
  • the stop position information may include at least one stop position for each feature corresponding to the purpose of the user of the autonomous driving vehicle. By doing this, the autonomous driving vehicle can be stopped at an appropriate position according to the purpose of the user.
  • the stop position information may include history information on an actual stop position corresponding to the purpose. By doing this, it is possible to correct the stop position information to a more appropriate position based on the history information.
  • the feature data structure according to another embodiment of the present invention includes restricted position information indicating a position at which the autonomously traveling vehicle visiting the feature is restricted for the feature.
  • restricted position information indicating a position at which the autonomously traveling vehicle visiting the feature is restricted for the feature.
  • the feature data includes stop position information indicating a stop position at which the automatically driven vehicle visiting the feature should stop for the feature.
  • the feature data includes limit position information indicating a position at which the autonomous driving vehicle visiting the feature is limited for the feature. .
  • limit position information indicating a position at which the autonomous driving vehicle visiting the feature is limited for the feature.
  • the feature data storage device may further include an output unit for outputting feature data in the communication terminal mounted on the autonomous driving vehicle.
  • feature data can be stored in a server device or the like separate from the autonomous driving vehicle, and can be transmitted to the autonomous driving vehicle as required. Therefore, since the autonomous driving vehicle only needs to have necessary feature data, the capacity of the storage device etc. of the autonomous driving vehicle can be suppressed.
  • the server device 1 as the feature data storage device according to the present embodiment can communicate with the user terminal 2 and the autonomous driving vehicle C via the network N such as the Internet as shown in FIG.
  • the server device 1 is installed, for example, in an office of a manager of the autonomous driving vehicle C, such as a dispatch service provider of the autonomous driving vehicle.
  • the functional configuration of the server device 1 is shown in FIG.
  • the server device 1 includes a control unit 11, a communication unit 12, and a storage unit 13.
  • the control unit 11 functions as a CPU (Central Processing Unit) of the server device 1 and controls the entire server device 1. Based on the allocation request from the user terminal 2, the control unit 11 reads feature data pertaining to the allocated location (destination) from the storage unit 13 and uses the communication unit 12 as the destination information to automatically drive the vehicle C. Send to
  • the communication unit 12 as an output unit functions as a network interface of the server device 1 and receives the dispatch request from the user terminal 2 and acquires weather information at the destination from an external weather server or the like.
  • the communication unit 12 also transmits feature data concerning the destination read by the control unit 11 from the storage unit 13 to the vehicle control device 3 of the automatically driven vehicle C via the network N.
  • the storage unit 13 functions as a storage device such as a hard disk of the server device 1 and stores feature data 13a.
  • the feature data 13a will be described with reference to FIG.
  • a feature is a concept that includes all natural or artificial objects present on the ground.
  • features include path features located on the vehicle's path (i.e., the road) and peripheral features located on the periphery of the road.
  • the route top feature a road sign, a traffic light, a guardrail, a footbridge, etc. may be mentioned, and the road itself is also included. That is, characters and figures drawn on the road surface, and the shape of the road (road width and curvature) are also included in the route features.
  • the surrounding features include a building (a house, a store, a station, a commercial facility, a vacation facility, etc.) and a signboard located along a road.
  • the feature data 13a mainly includes information on peripheral features that may cause the automatically driven vehicle C to stop.
  • a feature name, a feature ID, a position (latitude and longitude) of the feature, and a position at which the autonomous vehicle is stopped are set for each feature.
  • the automatically driven vehicle stop position is stop position information indicating a stop position at which the automatically driven vehicle C in the feature should stop, and is set for each purpose.
  • information of latitude and longitude is set for each of the purpose A, the purpose B, and the purpose C.
  • the purpose may be at least one or more.
  • FIG. 3 shows a feature data structure according to the present embodiment.
  • the user terminal 2 is a terminal device used when a user (user) such as a smartphone or a PC (personal computer) requests allocation of the automatically driven vehicle C, for example.
  • the user executes a dedicated application installed in the user terminal 2 or requests a vehicle allocation for the automatically driven vehicle C by accessing a predetermined site or the like.
  • the autonomous driving vehicle C includes a vehicle control device 3 and a sensor 4.
  • the vehicle control device 3 autonomously travels (automatically drives) the automatically driven vehicle C based on the result detected by the sensor 4 and map information for automatic driving possessed by the vehicle control device 3. Further, the vehicle control device 3 receives the place (destination) where the vehicle allocation is designated by the user from the server device 1 and the stop position at that place, and automatically drives the automatically driven vehicle C to the stop position at that place. Make it happen.
  • the sensor 4 includes a camera installed in the autonomous driving vehicle C, a sensor (LiDAR: Light Detection And Ranging), and a sensor that recognizes the surrounding environment of the autonomous driving vehicle C, such as a radar.
  • a speed sensor that detects the speed of the automatically driven vehicle C
  • an acceleration sensor that detects an acceleration
  • a GPS (Global Positioning System) receiver that detects the current position of the automatically driven vehicle C
  • attitude direction etc.
  • the sensor 4 includes equipment such as a gyro sensor that detects
  • step S101 it is determined whether or not the user has received information (allocation request information) for requesting allocation of the autonomous driving vehicle C from the user terminal 2. If received (in the case of YES), the process proceeds to step S102 .
  • the allocation request information includes at least information on a place (also referred to as a destination) where the autonomous driving vehicle C is allocated.
  • the location to be allocated is not limited to the latitude and longitude information, but may be a facility name such as a building name or an apartment name or an address (location).
  • the user terminal 2 can acquire the current position by GPS (Global Positioning System) etc., the user who has acquired the user terminal 2 in the allocation request information
  • the current position information latitude / longitude information
  • the allocation request information includes user information (age, presence / absence of luggage, whether or not a child is taken, etc.).
  • the allocation request information from the user terminal 2 is transmitted to the server device 1 via the network N.
  • the communication unit 12 receives the allocation request information and outputs the allocation request information to the control unit 11, whereby the allocation request information is received by the control unit 11.
  • step S102 the user information included in the allocation request information received in step S101 is acquired.
  • the user information may be stored in the storage unit 13 of the server device 1, and the user information may be read from the storage unit 13 based on information identifying the user, such as a user ID, from the next time on. By doing this, it is not necessary to transmit user information each time.
  • step S103 the stop position at the destination is determined.
  • the feature B shown in FIG. 5 faces the road R1 and the road R2, and it is assumed that there are two entrances, an entrance E1 on the road R1 side and an entrance E2 on the road R2 side.
  • the entrance E1 is close to the facility or the like indicated by the feature B, and the entrance E2 is assumed to have a wide entrance / exit space in the vicinity.
  • feature data of the feature B is read out from the storage unit 13, and the stop position is determined based on the user information included in the allocation request information.
  • the stopping position set for the purpose A is assumed to correspond to the purpose A of the stopping position at which the autonomous driving vehicle C in FIG.
  • the position on the road R1 near the entrance E1 close to the facility etc. indicated by the object B is determined as the destination.
  • the stop position set to the purpose C is assumed to correspond to the purpose C of the stop position at which the autonomous driving vehicle C in FIG. A location on the road R2 near the entrance E2 where the boarding space for facilities and the like indicated by the feature B is wide is determined as the destination.
  • the automatically driven vehicle C in FIG. 3 stops.
  • the stop position where the purpose B is set (the position near the entrance with the roof) is determined as the destination, as it corresponds to the purpose B of the stop position to be performed.
  • the stop position set for the purpose A (close to the facility or the like indicated by the feature) or the stop position set for the purpose C (there is a wide space for getting on and off) may be determined as the destination.
  • the user may set in advance which stop position to select, or may be selected by the user each time.
  • a default stop position is set at the automatically driven vehicle stop position of the feature data structure shown in FIG. 3 and that position is determined as the destination. It is also good.
  • step S104 the user is notified of the stop position determined as the destination. At this time, the approval of the user may be obtained. Further, for example, although it has been notified in the step S103 that the vicinity of the entrance E1 has been determined, if it is desired to set the vicinity of the entrance E2 for the convenience of the user, it may be possible to change.
  • step S105 in the feature data structure shown in FIG. 3, information of the feature name as the destination, feature ID, position, and the determined stop position of the automatically driven vehicle stop position is automatically driven. Transmit to vehicle C.
  • the stop position is changed at the convenience of the user in step S104, the changed stop position is transmitted.
  • the information which becomes all stop positions which are set as the automatically driven vehicle stop position is transmitted, for example, when the weather changes while the automatically driven vehicle C is heading to the destination, the determined stop position is changed May be The feature name, feature ID, and position are transmitted to notify the automatically driven vehicle C of the destination. That is, the control unit 11 outputs feature data to the vehicle control device 3 (communication terminal) mounted on the autonomous driving vehicle C in the communication unit 13 (output unit).
  • the stop position may be different between the bright time zone and the dark time zone.
  • the determination of the time zone at this time may be performed based on the function when the CPU serving as the control unit 11 has a function to measure time, or the time may be determined from an external network time protocol (NTP) server etc. Information may be acquired and determined.
  • NTP network time protocol
  • the feature data structure of the feature data 13a stored in the storage unit 13 of the server device 1 indicates the stop position at which the automatically driven vehicle C visiting the feature should stop for the feature. It includes the automatically driven vehicle stop position. By doing this, the autonomous driving vehicle C can stop at an appropriate position on the feature by referring to the autonomous driving vehicle stop position.
  • the automatically driven vehicle stop position includes at least one stop position for each feature corresponding to the purpose of the user of the automatically driven vehicle C. By doing this, the autonomous driving vehicle C can be stopped at an appropriate position according to the purpose of the user.
  • the server device 1 further includes a communication unit 12 that outputs feature data to a vehicle control device C mounted on the autonomous driving vehicle C.
  • the feature data 13a can be stored in the server device 1 separate from the automatically driven vehicle C, and can be transmitted to the automatically driven vehicle C as necessary. Therefore, since the autonomous driving vehicle C only needs to have necessary feature data, the capacity of the storage device etc. of the autonomous driving vehicle C can be suppressed.
  • the automatically driven vehicle stop position may include history information on an actual stop position, time, and the number of times corresponding to the purpose.
  • the automatically driven vehicle stop position and the history information may be stored in the storage unit 13 in association with each other.
  • the actual stop position may be collected from the travel history and the like of the automatically driven vehicle C.
  • the autonomous driving vehicle C can be stopped at an appropriate position more in line with the user's intention.
  • the position where the stopping frequency is high may be set as the default stopping position by aggregating the history information regardless of the purpose.
  • the automatically driven vehicle stop position is set as the stop position at which the automatically driven vehicle C should stop, but in the present embodiment, as shown in FIG.
  • the automatically driven vehicle restricted position is set in the feature data 13a as the restricted position information indicating the position at which the autonomously driven vehicle C is stopped.
  • the feature data 13a shown in FIG. 6 is the same as the feature name, feature ID, and position of the feature in FIG.
  • the autonomous driving vehicle restriction position is a position at which the stop on the feature is restricted (prohibited), and may be one or more. Or you may set by the range.
  • the position at which this stopping is limited is, for example, parking and stopping prohibited, and can not stop due to traffic regulations such as the vicinity of an intersection, etc. because there are obstacles such as guardrails, etc.
  • step S201 it is determined whether or not information (allocation request information) for requesting allocation of the automatically driven vehicle C is received from the user terminal 2 of the user. If received (in the case of YES), the process proceeds to step S202 .
  • step S202 the stop position at the destination is determined.
  • the stop position is a position excluding the autonomous driving vehicle restriction position shown in FIG.
  • the history of the stop position in the case where the feature is set as the destination is stored in the storage unit 13 for each feature and the position excluding the automatically driving vehicle restriction position is a position where the stop frequency is high. And to be mentioned.
  • step S203 the determined stop position is notified to the user. At this time, the approval of the user may be obtained. Further, as in step S104, the change may be made at the convenience of the user.
  • step S204 among the feature data structures shown in FIG. 6, the feature name to be the destination, feature ID, position, automatically driven vehicle restricted position, and stop position determined in step S203 are automatically driven vehicles. Send to C When the user changes the stop position in step S203, the changed stop position is transmitted.
  • the automatically driven vehicle restriction position is transmitted when the vehicle moves to the stop position determined in step S202 and the vehicle of the automatically driven vehicle C can not stop because another vehicle is stopped at the stop position. This is to allow the control device 3 to be used to change to another stop position.
  • the feature data structure of the feature data 13a stored in the storage unit 13 of the server device 1 is a position where the autonomous driving vehicle C visiting the feature is limited to stop for the feature.
  • the automatic driving vehicle restriction position shown is included. By doing this, the autonomous driving vehicle C can stop at an appropriate position by avoiding the position at which the parking is restricted in the feature by referring to the autonomous driving vehicle restriction position.
  • the server device 1 determines the stopping position along the purpose, and as the automatically driving vehicle stopping position, only the determined one is included in the feature data and the automatic driving is performed. Although transmitted to the vehicle C, the server device 1 obtains information on the vehicle allocation position from the user terminal 2, transmits all feature data pertaining to the vehicle allocation position and the user information to the automatically driven vehicle C, and automatically operates The vehicle control device 3 of the vehicle C may determine the stop position.
  • FIGS. 8 to 10 An operation input apparatus according to a third embodiment of the present invention will be described with reference to FIGS. 8 to 10.
  • the same parts as those in the first and second embodiments described above are designated by the same reference numerals and the description thereof will be omitted.
  • the present embodiment adjusts the stopping position when an obstacle such as a bicycle or another parked vehicle is present at the position when the server device 1 arrives at the stopping position determined in the first embodiment. It is a thing.
  • FIG. 8 is a diagram showing that the autonomous driving vehicle C can not stop at the stopping position P because the bicycle BC is placed at the stopping position P when the stopping position determined by the server device 1 is P. .
  • FIG. 9 shows a functional configuration of the vehicle control device 3.
  • the vehicle control device 3 includes a control unit 31, a communication unit 32, and a storage unit 33.
  • the control unit 31 controls the steering wheel, the accelerator, the brake, etc. of the automatically driven vehicle C based on the detection result of the sensor 4 and the map information 33a stored in the storage unit 33 to make the autonomously driven vehicle C run autonomously. . That is, the control unit 31 functions as a first acquisition unit that acquires the detection result (recognition result) of the sensor 4 (external world recognition unit). The control unit 31 also functions as an adjustment unit that adjusts the vehicle to a stoppable position when it can not stop at the stop position determined by the server device 1.
  • the communication unit 32 acquires feature data pertaining to a destination from the server device 1 illustrated in FIG. 1. That is, the communication unit 32 functions as a second acquisition unit that acquires the stop position of the destination of the automatically driven vehicle C.
  • the storage unit 33 stores map information 33 a and feature data 33 b including the position of the automatically driven vehicle stopped transmitted from the server device 1.
  • the map information 33a is a map that includes information that allows the autonomous driving vehicle C to travel autonomously.
  • the map information 33a includes information on the above-described route upper surface features and peripheral features.
  • the map information 33a may be constantly updated to the latest version by being distributed from an external server such as the server device 1 or the like.
  • the feature data 33 b may be included in the feature information of the map information 33 a as the update information.
  • the flowchart shown in FIG. 10 is executed by the control unit 31 of the vehicle control device 3. That is, if the control unit 31 is configured by a computer having a CPU or the like, the flowchart of FIG. 10 is a vehicle control program.
  • step S301 it is determined whether it is possible to stop at the automatically driven vehicle stop position included in feature data 33b, and if the stop is possible (in the case of YES), the process proceeds to step S302 and feature data 33b
  • the autonomous driving vehicle C is stopped at the indicated stop position.
  • whether or not the automatically driven vehicle C approaches the automatically driven vehicle stop position whether or not the automatically driven vehicle C approaches the position of the automatically driven vehicle is detected from the detection result of the sensor 4 whether or not there is an obstacle such as the bicycle BC described above.
  • an image captured by a camera included in the sensor 4 can be analyzed to detect an obstacle, or the presence or absence of an obstacle can be detected by reflected light of light emitted from a lidar or reflected wave of radio waves emitted from a radar. .
  • step S303 If it is not possible to stop at the automatically driven vehicle stop position at step S301 (in the case of NO), it is determined at step S303 whether it is possible to stop at a position adjacent to the automatically driven vehicle stop position. In the case of (YES), the process proceeds to step S304, and the adjacent position is adjusted to be a new stop position.
  • the adjacent position is, for example, a position at which the automatically driven vehicle stop position is before and after when the road is along the road, and the position where the bicycle BC can be avoided.
  • the left and right are also selectable.
  • Whether the vehicle can stop at the adjacent position may be determined based on the detection result of the sensor 4 in the same manner as the determination as to whether the vehicle can stop at the automatically driven vehicle stop position described above.
  • the automatically driven vehicle restricted position may be considered.
  • the stoppable position closest to the automatically driven vehicle stop position is set as a new stop position in step S305. That is, the position which can be stopped closest to the stop position indicated by the autonomous driving vehicle restricted position other than the adjacent position, for example, the position further adjacent to the adjacent position is adjusted to be a new stop position.
  • step S304 and S305 are performed and a stop position is changed (adjustment).
  • the user's approval may be obtained before the stop position is adjusted.
  • the adjusted position may be further changed at the convenience of the user.
  • the autonomous driving vehicle C includes a raindrop sensor
  • the server device 1 determines the stopping position from the operation state of the raindrop sensor or the wiper If a rain not detected on the road is detected, the roof position may be changed (adjusted) to a stop position.
  • the communication unit 32 receives road congestion information around the stop position from an external road management server or the like, the communication unit 32 changes (adjusts) the position of the destination where no road congestion occurs to the stop position. It is also good. That is, the surroundings of the autonomous driving vehicle C include not only the presence or absence of the obstacle but also the weather and brightness (whether it is night or not) mentioned above, etc.
  • a raindrop sensor and an illuminance sensor for acquiring these situations Etc. also become the external world recognition unit. That is, the control unit 31 may acquire the result of the sensor 4 recognizing the environment at the automatically driven vehicle stop position or the road congestion information received from the road management server or the like. By doing this, the stop position of the automatically driven vehicle C in response to sudden changes in the environment (weather, road congestion, etc.) and surrounding conditions (bicycles and accidents around the stop position, construction, etc.) at the automatically driven vehicle stop position. It can be adjusted.
  • the vehicle control device acquires the recognition result of the sensor 4 that recognizes the surrounding situation of the automatically driven vehicle C by the control unit 31, and the communication unit 32 automatically drives the destination of the automatically driven vehicle C.
  • the vehicle stop position is acquired from the server device 1. Then, when it is determined by the control unit 31 that the vehicle can not stop at the automatically driven vehicle stop position based on the recognition result of the sensor 4, the position at which the automatically driven vehicle C is stopped is adjusted. By doing this, when the automatically driven vehicle C actually arrives at the automatically driven vehicle stop position, it is possible to stop in response to the adaptive response when it is not possible to stop at the automatically driven vehicle stop position.
  • control part 31 has acquired the result in which the sensor 4 recognized the obstacle located in the automatically driven vehicle stop position. By doing this, it is possible to stop so as to avoid an obstacle existing at the automatically driven vehicle stop position.
  • control unit 31 sets the position adjacent to the automatically driven vehicle stop position as the stop position after adjustment.
  • the present invention can also be applied when the user gets on the automatically driven vehicle C and stops at the destination (destination) of the user.
  • the feature data 13a may have both the automatically driven vehicle stop position described in the first embodiment and the automatically driven vehicle restricted position described in the second embodiment.
  • the present invention is not limited to the above embodiment. That is, those skilled in the art can carry out various modifications without departing from the gist of the present invention in accordance with conventionally known findings. As long as the configuration of the feature data structure of the present invention is provided even by such a modification, it is of course included in the scope of the present invention.

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Abstract

Afin de permettre qu'un véhicule pouvant se déplacer de manière autonome s'arrête à une position appropriée, la structure de données de caractéristiques (13a) mémorisées dans une unité de mémoire (13) d'un serveur (1) selon l'invention comprend au moins une position d'arrêt de véhicule à conduite automatique dans laquelle un véhicule à conduite automatique (C) visitant une caractéristique doit s'arrêter.
PCT/JP2018/035598 2017-09-28 2018-09-26 Structure de données de caractéristiques WO2019065696A1 (fr)

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JP2021140253A (ja) * 2020-03-02 2021-09-16 株式会社デンソー 走行支援制御装置、駐停車制限区間作成方法、走行支援制御プログラム
JP2021149379A (ja) * 2020-03-18 2021-09-27 本田技研工業株式会社 管理装置、管理方法、およびプログラム
DE102021104354A1 (de) 2020-03-30 2021-09-30 Toyota Jidosha Kabushiki Kaisha Automatisiertes Fahrsystem

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JP2021140253A (ja) * 2020-03-02 2021-09-16 株式会社デンソー 走行支援制御装置、駐停車制限区間作成方法、走行支援制御プログラム
JP7396123B2 (ja) 2020-03-02 2023-12-12 株式会社デンソー 走行支援制御装置、駐停車制限区間作成方法、走行支援制御プログラム
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DE102021104354A1 (de) 2020-03-30 2021-09-30 Toyota Jidosha Kabushiki Kaisha Automatisiertes Fahrsystem
CN113470404A (zh) * 2020-03-30 2021-10-01 丰田自动车株式会社 自动驾驶系统
JP2021162885A (ja) * 2020-03-30 2021-10-11 トヨタ自動車株式会社 自動運転システム
CN113470404B (zh) * 2020-03-30 2023-02-24 丰田自动车株式会社 自动驾驶系统
JP7243669B2 (ja) 2020-03-30 2023-03-22 トヨタ自動車株式会社 自動運転システム
US11814068B2 (en) 2020-03-30 2023-11-14 Toyota Jidosha Kabushiki Kaisha Automated driving system

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