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RU2015104551A - Способ и система для управления автономным транспортным средством - Google Patents

Способ и система для управления автономным транспортным средством Download PDF

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RU2015104551A
RU2015104551A RU2015104551A RU2015104551A RU2015104551A RU 2015104551 A RU2015104551 A RU 2015104551A RU 2015104551 A RU2015104551 A RU 2015104551A RU 2015104551 A RU2015104551 A RU 2015104551A RU 2015104551 A RU2015104551 A RU 2015104551A
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vehicle
data set
road
autonomous
identified characteristic
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RU2015104551A
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RU2015104551A3 (ru
Inventor
Мэтт Й. РАПП
Джеральд Х. ЭНГЕЛЬМАН
Алекс Морис МИЛЛЕР
Тимоти Д. ЦВИККИ
Левассер ТЕЛЛИС
Ричард Ли СТЕФЕНСОН
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Форд Глобал Технолоджис, ЛЛК
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Publication of RU2015104551A3 publication Critical patent/RU2015104551A3/ru

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    • 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
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • 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
    • 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
    • B60W40/02—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 related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W30/14—Adaptive cruise control
    • 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
    • B60W40/02—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 related to ambient conditions
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • 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
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

1. Способ, используемый в компьютере первого транспортного средства, выполненном с возможностью управлять транспортным средством в автономном и/или полуавтономном режиме, в которомпринимают первый набор данных от по крайней мере одного датчика в первом транспортном средстве;принимают второй набор данных от по крайней мере одного второго транспортного средства, причем этот второй набор данных от по крайней мере одного датчика в этом втором транспортном средстве, ииспользуют первый набор данных и второй набор данных для идентификации по крайней мере одной характеристики дороги, по которой движется первое транспортное средство.2. Способ по п. 1, в котором дополнительно используют первый набор данных и второй набор данных, содержащих идентифицированную характеристику, для определения по крайней мере одного автономного действия для первого транспортного средства.3. Способ по п. 2, в котором автономное действие представляет собой торможение, и/или ускорение, и/или смену полосы, и/или изменение расстояния до впереди идущего транспортного средства.4. Способ по п. 1, в котором идентифицированная характеристика представляет собой наличие одной или нескольких полос, доступных для движения, изгиб дороги, уклон дороги, наличие въезда на автомобильную магистраль, наличие препятствий, погодное условие и состояние дорожной поверхности.5. Способ по п. 1, в котором идентифицированная характеристика представляет собой по крайней мере одну цель, представляющую собой объект рядом с дорогой или по крайней мере одно второе транспортное средство.6. Система для управления транспортным средством, включающая в себя компьютер транспортного средства с

Claims (10)

1. Способ, используемый в компьютере первого транспортного средства, выполненном с возможностью управлять транспортным средством в автономном и/или полуавтономном режиме, в котором
принимают первый набор данных от по крайней мере одного датчика в первом транспортном средстве;
принимают второй набор данных от по крайней мере одного второго транспортного средства, причем этот второй набор данных от по крайней мере одного датчика в этом втором транспортном средстве, и
используют первый набор данных и второй набор данных для идентификации по крайней мере одной характеристики дороги, по которой движется первое транспортное средство.
2. Способ по п. 1, в котором дополнительно используют первый набор данных и второй набор данных, содержащих идентифицированную характеристику, для определения по крайней мере одного автономного действия для первого транспортного средства.
3. Способ по п. 2, в котором автономное действие представляет собой торможение, и/или ускорение, и/или смену полосы, и/или изменение расстояния до впереди идущего транспортного средства.
4. Способ по п. 1, в котором идентифицированная характеристика представляет собой наличие одной или нескольких полос, доступных для движения, изгиб дороги, уклон дороги, наличие въезда на автомобильную магистраль, наличие препятствий, погодное условие и состояние дорожной поверхности.
5. Способ по п. 1, в котором идентифицированная характеристика представляет собой по крайней мере одну цель, представляющую собой объект рядом с дорогой или по крайней мере одно второе транспортное средство.
6. Система для управления транспортным средством, включающая в себя компьютер транспортного средства с процессором и запоминающим устройством, в которой компьютер выполнен с возможностью
принимать первый набор данных от по крайней мере одного датчика в первом транспортном средстве;
принимать второй набор данных от по крайней мере одного второго транспортного средства, причем этот набор данных от по крайней мере одного датчика в по крайней мере одном втором транспортном средстве, и
использовать первый набор данных и второй набор данных для идентификации по крайней мере одной характеристики дороги, по которой движется первое транспортное средство.
7. Система по п. 6, в которой компьютер дополнительно выполнен с возможностью использовать первый набор данных и второй набор данных, содержащих идентифицированную характеристику, для определения по крайней мере одного автономного действия для первого транспортного средства.
8. Система по п. 7, в которой автономное действие представляет собой торможение, и/или ускорение, и/или смену полосы, и/или изменение расстояния до впереди идущего транспортного средства.
9. Система по п. 6, в которой идентифицированная характеристика представляет собой наличие одной или нескольких полос, доступных для движения, изгиб дороги, уклон дороги, наличие въезда на автомобильную магистраль, наличие препятствий, погодное условие и состояние дорожной поверхности.
10. Система по п. 6, в которой идентифицированная характеристика представляет собой по крайней мере одну цель, представляющую собой объект рядом с дорогой или по крайней мере одно второе транспортное средство.
RU2015104551A 2014-02-14 2015-02-11 Способ и система для управления автономным транспортным средством RU2015104551A (ru)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/180,788 US9079587B1 (en) 2014-02-14 2014-02-14 Autonomous control in a dense vehicle environment
US14/180,788 2014-02-14

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RU2015104551A true RU2015104551A (ru) 2016-08-27
RU2015104551A3 RU2015104551A3 (ru) 2018-07-06

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US (1) US9079587B1 (ru)
CN (2) CN116803784A (ru)
DE (1) DE102015202367A1 (ru)
GB (1) GB2524384A (ru)
MX (1) MX342567B (ru)
RU (1) RU2015104551A (ru)

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