CN105730443B - 车辆变道控制方法及*** - Google Patents
车辆变道控制方法及*** Download PDFInfo
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- CN105730443B CN105730443B CN201610214103.7A CN201610214103A CN105730443B CN 105730443 B CN105730443 B CN 105730443B CN 201610214103 A CN201610214103 A CN 201610214103A CN 105730443 B CN105730443 B CN 105730443B
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- 238000000034 method Methods 0.000 title claims abstract description 47
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- 230000003447 ipsilateral effect Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 description 14
- 230000008901 benefit Effects 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
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- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
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Classifications
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- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
- B60W30/08—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
- 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
- B60W40/04—Traffic 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
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/205—Steering speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610214103.7A CN105730443B (zh) | 2016-04-08 | 2016-04-08 | 车辆变道控制方法及*** |
Applications Claiming Priority (1)
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CN201610214103.7A CN105730443B (zh) | 2016-04-08 | 2016-04-08 | 车辆变道控制方法及*** |
Publications (2)
Publication Number | Publication Date |
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CN105730443A CN105730443A (zh) | 2016-07-06 |
CN105730443B true CN105730443B (zh) | 2019-01-01 |
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CN201610214103.7A Active CN105730443B (zh) | 2016-04-08 | 2016-04-08 | 车辆变道控制方法及*** |
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Families Citing this family (35)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106364486B (zh) * | 2016-09-08 | 2019-08-27 | 江苏大学 | 一种基于危害分析的智能车辆变道控制方法 |
CN106379324A (zh) * | 2016-09-12 | 2017-02-08 | 深圳市元征科技股份有限公司 | 车辆并道提示方法及装置 |
CN106379298B (zh) * | 2016-10-14 | 2019-12-06 | 畅加风行(苏州)智能科技有限公司 | 基于目标运动体与汽车时间计算的智能刹车控制方法 |
CN106681319A (zh) * | 2016-12-09 | 2017-05-17 | 重庆长安汽车股份有限公司 | 自动换道***及方法 |
CN108528455B (zh) * | 2017-03-03 | 2021-05-04 | 奥迪股份公司 | 驾驶辅助***和方法 |
CN107161146B (zh) * | 2017-04-05 | 2019-09-24 | 吉利汽车研究院(宁波)有限公司 | 一种高速公路辅助*** |
CN107264527B (zh) * | 2017-06-08 | 2020-06-02 | 广州汽车集团股份有限公司 | 智能车防别车的控制方法及装置 |
JP6662828B2 (ja) | 2017-09-08 | 2020-03-11 | 本田技研工業株式会社 | 運転支援システム、運転支援装置および運転支援方法 |
CN108572642B (zh) * | 2017-12-15 | 2022-02-18 | 蔚来(安徽)控股有限公司 | 一种自动驾驶***及其横向控制方法 |
CN108313054B (zh) * | 2018-01-05 | 2019-08-02 | 北京智行者科技有限公司 | 自动驾驶自主换道决策方法和装置及自动驾驶车辆 |
CN108198460B (zh) * | 2018-02-26 | 2021-10-29 | 周姣 | 一种车辆智能变道方法及车辆 |
EP3569460B1 (en) * | 2018-04-11 | 2024-03-20 | Hyundai Motor Company | Apparatus and method for controlling driving in vehicle |
CN109131321B (zh) * | 2018-08-29 | 2021-01-05 | 广州大学 | 基于图像处理与计算危险系数的变道辅助方法及装置 |
CN109334668B (zh) * | 2018-11-28 | 2020-06-09 | 奇瑞汽车股份有限公司 | 一种基于v2x的自动并线*** |
CN109582019B (zh) * | 2018-12-04 | 2021-06-29 | 奇瑞汽车股份有限公司 | 智能汽车变道失效时的接管方法、装置及存储介质 |
CN109703556B (zh) * | 2018-12-20 | 2021-01-26 | 斑马网络技术有限公司 | 驾驶辅助方法及设备 |
CN110614993B (zh) * | 2018-12-29 | 2020-10-30 | 长城汽车股份有限公司 | 自动驾驶车辆的换道方法、***及车辆 |
CN109871787B (zh) * | 2019-01-30 | 2021-05-25 | 浙江吉利汽车研究院有限公司 | 一种障碍物检测方法及装置 |
CN109739246B (zh) | 2019-02-19 | 2022-10-11 | 阿波罗智能技术(北京)有限公司 | 一种变换车道过程中的决策方法、装置、设备及存储介质 |
CN109931939B (zh) * | 2019-02-27 | 2020-11-03 | 杭州飞步科技有限公司 | 车辆的定位方法、装置、设备及计算机可读存储介质 |
CN110103969B (zh) * | 2019-05-16 | 2020-11-13 | 广州小鹏汽车科技有限公司 | 一种车辆控制方法、装置、***及车辆 |
CN110356404B (zh) * | 2019-05-28 | 2021-04-09 | 吉林大学 | 一种具有自主换道功能并提高侧向安全性的智能驾驶*** |
CN110194169B (zh) * | 2019-05-31 | 2021-09-17 | 惠州华阳通用智慧车载***开发有限公司 | 一种车辆变道辅助方法 |
CN112185168A (zh) * | 2019-06-14 | 2021-01-05 | 华为技术有限公司 | 一种车辆变道方法及装置 |
CN110281923A (zh) * | 2019-06-28 | 2019-09-27 | 信利光电股份有限公司 | 一种车辆辅助变道方法、装置及*** |
CN110763246A (zh) * | 2019-08-06 | 2020-02-07 | 中国第一汽车股份有限公司 | 自动驾驶车辆路径规划方法、装置、车辆及存储介质 |
CN110614999B (zh) * | 2019-09-25 | 2020-10-27 | 浙江吉利汽车研究院有限公司 | 一种用于车辆的自动变道超车控制方法和*** |
CN112652193A (zh) * | 2019-10-11 | 2021-04-13 | 上海博泰悦臻电子设备制造有限公司 | 车辆控制方法、控制***、存储介质、车载终端与车辆 |
CN111016902B (zh) * | 2019-12-30 | 2021-07-06 | 重庆长安汽车股份有限公司 | 一种车辆换道时的车速辅助控制方法、***及汽车 |
JP7383532B2 (ja) * | 2020-03-12 | 2023-11-20 | 本田技研工業株式会社 | 制御装置及び車両 |
CN111717197A (zh) * | 2020-06-23 | 2020-09-29 | 中国第一汽车股份有限公司 | 一种后碰撞预防方法、装置及车辆 |
CN112130563B (zh) * | 2020-09-10 | 2022-04-29 | 东风汽车集团有限公司 | 一种多目标筛选辅助驾驶控制方法 |
CN113406954A (zh) * | 2021-02-04 | 2021-09-17 | 湖南三一路面机械有限公司 | 无人驾驶压路机路径规划方法 |
CN113255506B (zh) * | 2021-05-20 | 2022-10-18 | 浙江合众新能源汽车有限公司 | 动态车道线控制方法、***、设备和计算机可读介质 |
CN113978460A (zh) * | 2021-12-08 | 2022-01-28 | 广州小鹏自动驾驶科技有限公司 | 车辆行驶控制方法及装置 |
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US6388565B1 (en) * | 1999-05-08 | 2002-05-14 | Daimlerchrysler Ag | Guidance system for assisting lane change of a motor vehicle |
EP1724175A2 (de) * | 2005-05-17 | 2006-11-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fahrerunterstützung |
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CN103213579A (zh) * | 2013-04-07 | 2013-07-24 | 杭州电子科技大学 | 一种相机参数和车辆***无关的车道偏离提前预警方法 |
CN104960468A (zh) * | 2015-05-27 | 2015-10-07 | 奇瑞汽车股份有限公司 | 一种行车变道方法和装置 |
CN105059287A (zh) * | 2015-07-31 | 2015-11-18 | 奇瑞汽车股份有限公司 | 一种车道保持方法和装置 |
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- 2016-04-08 CN CN201610214103.7A patent/CN105730443B/zh active Active
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US6388565B1 (en) * | 1999-05-08 | 2002-05-14 | Daimlerchrysler Ag | Guidance system for assisting lane change of a motor vehicle |
EP1724175A2 (de) * | 2005-05-17 | 2006-11-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fahrerunterstützung |
CN101941399A (zh) * | 2010-09-17 | 2011-01-12 | 长安大学 | 一种车辆车道变换辅助装置及其辅助判断方法 |
CN103213579A (zh) * | 2013-04-07 | 2013-07-24 | 杭州电子科技大学 | 一种相机参数和车辆***无关的车道偏离提前预警方法 |
CN104960468A (zh) * | 2015-05-27 | 2015-10-07 | 奇瑞汽车股份有限公司 | 一种行车变道方法和装置 |
CN105059287A (zh) * | 2015-07-31 | 2015-11-18 | 奇瑞汽车股份有限公司 | 一种车道保持方法和装置 |
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Effective date of registration: 20220211 Address after: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241006 Changchun Road, Wuhu economic and Technological Development Zone, Wuhu, Anhui, 8 Patentee before: CHERY AUTOMOBILE Co.,Ltd. |
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Effective date of registration: 20240407 Address after: 241000 10th Floor, Block B1, Wanjiang Wealth Plaza, Guandou Street, Jiujiang District, Wuhu City, Anhui Province Patentee after: Dazhuo Intelligent Technology Co.,Ltd. Country or region after: China Patentee after: Dazhuo Quxing Intelligent Technology (Shanghai) Co.,Ltd. Address before: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee before: Wuhu Sambalion auto technology Co.,Ltd. Country or region before: China |