WO2020127689A1 - Procédé de commande automatisée d'un véhicule sur un passage pour piétons, bloc de commande - Google Patents

Procédé de commande automatisée d'un véhicule sur un passage pour piétons, bloc de commande Download PDF

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Publication number
WO2020127689A1
WO2020127689A1 PCT/EP2019/086244 EP2019086244W WO2020127689A1 WO 2020127689 A1 WO2020127689 A1 WO 2020127689A1 EP 2019086244 W EP2019086244 W EP 2019086244W WO 2020127689 A1 WO2020127689 A1 WO 2020127689A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
pedestrian
crossing
trajectory
time
Prior art date
Application number
PCT/EP2019/086244
Other languages
German (de)
English (en)
Inventor
Holger Mielenz
Christoph Gustav Keller
Original Assignee
Robert Bosch Gmbh
Daimler Ag
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
Priority to DE102018133157.6A priority Critical patent/DE102018133157A1/de
Priority to DE102018133157.6 priority
Priority to DE102019110071 priority
Priority to DE102019110071.2 priority
Application filed by Robert Bosch Gmbh, Daimler Ag filed Critical Robert Bosch Gmbh
Publication of WO2020127689A1 publication Critical patent/WO2020127689A1/fr

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0953Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0956Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00335Recognising movements or behaviour, e.g. recognition of gestures, dynamic facial expressions; Lip-reading
    • G06K9/00342Recognition of whole body movements, e.g. for sport training
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00362Recognising human body or animal bodies, e.g. vehicle occupant, pedestrian; Recognising body parts, e.g. hand
    • G06K9/00369Recognition of whole body, e.g. static pedestrian or occupant recognition

Abstract

L'invention concerne un procédé d'exécution automatisée d'une fonction de conduite d'un véhicule sur un passage pour piétons, selon lequel une trajectoire d'un piéton est tout d'abord prédite et une trajectoire de véhicule pour la traversée du passage pour piétons est déterminée. Sont calculés un premier moment, auquel le piéton se déplaçant sur la trajectoire de piéton atteindra le passage pour piétons, et un deuxième moment, auquel le véhicule se déplaçant sur la trajectoire de véhicule quittera le passage pour piétons. Ensuite, sur la base du premier moment et du deuxième moment, une décision de traversée est prise et, sur la base de la décision de traversée, un signal de commande pour une fonction de conduite du véhicule est émis de telle sorte que le véhicule se déplace le long de la trajectoire de véhicule.
PCT/EP2019/086244 2018-12-20 2019-12-19 Procédé de commande automatisée d'un véhicule sur un passage pour piétons, bloc de commande WO2020127689A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE102018133157.6A DE102018133157A1 (de) 2018-12-20 2018-12-20 Method for the automated control of a vehicle at a pedestrian crossing, control device
DE102018133157.6 2018-12-20
DE102019110071 2019-04-16
DE102019110071.2 2019-04-16

Publications (1)

Publication Number Publication Date
WO2020127689A1 true WO2020127689A1 (fr) 2020-06-25

Family

ID=69143555

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/086244 WO2020127689A1 (fr) 2018-12-20 2019-12-19 Procédé de commande automatisée d'un véhicule sur un passage pour piétons, bloc de commande

Country Status (1)

Country Link
WO (1) WO2020127689A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120035846A1 (en) * 2009-04-14 2012-02-09 Hiroshi Sakamoto External environment recognition device for vehicle and vehicle system using same
US20120072104A1 (en) 2009-06-12 2012-03-22 Toyota Jidosha Kabushiki Kaisha Route evaluation device
JP2014093040A (ja) * 2012-11-06 2014-05-19 Toyota Motor Corp 衝突回避支援装置及び衝突回避支援方法
DE102014201159A1 (de) 2014-01-23 2015-07-23 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren eines Verhaltens eines Fußgängers beim Überqueren einer Fahrbahn eines Fahrzeugs sowie Personenschutzsystem eines Fahrzeugs
EP3006294A1 (fr) * 2013-05-31 2016-04-13 Hitachi Automotive Systems, Ltd. Dispositif de contrôle de véhicule
DE102014226254A1 (de) 2014-12-17 2016-06-23 Robert Bosch Gmbh Verfahren zum Betreiben eines insbesondere autonom oder teilautonom fahrenden/fahrbaren Kraftfahrzeugs, Signalisierungsvorrichtung, Kraftfahrzeug
US20160335892A1 (en) * 2014-03-10 2016-11-17 Hitachi Automotive Systems, Ltd. System for Avoiding Collision with Multiple Moving Bodies

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120035846A1 (en) * 2009-04-14 2012-02-09 Hiroshi Sakamoto External environment recognition device for vehicle and vehicle system using same
US20120072104A1 (en) 2009-06-12 2012-03-22 Toyota Jidosha Kabushiki Kaisha Route evaluation device
JP2014093040A (ja) * 2012-11-06 2014-05-19 Toyota Motor Corp 衝突回避支援装置及び衝突回避支援方法
EP3006294A1 (fr) * 2013-05-31 2016-04-13 Hitachi Automotive Systems, Ltd. Dispositif de contrôle de véhicule
DE102014201159A1 (de) 2014-01-23 2015-07-23 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren eines Verhaltens eines Fußgängers beim Überqueren einer Fahrbahn eines Fahrzeugs sowie Personenschutzsystem eines Fahrzeugs
US20160335892A1 (en) * 2014-03-10 2016-11-17 Hitachi Automotive Systems, Ltd. System for Avoiding Collision with Multiple Moving Bodies
DE102014226254A1 (de) 2014-12-17 2016-06-23 Robert Bosch Gmbh Verfahren zum Betreiben eines insbesondere autonom oder teilautonom fahrenden/fahrbaren Kraftfahrzeugs, Signalisierungsvorrichtung, Kraftfahrzeug

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