WO2021107415A1 - 자율주행 주행경로에 필요한 신호등 체계 분석 시스템 - Google Patents

자율주행 주행경로에 필요한 신호등 체계 분석 시스템 Download PDF

Info

Publication number
WO2021107415A1
WO2021107415A1 PCT/KR2020/014720 KR2020014720W WO2021107415A1 WO 2021107415 A1 WO2021107415 A1 WO 2021107415A1 KR 2020014720 W KR2020014720 W KR 2020014720W WO 2021107415 A1 WO2021107415 A1 WO 2021107415A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving
route
server
traffic
traffic light
Prior art date
Application number
PCT/KR2020/014720
Other languages
English (en)
French (fr)
Korean (ko)
Inventor
박준범
김정용
조규영
이영주
문희창
Original Assignee
(주)언맨드솔루션
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by (주)언맨드솔루션 filed Critical (주)언맨드솔루션
Priority to CN202080006860.XA priority Critical patent/CN113196358A/zh
Publication of WO2021107415A1 publication Critical patent/WO2021107415A1/ko

Links

Images

Classifications

    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • 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
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • 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
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/097—Supervising of traffic control systems, e.g. by giving an alarm if two crossing streets have green light simultaneously

Definitions

  • the present invention relates to a system for analyzing a traffic light system required for an autonomous driving route, and more specifically, to an autonomous driving route that can reach a destination in a minimum driving time by analyzing a traffic light system located on a driving route from a starting point to a destination. It relates to the necessary traffic light system analysis system.
  • Self-driving vehicles can recognize vehicles, pedestrians, and obstacles on the road through various sensors mounted on the vehicle to determine risks, plan a driving route, and operate autonomously.
  • These autonomous vehicles are applied with a vehicle navigation system using GPS, and when a destination is designated, the vehicle's current location and direction are identified from the satellite by searching for a corresponding driving route, and the driving trajectory is tracked and autonomously until the destination. can be reached by driving.
  • the autonomous vehicle generates the optimal route reflecting the minimum driving time so that it can bypass or avoid congested sections or congested areas by understanding the road conditions to the destination. and it is preferable to travel on that route.
  • the driving time of the autonomous driving vehicle may be affected by the traffic light system, even if the autonomous driving vehicle travels on the optimal path selected from the prior art, the prior art Since the optimal path for the autonomous vehicle to travel is selected based on the road type and obstacle information, the driving time is not the minimum among the plurality of paths.
  • An object of the present invention is to provide a system for analyzing a traffic light system necessary for an autonomous driving path that can reach a destination in a minimum driving time by selecting an optimal path reflecting road traffic information to solve the above problems.
  • a system for analyzing a traffic light system required for an autonomous driving route includes: a server for collecting traffic information; and an autonomous driving vehicle that communicates with the server, analyzes the traffic information provided from the server, determines an optimal route that can be driven in the minimum time among at least one driving route corresponding to a departure point to a destination, and autonomously drives the optimal route. ; and, the traffic information provided from the server includes at least one or more traffic light systems located on the driving route.
  • the server includes: a database in which precision map information is stored; a communication unit communicating with a traffic control server and the autonomous vehicle; a collection unit for collecting traffic information received from the traffic control server; and a control unit for controlling each unit. It is characterized in that it includes.
  • the autonomous vehicle may include: a communication module communicating with the server; a sensing module for sensing the driving environment; a route determination module for analyzing the traffic information provided from the server and determining an optimal route that can be driven in a minimum time among at least one or more travel routes corresponding to a departure point to a destination; a control module for controlling the configuration and generating a control signal for following the optimal path determined through the path determining module; and a driving module that receives a control signal from the control module and controls driving of the steering and speed adjusting device according to the received control signal.
  • the path determining module includes: a storage unit in which at least one of precision map information and infrastructure information is stored; a route extracting unit for extracting at least one driving route based on the information stored in the storage unit; a calculation unit configured to analyze the traffic light information including the location and system of the traffic light existing in the driving path extracted by the path extracting unit, and calculate the driving time; an optimal path determining unit for determining a driving path for a minimum time as an optimum path based on the result calculated by the calculating unit; It is characterized in that it includes.
  • the calculating unit is configured to take into account the color and type of the signal of the traffic light and the duration of the signal at the corresponding location. It is characterized in that the driving time for the driving route is calculated by predicting the driving information including whether the vehicle is stopped and taking into account the time required while passing the corresponding location.
  • the autonomous vehicle receives information on traffic lights located on the driving path among multiple driving paths from the starting point to the destination from the server, analyzes the traffic light system located on the driving path, and determines the driving path that can be driven in the minimum time as the optimal path. , it is possible to carry out the operation of the corresponding route.
  • An autonomous vehicle that travels along an optimal route that reflects road traffic information as well as road environment information can reach its destination in the minimum driving time while performing safe driving.
  • FIG. 1 schematically illustrates a traffic light system analysis system required for an autonomous driving route according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram illustrating a traffic light system analysis system (hereinafter referred to as an 'autonomous driving system') required for an autonomous driving route according to an embodiment of the present invention.
  • an 'autonomous driving system' a traffic light system analysis system
  • an autonomous driving system 10 may include a server 100 and an autonomous driving vehicle 200 .
  • the server 100 collects traffic information.
  • the server 100 performs wireless communication with an external server and an external device through a communication unit 120 to be described later, and the wireless communication method is data communication through a mobile communication network such as 4G or 5G or data communication through RF.
  • a mobile communication network such as 4G or 5G or data communication through RF.
  • the autonomous vehicle 200 operates such as traffic information including traffic light information including traffic light locations and systems, and infrastructure information such as weather passers-by Any device or server capable of providing various types of information for this purpose may be applied.
  • the external device refers to the autonomous vehicle 200 .
  • the server 100 is configured to include a database 110 , a communication unit 120 , a collection unit 130 , and a control unit 140 .
  • the database 110 stores precise map information, and more specifically, may store precise map information on an area in which the autonomous vehicle 200 can operate.
  • precise map information infrastructure information and driving environment information sensed from the autonomous vehicle 200 to be described later may be stored.
  • the infrastructure information and the driving environment information may be updated on the existing precision map information and provided to the autonomous driving vehicle 200 . That is, through data exchange between the server 100 and the autonomous vehicle 200 , the existing precision map information provided in each device may be continuously updated.
  • the communication unit 120 communicates with the traffic control server 300 and the autonomous vehicle 200 .
  • the collection unit 130 collects traffic information received from the traffic control server 300 .
  • the traffic information may include traffic light information including the location and system of the traffic light, a traffic congestion section, a construction section, a traffic accident section, etc., provided as basic data used for the autonomous driving vehicle 200 to be described later to determine the optimal route can be
  • the control unit 140 controls the database 110 , the communication unit 120 , and the collection unit 130 . At this time, the controller 140 reflects the real-time traffic information collected by the collection unit 130 to the database 110 , and controls to provide real-time updated precision map information or real-time collected traffic information to the autonomous vehicle 200 . can do.
  • the server 100 is a management server that manages the operation of the autonomous driving vehicle 200, manages the operation of the autonomous driving vehicle 200, and collects traffic information from the traffic control server and collects the traffic information from the autonomous driving vehicle 200. It may be provided in the form of an application providing a service provider server and navigation function provided to
  • the autonomous vehicle 200 communicates with the server 100 and analyzes the traffic information provided from the server 100 to determine the optimal route that can be driven in the minimum time among at least one or more driving routes corresponding to the starting point to the destination, Autonomous driving on route
  • the traffic information provided to the autonomous vehicle 200 from the server 100 includes at least one or more traffic light systems located in the driving route.
  • the traffic light system includes the duration and change timing of signals such as green, yellow, red, left/right arrows, etc., and refers to a system of fluctuations in traffic light signals that are regularly changed at regular intervals.
  • the autonomous vehicle 200 is configured to include a communication module 210 , a sensing module 220 , a path determination module 230 , a control module 240 , and a driving module 250 .
  • the communication module 210 communicates with the server 200 .
  • the target with which the communication module 210 communicates is not limited to the server 200 , and an external device such as a portable terminal such as a smartphone or another vehicle may be a target for communicating with the communication module 210 . .
  • the communication module 210 may wirelessly communicate with the server 200 or another communication target, and in this case, the wireless communication may be performed through a mobile communication network such as 4G or 5G or wireless data communication such as RF.
  • a mobile communication network such as 4G or 5G or wireless data communication such as RF.
  • the sensing module 220 senses the driving environment.
  • the sensing module 220 may include various sensors such as a camera, a radar, a lidar, an ultrasonic sensor, and an infrared sensor.
  • the sensing module 220 may sense the internal/external environment of the autonomous vehicle 200 .
  • a user state such as whether a user riding inside the autonomous driving vehicle 200 is equipped with a seat belt, etc. and the state of various equipment mounted inside the autonomous driving vehicle may be detected.
  • the external environment sensing may detect an object located outside the autonomous vehicle 200 to detect the presence/absence of the object, the position and distance of the object, and the like.
  • the object may be a road type, a lane, a pedestrian, a traffic signal, a sign, a two- or four-wheeled vehicle, a structure, and the like.
  • the route determination module 230 analyzes the traffic information provided from the server 100 and determines an optimal route that can be driven for a minimum time among at least one or more travel routes corresponding to a departure point to a destination.
  • the path determination module 230 is configured to include a storage unit 231 , a path extraction unit 232 , an operation unit 233 , and an optimal path determination unit 234 .
  • the storage unit 231 stores at least one of precision map information and infrastructure information.
  • the precise map information may include a route on which an autonomous vehicle can be operated.
  • the information stored in the storage unit 231 may be information provided from the server 100 through the communication module 210 .
  • driving environment information sensed through the sensor module 220 may be additionally stored in the storage unit 231 .
  • the information stored in the storage unit 231 may be shared and stored in real time with the database 110 of the server 100 .
  • the route extraction unit 232 extracts at least one driving route based on the information stored in the storage unit 231 .
  • the driving path means a path from the current location of the autonomous vehicle 200 to the destination, that is, a path from a starting point to an arrival point.
  • the calculation unit 233 analyzes the traffic light information including the location and system of the traffic light existing in the traveling route extracted by the route extraction unit 232, and calculates the traveling time.
  • the operation unit 233 receives all traffic light information located on the driving path extracted by the path extraction unit 232 and predicts the autonomous driving vehicle 200 . It is possible to analyze the location by time according to the driving speed. At this time, after dividing the driving route into at least two sections with the traffic light arrangement section as a boundary, the change period of the traffic light system takes into account the color and type of the traffic light signal disposed at the position entering each section, and the duration of the traffic light signal. It is possible to calculate the driving time reflecting the required time.
  • the expected operating speed of the autonomous vehicle 200 may take into consideration the type of road, the speed limit for each road, and the amount of traffic for each time period.
  • the optimal path determining unit 234 determines the driving path for the minimum time as the optimal path based on the result calculated by the calculating unit 233 .
  • the determined optimal path may include road environment information such as road type and infrastructure as well as road traffic information. Accordingly, the autonomous driving system 10 according to an embodiment of the present invention enables the autonomous driving vehicle 20 to arrive at a destination in a minimum driving time while performing safe driving.
  • the autonomous driving vehicle 200 predicted for the optimal path finally determined through the optimal path determining unit 234 while the calculating unit 233 is performing a calculation process for calculating the driving time of the autonomous driving vehicle 200 for each driving path.
  • the driving information of may be stored in the control module 240 to be described later. Accordingly, the control module 240 may generate a control signal for controlling each configuration according to the driving information predicted by the operation unit 233 .
  • the driving information may include general matters regarding the actions to be taken by the autonomous driving vehicle 200 when the autonomous driving vehicle 200 is traveling on an optimal route, such as a driving speed, a stop or driving section, and a lane change.
  • the control module 240 controls the above-described configuration and generates a control signal for following the optimal path determined through the path determination module 230 . At this time, when the control module 240 generates a control signal for controlling each configuration, information provided from the server 100 through the communication module 210 and the driving environment sensed from the sensing module 220 will be reflected. can
  • the control module 240 drives the driving module 250 to be described later based on the information sensed from the sensing module 220 . can be controlled.
  • control module 240 may store the pre-learned determination result according to the driving environment. If a situation arises in which the autonomous driving vehicle 200 needs to be driven under conditions different from the predicted driving information, the driving environment sensed through the sensing module 220 is analyzed, and according to the pre-learned judgment result, the driving environment is analyzed. By generating a control signal, each configuration may be controlled so that the operation of the autonomous vehicle 200 may be continued.
  • control module 240 reflects the real-time traffic information and infrastructure information provided from the server 100 through the communication module 210 in the previously determined optimal route to reflect the optimal route and optimal route according to traffic conditions changing in real time. Each configuration can be controlled so that driving information can be updated.
  • the driving module 250 receives a control signal from the control module 240 and controls driving of the steering and speed adjusting device according to the received control signal.
  • the steering and speed adjusting device included in the driving module 250 includes all devices mounted on the vehicle for driving the autonomous vehicle 200 , such as a steering wheel, an engine, a brake, and a gear.
  • the autonomous vehicle 200 may have a user interface (not shown), through which the user receives a destination as well as various devices mounted in the vehicle such as steering, speed, brake, door/window, lamp, and safety device.
  • a setting for driving may be input.
  • information related to the operation of the autonomous driving vehicle 200 such as vehicle status and driving information may be provided to the user through sound and image signals.
  • the configuration for determining the optimal route may be provided in the server 100 rather than the autonomous driving vehicle 200 .
  • the autonomous driving vehicle 200 is configured by the server 100 and the traffic control server 300 .
  • the autonomous driving vehicle 200 may receive not only the optimal route but also the traffic light information of the corresponding section, based on this, predicts the driving operation of the autonomous driving vehicle 200 according to the traffic light system while operating the optimal route based on this and autonomously driving can be performed.
  • obstacles such as surrounding vehicles and pedestrians are recognized through the sensing module 220 mounted on the autonomous vehicle 200, and the driving situation is determined by fusion with the precision map, and then lane maintenance, lane change, etc. Since matters such as performing and sharing information with other vehicles through the communication module 210 are generally considered for autonomous vehicles, the details thereof are not described in detail in this specification, but are included in the configuration included in the present invention. By means of the above-mentioned matters can be sufficiently implemented.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
PCT/KR2020/014720 2019-11-29 2020-10-27 자율주행 주행경로에 필요한 신호등 체계 분석 시스템 WO2021107415A1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202080006860.XA CN113196358A (zh) 2019-11-29 2020-10-27 自动驾驶行驶路径所需的信号灯体系分析系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2019-0157272 2019-11-29
KR1020190157272A KR20210068223A (ko) 2019-11-29 2019-11-29 자율주행 주행경로에 필요한 신호등 체계 분석 시스템

Publications (1)

Publication Number Publication Date
WO2021107415A1 true WO2021107415A1 (ko) 2021-06-03

Family

ID=76129459

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/014720 WO2021107415A1 (ko) 2019-11-29 2020-10-27 자율주행 주행경로에 필요한 신호등 체계 분석 시스템

Country Status (3)

Country Link
KR (1) KR20210068223A (zh)
CN (1) CN113196358A (zh)
WO (1) WO2021107415A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115993618A (zh) * 2023-02-24 2023-04-21 广东云百科技有限公司 一种基于卫星通信的车载定位系统

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114373321B (zh) * 2021-12-01 2023-08-25 北京天兵科技有限公司 一种用于个人单次出行的路径优化方法和系统及设备和介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140130521A (ko) * 2012-03-26 2014-11-10 구글 인코포레이티드 교통 신호 및 그의 연관된 상태를 검출하는 강건한 방법
KR20150075774A (ko) * 2013-12-26 2015-07-06 한국전자통신연구원 자율 주행 차량 및 그것의 자율 주행을 지원하는 인프라
WO2015151266A1 (ja) * 2014-04-03 2015-10-08 株式会社日立製作所 自律移動体
KR20170090672A (ko) * 2016-01-29 2017-08-08 한국전자통신연구원 차량의 자율 주행 시스템 및 그 방법
KR20190056695A (ko) * 2017-11-17 2019-05-27 이대호 클라우드 기반의 교통신호 정보 제공 시스템

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4980207B2 (ja) * 2007-12-13 2012-07-18 住友電気工業株式会社 緊急車両誘導装置、プログラム及び方法
WO2010026630A1 (ja) * 2008-09-03 2010-03-11 富士通株式会社 交通流制御システム及びその方法
CN105023456B (zh) * 2014-04-24 2017-10-17 深圳市赛格导航科技股份有限公司 基于交通信号灯信号变化自适应智能线路规划方法
JP6651796B2 (ja) * 2015-11-09 2020-02-19 トヨタ自動車株式会社 運転支援装置
JP2017106737A (ja) * 2015-12-07 2017-06-15 三菱自動車工業株式会社 ナビゲーションシステム
CN106931981A (zh) * 2015-12-30 2017-07-07 沈阳美行科技有限公司 一种导航剩余时间的生成方法及装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140130521A (ko) * 2012-03-26 2014-11-10 구글 인코포레이티드 교통 신호 및 그의 연관된 상태를 검출하는 강건한 방법
KR20150075774A (ko) * 2013-12-26 2015-07-06 한국전자통신연구원 자율 주행 차량 및 그것의 자율 주행을 지원하는 인프라
WO2015151266A1 (ja) * 2014-04-03 2015-10-08 株式会社日立製作所 自律移動体
KR20170090672A (ko) * 2016-01-29 2017-08-08 한국전자통신연구원 차량의 자율 주행 시스템 및 그 방법
KR20190056695A (ko) * 2017-11-17 2019-05-27 이대호 클라우드 기반의 교통신호 정보 제공 시스템

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115993618A (zh) * 2023-02-24 2023-04-21 广东云百科技有限公司 一种基于卫星通信的车载定位系统

Also Published As

Publication number Publication date
CN113196358A (zh) 2021-07-30
KR20210068223A (ko) 2021-06-09

Similar Documents

Publication Publication Date Title
US20230339462A1 (en) Autonomous Vehicle Motion Control Systems and Methods
KR101703144B1 (ko) 차량의 자율주행 장치 및 그 방법
CN110239547B (zh) 车辆控制装置、车辆控制方法以及存储介质
CN109760687A (zh) 车辆控制装置、车辆控制方法及存储介质
WO2021107415A1 (ko) 자율주행 주행경로에 필요한 신호등 체계 분석 시스템
CN110060467A (zh) 预测装置、预测方法及存储介质
CN101652802A (zh) 安全驾驶支持装置
CN110281920A (zh) 车辆控制装置、车辆控制方法以及存储介质
JP2020107080A (ja) 交通情報処理装置
CN110271542A (zh) 车辆控制装置、车辆控制方法及存储介质
CN110271547A (zh) 车辆控制装置、车辆控制方法以及存储介质
CN111824124B (zh) 车辆管理装置、车辆管理方法、及存储介质
KR102316654B1 (ko) 운전 안내 장치 및 그 제어 방법
CN110239544A (zh) 车辆控制装置、车辆控制方法及存储介质
WO2020101071A1 (ko) 도로 장애물의 알림 및 차량의 추적이 가능한 라이다를 이용한 교통 감시 시스템
US20220028272A1 (en) Method for assisting a motor vehicle
CN114170823A (zh) 车辆调配系统、车辆调配服务器及车辆调配方法
CN109017783B (zh) 自动驾驶方法和自动驾驶系统
JP7110153B2 (ja) 車両制御装置、車両制御方法、およびプログラム
US11420625B2 (en) Vehicle intersection operation
WO2019225820A1 (ko) 주차 안내 장치 및 방법
WO2021107413A1 (ko) 자율 주행 자동차
WO2021199345A1 (ja) 車両管制システム、装置、方法、及びコンピュータ可読媒体
KR102236637B1 (ko) 긴급차량용 우선신호 시스템
CN110706514B (zh) 基于物联网组网数据的车位锁控制系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20894373

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20894373

Country of ref document: EP

Kind code of ref document: A1