WO2023025007A1 - Procédé et appareil d'évitement de véhicule, dispositif monté sur véhicule et support de stockage - Google Patents

Procédé et appareil d'évitement de véhicule, dispositif monté sur véhicule et support de stockage Download PDF

Info

Publication number
WO2023025007A1
WO2023025007A1 PCT/CN2022/113083 CN2022113083W WO2023025007A1 WO 2023025007 A1 WO2023025007 A1 WO 2023025007A1 CN 2022113083 W CN2022113083 W CN 2022113083W WO 2023025007 A1 WO2023025007 A1 WO 2023025007A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
lane
target vehicle
neighbor
avoidance
Prior art date
Application number
PCT/CN2022/113083
Other languages
English (en)
Chinese (zh)
Inventor
吴杭哲
刘斌
李丹
高长胜
陈博
于欣彤
李伟男
刘枫
Original Assignee
中国第一汽车股份有限公司
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 中国第一汽车股份有限公司 filed Critical 中国第一汽车股份有限公司
Publication of WO2023025007A1 publication Critical patent/WO2023025007A1/fr

Links

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
    • B60W30/08—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
    • 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
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety

Definitions

  • the method of this embodiment includes the following steps:
  • the target vehicle can use the front-view camera, surround-view camera, millimeter-wave radar, and ultrasonic radar to obtain road information and neighbor vehicle information.
  • the target vehicle can also obtain the target vehicle's speed, acceleration, steering wheel angle and other vehicle information through the vehicle sensor.
  • the road information provided by the vehicle network map is obtained, the lane line information identified by the vehicle front-view camera and the surround-view camera are determined, and multiple vehicle sensors are combined with the vehicle Controller Area Network (CAN) bus to transmit the target-level signal.
  • CAN Vehicle Controller Area Network
  • the target vehicle avoidance module 520 is configured to determine whether there is an optional lane in the adjacent lanes of the current lane to which the target vehicle belongs to which is the same as the target traveling direction of the current lane; if there is the optional lane, then according to The road information determines whether there is an avoidable section in the optional lane; if there is an avoidable section, then determine the optional lane as an avoidable lane.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé d'évitement de véhicule, comprenant les étapes suivantes consistant à : en réponse à la détermination du fait qu'un véhicule cible est dans un état de conduite autonome, détecter un comportement de conduite d'un véhicule voisin dans une distance prédéfinie ; et en réponse à la détermination du fait que dans la voie actuelle à laquelle le véhicule cible appartient, au moins un véhicule voisin parmi les véhicules voisins devant le véhicule cible et au moins un véhicule voisin parmi les véhicules voisins derrière le véhicule cible ont respectivement un comportement d'évitement, et qu'un véhicule à éviter est présent derrière le véhicule cible dans la voie actuelle, commander le véhicule cible pour effectuer l'évitement. L'invention concerne également un appareil d'évitement de véhicule, un dispositif monté sur véhicule et un support de stockage.
PCT/CN2022/113083 2021-08-26 2022-08-17 Procédé et appareil d'évitement de véhicule, dispositif monté sur véhicule et support de stockage WO2023025007A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110986477.1 2021-08-26
CN202110986477.1A CN113602263A (zh) 2021-08-26 2021-08-26 车辆避让方法、装置、车载设备及存储介质

Publications (1)

Publication Number Publication Date
WO2023025007A1 true WO2023025007A1 (fr) 2023-03-02

Family

ID=78342083

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/113083 WO2023025007A1 (fr) 2021-08-26 2022-08-17 Procédé et appareil d'évitement de véhicule, dispositif monté sur véhicule et support de stockage

Country Status (2)

Country Link
CN (1) CN113602263A (fr)
WO (1) WO2023025007A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113602263A (zh) * 2021-08-26 2021-11-05 中国第一汽车股份有限公司 车辆避让方法、装置、车载设备及存储介质
CN114030468B (zh) * 2021-12-07 2024-08-09 宁波路特斯机器人有限公司 特殊路况的车辆自动避让控制方法、控制系统及车辆

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106340180A (zh) * 2015-07-06 2017-01-18 北京文安智能技术股份有限公司 一种车载检测非法占用车道行为的方法及装置
CN109166353A (zh) * 2018-09-12 2019-01-08 安徽中科美络信息技术有限公司 一种车辆行驶前方复杂路口导向车道检测方法及系统
CN110989622A (zh) * 2019-12-25 2020-04-10 腾讯科技（深圳）有限公司 自动驾驶控制方法、装置、存储介质和计算机设备
JP2020516535A (ja) * 2017-04-20 2020-06-11 テンセント・テクノロジー・（シェンジェン）・カンパニー・リミテッド 車線選択方法、目標車両及びコンピュータ記憶媒体
CN113602263A (zh) * 2021-08-26 2021-11-05 中国第一汽车股份有限公司 车辆避让方法、装置、车载设备及存储介质

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5136500B2 (ja) * 2009-03-30 2013-02-06 アイシン・エィ・ダブリュ株式会社 運転支援装置、運転支援方法及び運転支援プログラム
CN103065480B (zh) * 2012-12-14 2015-08-05 中国航天系统工程有限公司 特定车辆通行的控制方法和装置
CN107134160A (zh) * 2016-02-29 2017-09-05 法拉第未来公司 紧急信号检测和响应
CN110733499A (zh) * 2018-07-18 2020-01-31 大陆泰密克汽车系统（上海）有限公司 自主车辆及其控制方法
CN109552328B (zh) * 2018-12-26 2020-12-15 广州小鹏汽车科技有限公司 一种自动避让特种车辆的控制方法及车载系统
JP7271259B2 (ja) * 2019-03-28 2023-05-11 日産自動車株式会社 車両管理システム、車両管理装置、および車両管理方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106340180A (zh) * 2015-07-06 2017-01-18 北京文安智能技术股份有限公司 一种车载检测非法占用车道行为的方法及装置
JP2020516535A (ja) * 2017-04-20 2020-06-11 テンセント・テクノロジー・（シェンジェン）・カンパニー・リミテッド 車線選択方法、目標車両及びコンピュータ記憶媒体
CN109166353A (zh) * 2018-09-12 2019-01-08 安徽中科美络信息技术有限公司 一种车辆行驶前方复杂路口导向车道检测方法及系统
CN110989622A (zh) * 2019-12-25 2020-04-10 腾讯科技（深圳）有限公司 自动驾驶控制方法、装置、存储介质和计算机设备
CN113602263A (zh) * 2021-08-26 2021-11-05 中国第一汽车股份有限公司 车辆避让方法、装置、车载设备及存储介质

Also Published As

Publication number Publication date
CN113602263A (zh) 2021-11-05

Similar Documents

Publication Publication Date Title
WO2022007655A1 (fr) Procédé et appareil de changement automatique de voie, et dispositif et support de stockage
CN109817021B (zh) 一种激光雷达路侧盲区交通参与者避让方法和装置
WO2023025007A1 (fr) Procédé et appareil d'évitement de véhicule, dispositif monté sur véhicule et support de stockage
US11377025B2 (en) Blocked information displaying method and system for use in autonomous vehicle
US10717434B2 (en) Apparatus for preventing pedestrian collision accident, system having the same, and method thereof
JP2022507995A (ja) 無人運転車用の障害物回避方法及び装置
EP3961582A2 (fr) Procédé et appareil de commande de véhicule et dispositif électronique
CN110588648A (zh) 车辆行驶中碰撞危险识别方法、装置、车辆及存储介质
WO2023071959A1 (fr) Procédé et appareil d'évitement d'obstacle, dispositif électronique et support de stockage
WO2020057406A1 (fr) Procédé et système d'aide à la conduite
CN111380546A (zh) 基于平行道路的车辆定位方法、装置、电子设备和介质
KR102534960B1 (ko) 자율주행 차량들을 위한 행렬들의 검출 및 그에 대한 대응
KR20210062144A (ko) 군집 주행 시 가상 차선 표시 장치 및 그 방법
CN113043955A (zh) 路况信息显示装置、方法及车辆
CN109883439A (zh) 一种车辆导航方法、装置、电子设备及存储介质
US11731615B2 (en) System and method for remote operator assisted driving through collision avoidance
CN114475656B (zh) 行驶轨迹预测方法、装置、电子设备以及存储介质
CN112833893A (zh) 用于车辆的辅助系统、导航装置、相应的方法和存储介质
US20240161623A1 (en) Driving support device
CN113911111A (zh) 车辆碰撞检测方法、系统、电子设备以及存储介质
KR20200036072A (ko) 차량 제어 장치, 그를 포함한 시스템 및 그 방법
US11580861B2 (en) Platooning controller, system including the same, and method thereof
EP3674178B1 (fr) Procédé et appareil de commande de stationnement, dispositif électronique et support d'informations
CN110784680B (zh) 一种车辆定位方法、装置、车辆和存储介质
US20230126172A1 (en) Method of outputting prompt information, device, medium, and vehicle

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: 22860353

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: 22860353

Country of ref document: EP

Kind code of ref document: A1