[go: up one dir, main page]

MX2017008858A - Dispositivo de generacion de ruta objetivo y dispositivo de control de conduccion. - Google Patents

Dispositivo de generacion de ruta objetivo y dispositivo de control de conduccion.

Info

Publication number
MX2017008858A
MX2017008858A MX2017008858A MX2017008858A MX2017008858A MX 2017008858 A MX2017008858 A MX 2017008858A MX 2017008858 A MX2017008858 A MX 2017008858A MX 2017008858 A MX2017008858 A MX 2017008858A MX 2017008858 A MX2017008858 A MX 2017008858A
Authority
MX
Mexico
Prior art keywords
unit
map information
evaded
determining
travel control
Prior art date
Application number
MX2017008858A
Other languages
English (en)
Other versions
MX364574B (es
Inventor
Matsuda Takuro
Original Assignee
Nissan Motor
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 Nissan Motor filed Critical Nissan Motor
Publication of MX2017008858A publication Critical patent/MX2017008858A/es
Publication of MX364574B publication Critical patent/MX364574B/es

Links

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
    • 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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • 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
    • B60W30/10—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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • 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
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • 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
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • 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
    • B60W2554/20—Static 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
    • B60W2554/402—Type
    • B60W2554/4026—Cycles
    • 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
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians
    • 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
    • B60W2554/406—Traffic density
    • 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
    • B60W2554/60—Traversable objects, e.g. speed bumps or curbs
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/50—Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Compressors, Vaccum Pumps And Other Relevant Systems (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Este dispositivo (16) de generación de ruta objetivo se provee con una unidad (30) de adquisición de información de mapa, una unidad (32) de determinación del camino curvado, una unidad (34) de determinación de obstáculos, y una unidad (38) de generación de ruta objetivo. La unidad (30) de adquisición de información de mapa adquiere la información de mapa. La unidad (32) de determinación del camino curvado determina si o no un camino (58, 68) curvado está presente en una ruta de conducción de un vehículo (100, 200) con base en la información de mapa. Tras determinar que un camino (58, 68) curvado está presente, la unidad (34) de determinación de obstáculos determina si o no hay un objeto (50, 70) a ser evadido en las proximidades del camino (58, 68) curvado. Tras determinar que hay un objeto (50, 70) a ser evadido, la unidad (38) de generación de camino objetivo genera un camino (62, 76) objetivo del vehículo (100, 200) a fin de evadir una región (50, 60, 70, 74) predeterminada, incluyendo el objeto (50, 70) a ser evadido.
MX2017008858A 2015-01-05 2015-06-30 Dispositivo de generacion de ruta objetivo y dispositivo de control de conduccion. MX364574B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562099640P 2015-01-05 2015-01-05
PCT/IB2015/001074 WO2016110728A1 (ja) 2015-01-05 2015-06-30 目標経路生成装置および走行制御装置

Publications (2)

Publication Number Publication Date
MX2017008858A true MX2017008858A (es) 2017-10-11
MX364574B MX364574B (es) 2019-05-02

Family

ID=56355559

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2017008858A MX364574B (es) 2015-01-05 2015-06-30 Dispositivo de generacion de ruta objetivo y dispositivo de control de conduccion.

Country Status (10)

Country Link
US (1) US10386846B2 (es)
EP (1) EP3244381B1 (es)
JP (1) JP6447639B2 (es)
KR (1) KR102029562B1 (es)
CN (1) CN107111954B (es)
BR (1) BR112017014574B1 (es)
CA (1) CA2973110A1 (es)
MX (1) MX364574B (es)
RU (1) RU2697359C2 (es)
WO (1) WO2016110728A1 (es)

Families Citing this family (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11835343B1 (en) * 2004-08-06 2023-12-05 AI Incorporated Method for constructing a map while performing work
DE112016003285B4 (de) * 2015-07-22 2022-12-22 Honda Motor Co., Ltd. Routengenerator, Routenerzeugungsverfahren und Routenerzeugungsprogramm
DE112016004370B4 (de) * 2015-10-16 2025-03-06 Hitachi Astemo, Ltd. Fahrzeugsteuerung und Fahrzeugsteuervorrichtung
JP6642820B2 (ja) * 2015-10-21 2020-02-12 日立オートモティブシステムズ株式会社 駐車経路算出装置、駐車支援装置および駐車経路算出方法
US10599150B2 (en) 2016-09-29 2020-03-24 The Charles Stark Kraper Laboratory, Inc. Autonomous vehicle: object-level fusion
JP2019530609A (ja) * 2016-09-29 2019-10-24 ザ・チャールズ・スターク・ドレイパー・ラボラトリー・インコーポレイテッド モジュラー型アーキテクチャの自律走行車両
US10347129B2 (en) * 2016-12-07 2019-07-09 Magna Electronics Inc. Vehicle system with truck turn alert
JP6809890B2 (ja) * 2016-12-15 2021-01-06 日立オートモティブシステムズ株式会社 車両制御装置
JPWO2018123019A1 (ja) * 2016-12-28 2019-07-18 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
US11009875B2 (en) 2017-03-09 2021-05-18 Waymo Llc Preparing autonomous vehicles for turns
JP6485792B2 (ja) 2017-03-17 2019-03-20 マツダ株式会社 運転支援制御装置
US10101745B1 (en) 2017-04-26 2018-10-16 The Charles Stark Draper Laboratory, Inc. Enhancing autonomous vehicle perception with off-vehicle collected data
KR20200007879A (ko) * 2017-06-20 2020-01-22 닛산 지도우샤 가부시키가이샤 주행 제어 방법 및 주행 제어 장치
DE102017221286A1 (de) * 2017-11-28 2019-05-29 Audi Ag Verfahren zum Einstellen vollautomatischer Fahrzeugführungsfunktionen in einer vordefinierten Navigationsumgebung und Kraftfahrzeug
US11022971B2 (en) 2018-01-16 2021-06-01 Nio Usa, Inc. Event data recordation to identify and resolve anomalies associated with control of driverless vehicles
JP6985176B2 (ja) * 2018-02-16 2021-12-22 本田技研工業株式会社 車両制御装置
JP6954180B2 (ja) * 2018-02-27 2021-10-27 トヨタ自動車株式会社 自動運転システム
JP2019156193A (ja) * 2018-03-14 2019-09-19 本田技研工業株式会社 車両制御装置
CN110398955B (zh) * 2018-04-25 2023-03-21 陈晨 智能工厂内移动目标的移动方法及在公路上移动的方法
JP7111517B2 (ja) * 2018-06-14 2022-08-02 シャープ株式会社 走行装置、走行装置の走行制御方法、走行装置の走行制御プログラムおよび記録媒体
CN109085840B (zh) * 2018-09-21 2022-05-27 大连维德集成电路有限公司 一种基于双目视觉的车辆导航控制系统及控制方法
JP7225695B2 (ja) * 2018-11-07 2023-02-21 富士フイルムビジネスイノベーション株式会社 自律移動装置およびプログラム
JP7256639B2 (ja) * 2018-12-26 2023-04-12 フォルシアクラリオン・エレクトロニクス株式会社 車載処理装置
US11370453B2 (en) 2018-12-28 2022-06-28 Nissan Motor Co., Ltd. Driving assistance method and driving assistance device
JP7281289B2 (ja) * 2019-01-30 2023-05-25 フォルシアクラリオン・エレクトロニクス株式会社 演算装置
CN109813328B (zh) * 2019-02-22 2021-04-30 百度在线网络技术（北京）有限公司 一种驾驶路径规划方法、装置及车辆
CN109765902B (zh) * 2019-02-22 2022-10-11 阿波罗智能技术(北京)有限公司 无人车驾驶参考线处理方法、装置及车辆
US12227177B2 (en) * 2019-04-01 2025-02-18 Mitsubishi Electric Corporation Vehicle control device and vehicle control method
EP3730373A1 (en) * 2019-04-26 2020-10-28 Zenuity AB Method for controlling vehicle systems and vehicle control device
US11249184B2 (en) 2019-05-07 2022-02-15 The Charles Stark Draper Laboratory, Inc. Autonomous collision avoidance through physical layer tracking
US11267393B2 (en) 2019-05-16 2022-03-08 Magna Electronics Inc. Vehicular alert system for alerting drivers of other vehicles responsive to a change in driving conditions
CN112068537B (zh) * 2019-05-21 2023-07-07 宇通客车股份有限公司 基于区域划分的自动驾驶公交车进/出站控制方法与装置
CN110834630A (zh) * 2019-10-22 2020-02-25 中国第一汽车股份有限公司 一种车辆的驾驶控制方法、装置、车辆及存储介质
US10816993B1 (en) * 2019-11-23 2020-10-27 Ha Q Tran Smart vehicle
JP7290120B2 (ja) * 2020-02-03 2023-06-13 トヨタ自動車株式会社 衝突回避支援装置
US11625041B2 (en) 2020-02-21 2023-04-11 Zoox, Inc. Combined track confidence and classification model
CN111397611B (zh) * 2020-03-05 2022-07-05 北京百度网讯科技有限公司 路径规划方法、装置以及电子设备
WO2021181127A1 (ja) * 2020-03-10 2021-09-16 日産自動車株式会社 走行経路の設定方法、及び、走行経路の設定装置
CN115280256A (zh) * 2020-03-12 2022-11-01 三菱电机株式会社 移动体的协调控制装置和管理系统
US11624629B2 (en) 2020-03-24 2023-04-11 Here Global B.V. Method, apparatus, and computer program product for generating parking lot geometry
US11409292B2 (en) * 2020-03-24 2022-08-09 Here Global B.V. Method, apparatus, and computer program product for generating a map of road links of a parking lot
CN113581143B (zh) * 2020-04-30 2022-07-15 比亚迪股份有限公司 自动驻车的控制方法、装置、存储介质及车辆
CN111626189B (zh) * 2020-05-26 2023-04-18 浙江大华技术股份有限公司 一种路面异常检测方法、装置、电子设备及存储介质
JP7608094B2 (ja) * 2020-09-11 2025-01-06 株式会社東芝 移動体、制御装置、監視装置、制御方法、及びプログラム
KR20220064470A (ko) * 2020-11-11 2022-05-19 현대자동차주식회사 교차로 대향차 충돌방지 보조 장치 및 그 방법
JP2022123940A (ja) * 2021-02-15 2022-08-25 本田技研工業株式会社 車両制御装置
CN113296500B (zh) * 2021-04-30 2023-04-25 浙江吉利控股集团有限公司 一种局部路径规划方法及系统
CN113436442B (zh) * 2021-06-29 2022-04-08 西安电子科技大学 一种利用多地磁传感器的车速估计方法
CN113418522B (zh) * 2021-08-25 2021-12-14 季华实验室 Agv路径规划方法、跟随方法、装置、设备及存储介质
KR20230039421A (ko) 2021-09-14 2023-03-21 삼성전자주식회사 전자 장치 및 이의 제어 방법
CN113619606B (zh) * 2021-09-17 2024-06-14 中国第一汽车股份有限公司 障碍物确定方法、装置、设备以及存储介质
CN116269040A (zh) * 2021-12-08 2023-06-23 深圳市普渡科技有限公司 机器人、规划清扫路径的方法、装置、设备和存储介质
CN114274978B (zh) * 2021-12-28 2023-12-22 深圳一清创新科技有限公司 一种无人驾驶物流车的避障方法
CN115235498B (zh) * 2022-07-21 2024-06-07 重庆长安汽车股份有限公司 行泊一体全局路径规划方法、系统、电子设备及车辆
CN115639820B (zh) * 2022-10-18 2023-08-01 未岚大陆(北京)科技有限公司 虚拟墙的设置方法、自主移动设备和计算机可读存储介质
JP7635774B2 (ja) * 2022-12-28 2025-02-26 トヨタ自動車株式会社 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10283593A (ja) * 1997-04-04 1998-10-23 Fuji Heavy Ind Ltd 車両の衝突防止装置
DE10036276A1 (de) * 2000-07-26 2002-02-07 Daimler Chrysler Ag Automatisches Brems- und Lenksystem für ein Fahrzeug
KR100776860B1 (ko) * 2000-09-08 2007-11-16 레이던 컴퍼니 경로 예측 시스템 및 방법
JP2003157484A (ja) * 2001-11-19 2003-05-30 Mazda Motor Corp 車両用自動通報装置
DE10343640B4 (de) * 2003-09-20 2016-12-29 Deere & Company Lenksystem für ein landwirtschaftliches oder industrielles Nutzfahrzeug
KR100559870B1 (ko) * 2003-11-04 2006-03-13 현대자동차주식회사 차량의 주행차로 변경방법
US8340883B2 (en) * 2005-09-15 2012-12-25 Continental Teves Ag & Co. Ohg Method and apparatus for predicting a movement trajectory
JP2007090951A (ja) * 2005-09-27 2007-04-12 Denso Corp 車載機
JP5130638B2 (ja) * 2006-03-22 2013-01-30 日産自動車株式会社 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法
JP4759547B2 (ja) * 2007-09-27 2011-08-31 日立オートモティブシステムズ株式会社 走行支援装置
DE102008022606A1 (de) * 2008-05-08 2009-11-12 Man Nutzfahrzeuge Aktiengesellschaft Spurführungssystem
JP4730406B2 (ja) * 2008-07-11 2011-07-20 トヨタ自動車株式会社 走行支援制御装置
EP2189811B1 (en) * 2008-11-25 2011-10-19 C.R.F. Società Consortile per Azioni Determination and signalling to a driver of a motor vehicle of a potential collision of the motor vehicle with an obstacle
JP5453048B2 (ja) * 2009-10-22 2014-03-26 富士重工業株式会社 車両の運転支援制御装置
JP2011240816A (ja) 2010-05-18 2011-12-01 Denso Corp 自律走行制御装置
JP5429380B2 (ja) * 2010-07-27 2014-02-26 トヨタ自動車株式会社 運転支援装置
JP5768891B2 (ja) * 2011-09-26 2015-08-26 トヨタ自動車株式会社 車両の運転支援システム
CN202574099U (zh) * 2011-10-31 2012-12-05 富士重工业株式会社 车辆的防碰撞装置
JP5953810B2 (ja) * 2012-02-24 2016-07-20 日産自動車株式会社 車両走行支援装置

Also Published As

Publication number Publication date
WO2016110728A1 (ja) 2016-07-14
EP3244381A4 (en) 2018-01-03
BR112017014574B1 (pt) 2022-11-16
RU2697359C2 (ru) 2019-08-13
BR112017014574A2 (pt) 2018-01-16
KR102029562B1 (ko) 2019-10-07
JPWO2016110728A1 (ja) 2017-12-14
JP6447639B2 (ja) 2019-01-09
MX364574B (es) 2019-05-02
EP3244381B1 (en) 2019-03-27
CA2973110A1 (en) 2016-07-14
US10386846B2 (en) 2019-08-20
CN107111954A (zh) 2017-08-29
EP3244381A1 (en) 2017-11-15
RU2017127530A3 (es) 2019-02-08
CN107111954B (zh) 2020-10-09
KR20170091144A (ko) 2017-08-08
US20180024564A1 (en) 2018-01-25
RU2017127530A (ru) 2019-02-08

Similar Documents

Publication Publication Date Title
MX2017008858A (es) Dispositivo de generacion de ruta objetivo y dispositivo de control de conduccion.
MX356732B (es) Dispositivo de generación de velocidad del vehículo objetivo y dispositivo de control de desplazamiento.
MX2018002994A (es) Ubicacion de vehiculos mediante uso de camaras.
ES2560623T3 (es) Unidad de a bordo y procedimiento para la información a un conductor
MX2018000814A (es) Dispositivo de guiado de ruta y metodo de guiado de ruta.
MX2020001209A (es) Metodo de asistencia de viaje y dispositivo de asistencia de viaje.
MX2019003320A (es) Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion.
MX2018008984A (es) Metodo y dispositivo de asistencia a la conduccion.
MX2017011583A (es) Deteccion de profundidad del agua para la navegacion de vehiculos.
EP3032458A3 (en) Driver assistance for a vehicle
BR112017027773A2 (pt) aparelho de determinação de posição de veículo e método de determinação de posição de veículo
BR112018074698A2 (pt) método de detecção de objeto e aparelho de detecção de objeto
MX347087B (es) Técnicas para el posicionamiento de un vehículo.
MX2018000971A (es) Dispositivo de guiado de ruta y metodo de guiado de ruta.
BR112018007120A2 (pt) dispositivo de display veicular e método de display veicular
CO2018013675A2 (es) Asistente personal de alertas de situación
MX2019002985A (es) Metodo de estimacion de la posicion propia y dispositivo de estimacion de la posicion propia.
MX2019013511A (es) Metodo de control de estacionamiento y aparato de control de estacionamiento.
MX2017002696A (es) Suministro de resultados de busqueda durante la navegacion los cuales reducen la alteracion de ruta.
BR112017022816A2 (pt) dispositivo de compreensão de cena
PH12018501475A1 (en) Method and device for aquiring abbreviated name of point of interest on map
RU2015109865A (ru) Система для отслеживания подозреваемого, покинувшего транспортное средство
RU2015116302A (ru) Система для управления транспортным средством на основании предыдущих поездок
MX2020003313A (es) Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion.
MX380211B (es) Sistema y método para la determinación de tiempo y ubicación de llegada.

Legal Events

Date Code Title Description
FG Grant or registration