CN111619589A - 一种复杂环境的自动驾驶控制方法 - Google Patents
一种复杂环境的自动驾驶控制方法 Download PDFInfo
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- CN111619589A CN111619589A CN202010519333.0A CN202010519333A CN111619589A CN 111619589 A CN111619589 A CN 111619589A CN 202010519333 A CN202010519333 A CN 202010519333A CN 111619589 A CN111619589 A CN 111619589A
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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
- 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
- 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
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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
- 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
- B60W2552/50—Barriers
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
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CN202010519333.0A CN111619589B (zh) | 2020-06-09 | 2020-06-09 | 一种复杂环境的自动驾驶控制方法 |
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CN111619589A true CN111619589A (zh) | 2020-09-04 |
CN111619589B CN111619589B (zh) | 2022-12-30 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112389430A (zh) * | 2020-11-06 | 2021-02-23 | 北京航空航天大学 | 一种基于偏移率的车辆换道切入车队时段的判定方法 |
CN112622935A (zh) * | 2020-12-30 | 2021-04-09 | 一汽解放汽车有限公司 | 一种车辆自动驾驶方法、装置、车辆及存储介质 |
CN115497300A (zh) * | 2022-11-16 | 2022-12-20 | 四川省公路规划勘察设计研究院有限公司 | 一种基于车路协同***的车辆安全分流调度方法及设备 |
Citations (6)
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CN105015545A (zh) * | 2015-07-03 | 2015-11-04 | 内蒙古麦酷智能车技术有限公司 | 一种无人驾驶汽车的自主变道决策*** |
CN106647776A (zh) * | 2017-02-24 | 2017-05-10 | 驭势科技(北京)有限公司 | 车辆变道趋势的判断方法、判断装置和计算机存储介质 |
CN108572642A (zh) * | 2017-12-15 | 2018-09-25 | 蔚来汽车有限公司 | 一种自动驾驶***及其横向控制方法 |
US20190100211A1 (en) * | 2017-09-29 | 2019-04-04 | Neusoft Corporation | Vehicle lane-changing control method, vehicle lanechanging control device and related equipment |
CN109581449A (zh) * | 2018-12-14 | 2019-04-05 | 安徽江淮汽车集团股份有限公司 | 一种自动驾驶汽车的定位方法及*** |
CN110531661A (zh) * | 2019-08-22 | 2019-12-03 | 浙江吉利汽车研究院有限公司 | 一种车辆自动跟驰控制方法、装置及设备 |
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2020
- 2020-06-09 CN CN202010519333.0A patent/CN111619589B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105015545A (zh) * | 2015-07-03 | 2015-11-04 | 内蒙古麦酷智能车技术有限公司 | 一种无人驾驶汽车的自主变道决策*** |
CN106647776A (zh) * | 2017-02-24 | 2017-05-10 | 驭势科技(北京)有限公司 | 车辆变道趋势的判断方法、判断装置和计算机存储介质 |
US20190100211A1 (en) * | 2017-09-29 | 2019-04-04 | Neusoft Corporation | Vehicle lane-changing control method, vehicle lanechanging control device and related equipment |
CN108572642A (zh) * | 2017-12-15 | 2018-09-25 | 蔚来汽车有限公司 | 一种自动驾驶***及其横向控制方法 |
CN109581449A (zh) * | 2018-12-14 | 2019-04-05 | 安徽江淮汽车集团股份有限公司 | 一种自动驾驶汽车的定位方法及*** |
CN110531661A (zh) * | 2019-08-22 | 2019-12-03 | 浙江吉利汽车研究院有限公司 | 一种车辆自动跟驰控制方法、装置及设备 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112389430A (zh) * | 2020-11-06 | 2021-02-23 | 北京航空航天大学 | 一种基于偏移率的车辆换道切入车队时段的判定方法 |
CN112389430B (zh) * | 2020-11-06 | 2024-01-19 | 北京航空航天大学 | 一种基于偏移率的车辆换道切入车队时段的判定方法 |
CN112622935A (zh) * | 2020-12-30 | 2021-04-09 | 一汽解放汽车有限公司 | 一种车辆自动驾驶方法、装置、车辆及存储介质 |
CN115497300A (zh) * | 2022-11-16 | 2022-12-20 | 四川省公路规划勘察设计研究院有限公司 | 一种基于车路协同***的车辆安全分流调度方法及设备 |
CN115497300B (zh) * | 2022-11-16 | 2023-01-31 | 四川省公路规划勘察设计研究院有限公司 | 一种基于车路协同***的车辆安全分流调度方法及设备 |
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Address after: Nanjing Institute of technology, No.1, Yangshan North Road, Qixia District, Nanjing City, Jiangsu Province Patentee after: Nanjing Vocational University of Industry Technology Address before: Nanjing Institute of technology, No.1, Yangshan North Road, Qixia District, Nanjing City, Jiangsu Province Patentee before: NANJING INSTITUTE OF INDUSTRY TECHNOLOGY |
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Effective date of registration: 20231226 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: Nanjing Institute of technology, No.1, Yangshan North Road, Qixia District, Nanjing City, Jiangsu Province Patentee before: Nanjing Vocational University of Industry Technology |
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