CN111923905B - 对轨迹进行估计的***和方法 - Google Patents
对轨迹进行估计的***和方法 Download PDFInfo
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- CN111923905B CN111923905B CN202010316001.2A CN202010316001A CN111923905B CN 111923905 B CN111923905 B CN 111923905B CN 202010316001 A CN202010316001 A CN 202010316001A CN 111923905 B CN111923905 B CN 111923905B
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Classifications
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- 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
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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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
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- 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
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- 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
- B60W40/10—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 vehicle motion
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- 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
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- 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
- B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
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- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mathematical Physics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (13)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19170945.0A EP3730384B1 (en) | 2019-04-24 | 2019-04-24 | System and method for trajectory estimation |
EP19170945.0 | 2019-04-24 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111923905A CN111923905A (zh) | 2020-11-13 |
CN111923905B true CN111923905B (zh) | 2024-01-30 |
Family
ID=66286136
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010316001.2A Active CN111923905B (zh) | 2019-04-24 | 2020-04-21 | 对轨迹进行估计的***和方法 |
Country Status (3)
Country | Link |
---|---|
US (2) | US11567500B2 (zh) |
EP (1) | EP3730384B1 (zh) |
CN (1) | CN111923905B (zh) |
Families Citing this family (37)
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IT201600109633A1 (it) * | 2016-10-31 | 2018-05-01 | Magneti Marelli Spa | Procedimento e sistema di controllo adattivo in un veicolo terrestre per l'inseguimento di un percorso, particolarmente in uno scenario di guida autonoma. |
CN110308717B (zh) * | 2018-03-27 | 2020-12-22 | 广州汽车集团股份有限公司 | 控制自主式移动机器移动的方法、装置、机器及存储介质 |
DE102018222783A1 (de) * | 2018-12-21 | 2020-06-25 | Robert Bosch Gmbh | Verfahren zum Steuern eines automatisierten oder autonomen Fortbewegungsmittels und Auswerteeinheit |
US11087147B2 (en) * | 2019-09-19 | 2021-08-10 | Ford Global Technologies, Llc | Vehicle lane mapping |
US11525691B2 (en) * | 2019-09-20 | 2022-12-13 | Samsung Electronics Co., Ltd. | System and method for autonomous motion planning |
US11454987B2 (en) * | 2019-12-27 | 2022-09-27 | Automotive Research & Testing Center | Self-driving coordination system and control method thereof |
JP7363621B2 (ja) * | 2020-03-17 | 2023-10-18 | トヨタ自動車株式会社 | 情報処理装置、情報処理方法、及び、プログラム |
JP7464425B2 (ja) * | 2020-03-31 | 2024-04-09 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、及びプログラム |
KR20220056922A (ko) * | 2020-10-28 | 2022-05-09 | 현대자동차주식회사 | 자율주행 제어 장치 및 방법 |
CN112509356B (zh) * | 2020-10-30 | 2022-04-05 | 深圳市跨越新科技有限公司 | 一种车辆行驶路线生成方法及*** |
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CN112561948B (zh) * | 2020-12-22 | 2023-11-21 | 中国联合网络通信集团有限公司 | 基于时空轨迹的伴随轨迹识别方法、设备及存储介质 |
CN112644486B (zh) * | 2021-01-05 | 2022-04-08 | 南京航空航天大学 | 一种基于驾驶安全场的智能车避障轨迹规划方法 |
DE102021101825A1 (de) | 2021-01-27 | 2022-07-28 | Bayerische Motoren Werke Aktiengesellschaft | Fahrassistenzsystem und Fahrassistenzverfahren zum automatisierten Fahren eines Fahrzeugs |
CN112810630B (zh) * | 2021-02-05 | 2022-03-04 | 山东大学 | 一种自动驾驶车辆轨迹规划方法及*** |
KR20220128153A (ko) * | 2021-03-12 | 2022-09-20 | 현대자동차주식회사 | 차로 유지 제어 장치, 그를 포함한 차량 시스템 및 그 방법 |
CN113126132B (zh) * | 2021-04-09 | 2022-11-25 | 内蒙古科电数据服务有限公司 | 一种移动巡检中轨迹校准与分析方法及*** |
CN113085901B (zh) * | 2021-05-13 | 2022-08-09 | 京东鲲鹏(江苏)科技有限公司 | 无人车控制方法、装置、电子设备及存储介质 |
CN113104107A (zh) * | 2021-05-20 | 2021-07-13 | 蔚来汽车科技(安徽)有限公司 | 车辆横向运动控制、自动驾驶控制器、转向***、车辆以及存储介质 |
CN113548047B (zh) * | 2021-06-08 | 2022-11-11 | 重庆大学 | 一种基于深度学习的个性化车道保持辅助方法及装置 |
EP4105094A1 (en) * | 2021-06-17 | 2022-12-21 | Volvo Autonomous Solutions AB | A method of reconstructing a vehicle trajectory |
CN117916682A (zh) * | 2021-09-14 | 2024-04-19 | 华为技术有限公司 | 使用时空凸形走廊的运动规划 |
US12012128B2 (en) | 2021-09-24 | 2024-06-18 | Zoox, Inc. | Optimization based planning system |
CN113985887A (zh) * | 2021-11-04 | 2022-01-28 | 北京京东乾石科技有限公司 | 差速移动机器人运动轨迹生成方法和运动控制装置 |
CN114348019B (zh) * | 2021-12-20 | 2023-11-07 | 清华大学 | 车辆轨迹预测方法、装置、计算机设备和存储介质 |
CN114475593B (zh) * | 2022-01-18 | 2023-12-19 | 上汽通用五菱汽车股份有限公司 | 行驶轨迹预测方法、车辆及计算机可读存储介质 |
CN114537435B (zh) * | 2022-03-03 | 2024-06-07 | 浙江大学 | 一种自动驾驶中的实时整车轨迹规划方法 |
JP7302693B1 (ja) | 2022-03-23 | 2023-07-04 | いすゞ自動車株式会社 | 運転制御装置、運転制御方法及びプログラム |
CN114932950B (zh) * | 2022-04-29 | 2023-09-12 | 东风汽车有限公司东风日产乘用车公司 | 前馈方向盘转角的计算方法和车辆 |
CN115320709B (zh) * | 2022-08-29 | 2023-04-18 | 东风悦享科技有限公司 | 一种基于四轮转向的自动驾驶混合控制方法 |
CN115402336A (zh) * | 2022-09-01 | 2022-11-29 | 广州文远知行科技有限公司 | 方向轮转角计算方法、装置、设备及可读存储介质 |
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CN116168543B (zh) * | 2023-04-21 | 2023-08-01 | 健鼎(无锡)电子有限公司 | 基于毫米波雷达的车辆轨迹修正方法、装置及存储介质 |
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