CN112660162B - Low-speed driving control method and device and vehicle - Google Patents
Low-speed driving control method and device and vehicle Download PDFInfo
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- CN112660162B CN112660162B CN202110048225.4A CN202110048225A CN112660162B CN 112660162 B CN112660162 B CN 112660162B CN 202110048225 A CN202110048225 A CN 202110048225A CN 112660162 B CN112660162 B CN 112660162B
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Abstract
The invention provides a low-speed driving control method, which comprises the following steps: acquiring state information of a vehicle, wherein the state information comprises vehicle speed information; when the vehicle speed information is not greater than a preset vehicle speed value, confirming a target driving direction according to the state information of the vehicle; acquiring a travelable path around the vehicle; acquiring a drivable path scheme in the target driving direction according to the drivable path and the target driving direction; and controlling the vehicle to perform low-speed driving operation according to the drivable path scheme. The invention also discloses a low-speed driving control device and a vehicle. According to the low-speed driving control method, the low-speed driving control device and the vehicle, the automatic low-speed driving of the vehicle can be controlled through a target path by utilizing the state information of the vehicle and the environmental information around the vehicle, so that the low-speed automatic driving of the driver can be helped to pass through on a narrow road, the driver can be effectively helped to finish the driving operation with higher difficulty, and the convenience and the safety of vehicle driving are improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a low-speed driving control method, a low-speed driving control device and a vehicle.
Background
With the continuous development of the technology, the driving assistance products are more popular, which is also a necessary result of the higher intelligent requirements of the modern society for vehicles. For example, ACC (adaptive cruise control) products, having an ICC (intelligent navigation system) that enables integrated control of the lateral and longitudinal directions of a vehicle, can effectively reduce the operation burden on the driver. However, when a driver faces a narrow road section or a complex road, the driver cannot be helped to realize low-speed automatic driving or drive out of a narrow space in a backing mode, and high-difficulty driving actions are finished, so that the driving efficiency is reduced.
Disclosure of Invention
The invention aims to provide a low-speed driving control method, a low-speed driving control device and a vehicle, which can realize the control of the automatic low-speed driving of the vehicle through a target path by utilizing the state information of the vehicle and the environmental information around the vehicle, and solve the problem that a driver cannot efficiently pass through narrow road conditions.
Specifically, the invention provides a low-speed driving control method, which comprises the following steps: acquiring state information of a vehicle, wherein the state information comprises vehicle speed information; when the vehicle speed information is not greater than a preset vehicle speed value, confirming a target driving direction according to the state information of the vehicle; acquiring a travelable path around the vehicle; generating a drivable path scheme in the target driving direction according to the drivable path and the target driving direction; and controlling the vehicle to perform low-speed driving operation according to the drivable path scheme.
In one embodiment, the status information further includes gear information; when the vehicle speed information is not greater than a first preset vehicle speed value, confirming a target driving direction according to the state information of the vehicle comprises: if the gear information is a forward gear, determining that the target driving direction of the vehicle is forward; and if the gear information is a reverse gear, determining that the target driving direction of the vehicle is backward.
In one embodiment, the acquiring a travelable path around the vehicle includes: judging whether the distance of a drivable area around the vehicle is smaller than a preset distance value or not; if the distance of the drivable area around the vehicle is not less than a preset distance value, determining the drivable area as a drivable path; if the distance between the travelable areas around the vehicle is smaller than the preset distance value, determining that the travelable areas are non-travelable paths, executing ending operation or returning to the step of judging whether the distance between the travelable areas around the vehicle is smaller than the preset distance value.
In one embodiment, the generating a drivable path plan for the target driving direction according to the drivable path and the target driving direction includes: if the travelable path is in the target traveling direction, putting the travelable path into a travelable path scheme; and if the drivable path in the target driving direction does not exist, prompting the driver to change gears.
In one embodiment, the performing a low-speed driving operation according to the travelable path scheme includes: if the drivable path scheme comprises a plurality of paths, controlling the vehicle to stop and prompting a driver to select a target path; and if the travelable path scheme has a unique path, controlling the vehicle to automatically travel at a low speed according to the unique path.
In one embodiment, if the drivable path scheme includes a plurality of paths, controlling the vehicle to stop and prompting the driver to select a target path includes: receiving a path selection instruction and determining a target path; and controlling the vehicle to automatically run at a low speed according to the target path.
In one embodiment, the method further comprises: acquiring state parameters of a driver; and if the state parameters do not accord with the preset safety conditions, executing ending operation.
In one embodiment, the ending operation comprises: controlling the vehicle to end low-speed driving; and/or prompt a driver of the vehicle to take over the vehicle; and/or controlling the vehicle to stop.
Specifically, the present invention provides a low-speed driving control device, including: the device comprises an acquisition module and a processing module; the acquisition module is used for acquiring the state information of the vehicle, wherein the state information comprises vehicle speed information; the processing module is used for confirming a target driving direction according to the state information of the vehicle when the vehicle speed information is not larger than a preset vehicle speed value, acquiring a drivable path in the target driving direction, and generating a drivable path scheme in the target driving direction according to the drivable path and the target driving direction, so that the vehicle executes low-speed driving operation according to the drivable path scheme.
Specifically, the vehicle provided by the invention comprises the vehicle turning control device and executes the vehicle turning control method.
According to the low-speed driving control method, the low-speed driving control device and the vehicle, the state information of the vehicle is acquired, the state information comprises the vehicle speed information, when the vehicle speed information is not larger than the preset vehicle speed value, the target driving direction is confirmed according to the state information of the vehicle, then the travelable path around the vehicle is acquired, the travelable path scheme in the target driving direction is acquired according to the travelable path and the target driving direction, and the vehicle is controlled to execute the low-speed driving operation according to the travelable path scheme, so that the low-speed driving of the driver can be helped to pass through the narrow road automatically at the low speed, the driver is effectively helped to finish the difficult driving operation, and the convenience and the safety of the vehicle driving are improved.
Drawings
Fig. 1 is a schematic view of an application scenario of a low-speed driving control method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a low-speed driving control method according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating the determination of the target driving direction in the low-speed driving control method according to an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating maximum forward and backward angles of a vehicle in a low-speed driving control method according to an embodiment of the invention;
fig. 5 is a flowchart specifically illustrating obtaining a travelable path in the low-speed driving control method according to an embodiment of the present invention;
fig. 6 is a flowchart of generating a travelable path scheme in the low-speed driving control method according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a low-speed driving operation performed in the low-speed driving control method according to an embodiment of the present invention;
fig. 8 is a flowchart after prompting the driver to select a target route in the low-speed driving control method according to an embodiment of the present invention;
FIG. 9 is a flowchart illustrating a method for determining whether driving is in a loop in a low-speed driving control method according to an embodiment of the invention
Fig. 10 is a schematic structural diagram of a low-speed driving control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Fig. 1 is a schematic view of an application scenario of a low-speed driving control method according to an embodiment of the present invention. As shown in fig. 1, the application scenario includes a controller 110, and the controller 110 is configured to obtain status information of a vehicle, where the status information includes vehicle speed information, and when a vehicle speed is not greater than a preset vehicle speed value, confirm a target driving direction according to the status information of the vehicle, and obtain a travelable path around the vehicle to confirm a travelable path in the target driving direction, and control the vehicle to perform a driving operation according to the travelable path scheme.
In the embodiment of the present invention, the controller 110 may include, but is not limited to, a low speed driving controller or an on-board central computer, and the driving process may be directly controlled by the low speed driving controller, or the low speed driving controller may be integrated into the on-board central computer, and the driving process may be controlled by the on-board central computer.
First embodiment
Fig. 2 is a flowchart of a low-speed driving control method according to an embodiment of the present invention. As shown in fig. 2, the method includes:
step 210: and acquiring state information of the vehicle, wherein the state information comprises vehicle speed information.
Specifically, the acquisition of the state information of the vehicle itself may be, but not limited to, acquired through a CAN (Controller Area Network Controller local Area Network bus). The time for acquiring the state information of the vehicle may be, but is not limited to, acquiring in real time after the ignition of the vehicle, or acquiring when an acquisition instruction is received. The state information may be, but not limited to, vehicle speed information or gear information, and may also be vehicle speed information, gear information, etc., for example, vehicle speed 36km/h, gear D.
And step 220, when the vehicle speed information is not greater than the preset vehicle speed value, confirming the target driving direction according to the state information of the vehicle.
Specifically, the low-speed driving controller automatically confirms the target driving direction according to the state information of the vehicle when judging that the acquired vehicle speed information is not greater than a preset vehicle speed value. The preset vehicle speed value may be, but not limited to, fixed, or may be set according to user habits, that is, when the acquired vehicle speed is not greater than 25km/h, the target driving direction is determined according to the acquired state information, or when the acquired vehicle speed is not greater than 15km/h, the target driving direction is determined according to the acquired state information. The target driving direction may be, but is not limited to, forward or backward, etc., i.e., if the shift position in the acquired state information is the D range, the driving direction is determined to be forward.
In one embodiment, as shown in fig. 3, the acquired state information further includes gear information, and when the vehicle speed information is not greater than the first preset vehicle speed value, confirming the target driving direction according to the state information of the vehicle includes:
step 310: if the gear information is a forward gear, confirming that the target driving direction of the vehicle is forward;
step 320: if the shift information is a reverse shift, it is confirmed that the target traveling direction of the vehicle is a reverse direction.
Specifically, the gear information may be, but is not limited to, an automatic gear, a manual gear, or the like. The forward range may be a range in which the vehicle is driven forward, and may be not only the D range of automatic driving but also 1 range, 3 range, etc. of manual range, and is set according to the type of the vehicle range. The reverse gear may be a gear that causes the vehicle to travel backward, and is not limited to the R gear and the like. If the low-speed driving controller detects that the acquired gear information is a D gear, determining that the target driving direction of the vehicle is forward; if the low-speed driving controller detects that the acquired gear information is the R gear, it is determined that the target driving direction of the vehicle is backward. As shown in fig. 4, the forward direction may be the maximum angle at which the vehicle can travel forward when the engine drives the vehicle to travel forward, and the backward direction may be the maximum angle at which the vehicle can travel backward when the engine drives the vehicle to travel backward, which is determined according to the maximum degree of rotation of the wheels of the vehicle, for example, the maximum degree of rotation of the wheels of the vehicle is 28 °, and the maximum steering angle of the vehicle is obtained according to the size of the vehicle body.
Step 230: a travelable path around the vehicle is acquired.
Specifically, the low-speed driving controller may obtain the travelable path around the vehicle by, but not limited to, directly obtaining the ambient environment information by automatically turning on the ultrasonic sensor, the millimeter wave radar and the panoramic camera, and calculating the travelable path by using an environment sensing algorithm, or obtaining the environmental information collected in advance by the ultrasonic sensor, the millimeter wave radar and the panoramic camera, or obtaining the travelable path calculated in advance in another controller.
In one embodiment, as shown in fig. 5, acquiring a travelable path around a vehicle includes:
step 510: judging whether the distance of a travelable area around the vehicle is smaller than a preset distance value or not;
step 520: if the distance of the drivable area around the vehicle is not less than the preset distance value, determining the drivable area as a drivable path;
step 530: if the distance between the travelable areas around the vehicle is less than the preset distance value, determining that the travelable areas are non-travelable paths, executing ending operation or returning to the step of judging whether the distance between the travelable areas around the vehicle is less than the preset distance value;
specifically, the low-speed drive controller determines whether or not a travelable region distance around the vehicle is smaller than a preset distance value based on the acquired environmental information. The preset distance value may be, but not limited to, 5m, and may also be set according to a request of a driver. And if the low-speed driving controller judges that the distance between the travelable areas around the vehicle is not less than the preset distance value 5m, determining the travelable areas not less than the preset distance value 5m as travelable paths. If the low-speed driving controller judges that the distance between the travelable areas around the vehicle is less than the preset distance value 5m, the travelable areas less than the preset distance value 5m are determined to be non-travelable paths, and the ending operation or the step of returning to judge whether the distance between the travelable areas around the vehicle is less than the preset distance value can also be executed.
In one embodiment, the ending operation comprises: controlling the vehicle to finish low-speed driving; and/or prompt a driver of the vehicle to take over the vehicle; and/or controlling the vehicle to stop.
Specifically, when the controller judges that the vehicle needs to perform the contact operation, the controller can simultaneously control the vehicle to finish low-speed driving, prompt the driver of the vehicle to take over the vehicle and control the vehicle to stop (namely, the speed is reduced to 0 km/h), or only control the vehicle to finish low-speed driving, namely, turn off the automatic low-speed driving function of the vehicle, and when the driver actively takes over the vehicle, the controller can not prompt the driver of the vehicle to take over the vehicle and control the vehicle to stop.
Step 240: and generating a travelable path scheme in the target traveling direction according to the travelable path and the target traveling direction.
Specifically, the low-speed drive controller generates a travelable path plan in the target travel direction based on the travelable path and the target travel direction. The driving path scheme can be generated by providing a human-computer interaction interface for a driver to manually select a target path, or providing a voice interaction mode for the driver to select the target path by voice.
In one embodiment, as shown in fig. 6, generating a travelable path plan in a target travel direction according to a travelable path and a target travel direction includes:
step 610: if the travelable path is in the target traveling direction, putting the travelable path into a travelable path scheme;
step 620: and if the available driving path in the target driving direction does not exist, prompting the driver to change the gear.
Specifically, the low-speed drive controller determines whether all of the obtained travelable paths are in the target traveling direction, for example, when a certain travelable path is within a traveling maximum angle when the vehicle travels forward (target traveling direction), puts the travelable path into a travelable path plan. If there is no one of the possible travel paths within the maximum angle of travel of the vehicle when traveling backward (the target travel direction), the driver may be prompted to change gears by, but not limited to, voice or screen display. The information presented may be that the target driving direction needs to be adjusted.
Step 250: and controlling the vehicle to perform low-speed driving operation according to the driving path scheme.
Specifically, the low-speed driving operation may be, but is not limited to, controlling the vehicle to travel according to a path, controlling the vehicle to stop and prompting the driver to select a target path, or sending the travelable path scheme to a human-computer interaction interface or to a voice interaction system for reporting for the driver to select. In controlling the vehicle to travel along the route, the gears of the vehicle may be manually switched with each other to select the traveling direction.
In one embodiment, as shown in fig. 7, performing the low-speed driving operation according to the travelable path scheme includes:
step 710: if the drivable path scheme comprises a plurality of paths, controlling the vehicle to stop and prompting the driver to select a target path;
step 720: and if the travelable path scheme has the unique path, controlling the vehicle to automatically travel at a low speed according to the unique path.
Specifically, the low-speed driving controller judges the number of paths in the generated travelable path scheme, controls the speed of the vehicle to be 0km/h if more than one path exists in the travelable path scheme, and prompts the driver to select a target path in the travelable path scheme through an interpersonal interaction interface or a voice interaction system. If the path in the drivable path scheme has only one path, the vehicle is driven at a low speed by controlling the steering, the accelerator, the brake and the like of the vehicle according to the unique path.
In one embodiment, as shown in fig. 8, if the drivable path scenario includes a plurality of paths, controlling the vehicle to stop and prompting the driver to select the target path includes:
step 810: receiving a path selection instruction and determining a target path;
step 820: and controlling the vehicle to automatically run at a low speed according to the target path.
Specifically, after the driver is prompted to select a target path in the drivable path scheme through an interpersonal interactive interface or a voice interactive system, the driver operates a corresponding button or sends voice information containing a path selection instruction, the selected target path is analyzed according to a corresponding target of the operation button or through a voice recognition technology, and an accelerator, a steering lamp and a brake lamp of the vehicle are controlled to drive at a low speed according to the target path. The low speed may be, but not limited to, a preset vehicle speed value, and may also be a vehicle speed less than or greater than the preset vehicle speed value, for example, 10km/h or the like. The functions of achieving the automatic driving operation and achieving the requirements of difficulty and power are low, the number of using scenes of clients is large, the using frequency is high, and the cost is low.
Second embodiment
Fig. 9 is a flowchart of a low-speed driving control method according to a second embodiment of the present invention. As shown in fig. 9, on the basis of the low-speed driving control method provided by the first embodiment, the method further includes:
step 910: acquiring state parameters of a driver;
specifically, the obtaining of the state parameter of the driver may be, but not limited to, implemented by a sensor, a camera, and the like, for example, the state parameter may include at least one of a seat belt state signal of the driver, a door closing signal, pressure sensor data of the driver, and torque data of a torque sensor of a steering wheel, and may further include other parameters related to determining whether the driver is in the loop, and the state parameter of the driver enables the driver of the vehicle to confirm the surrounding environment and driving safety in the whole process of driving from a low speed and to have the ability to stop the automatic low speed driving at any time.
Step 920: and if the state parameters do not accord with the preset safety conditions, executing ending operation.
Specifically, the preset safety condition includes at least one of the following conditions: fastening a safety belt of a driver position; closing the vehicle door; the data of the pressure sensor of the driver position is larger than a preset pressure value; and torque data of a torque sensor of the steering wheel is greater than a preset torque threshold. Through the state parameters and the preset safety conditions, the low-speed driving controller can accurately judge whether the driver is in the ring state or not. If it is determined that the driver is not in the loop state, an end operation is performed. The above conditions may be adjusted for different drivers.
In one embodiment, the ending operation comprises: controlling the vehicle to end low-speed driving; and/or prompt a driver of the vehicle to take over the vehicle; and/or controlling the vehicle to stop.
Specifically, when the controller judges that the vehicle needs to execute the ending operation, the controller can simultaneously control the vehicle to end the low-speed driving, prompt the driver of the vehicle to take over the vehicle and control the vehicle to stop (namely, the speed is reduced to 0 km/h), or only control the vehicle to end the low-speed driving, namely, the automatic low-speed driving function of the vehicle is turned off, and when the driver actively takes over the vehicle, the controller can not prompt the driver of the vehicle to take over the vehicle and control the vehicle to stop.
Third embodiment
The present embodiment provides a low-speed driving control apparatus, with which the low-speed driving control method in the above-described embodiments can be implemented. Fig. 10 is a schematic structural diagram of the low-speed driving control device provided in this embodiment. As shown in fig. 10, the control device includes: an acquisition module 1010 and a processing module 1020;
the obtaining module 1010 is configured to obtain status information of a vehicle, where the status information includes vehicle speed information.
The processing module 1020 is configured to, when the vehicle speed information is not greater than the preset vehicle speed value, determine a target driving direction according to the vehicle state information, and after acquiring a drivable path in the target driving direction, generate a drivable path scheme in the target driving direction according to the drivable path and the target driving direction, so that the vehicle performs a low-speed driving operation according to the drivable path scheme.
The device provided in the above embodiments can execute the method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. Technical details that are not described in detail in the above embodiments may be referred to a low speed driving control method provided in any embodiment of the present invention.
The embodiment of the invention also provides a vehicle which comprises the low-speed driving control device and can execute the low-speed driving control method.
According to the low-speed driving control device and the vehicle provided by the embodiment of the invention, the automatic low-speed driving of the vehicle through the target path can be controlled by utilizing the state information of the vehicle and the environmental information around the vehicle, so that the low-speed automatic driving of the driver can be helped to pass through on a narrow road, the driver can be effectively helped to finish the driving operation with higher difficulty, and the convenience and the safety of the vehicle driving are improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, where the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A low-speed driving control method, characterized by comprising the steps of:
acquiring state information of a vehicle, wherein the state information comprises vehicle speed information;
acquiring a preset vehicle speed value according to user habits;
when the vehicle speed information is not larger than a preset vehicle speed value, confirming a target driving direction according to the state information of the vehicle;
acquiring a travelable path around the vehicle;
generating a drivable path scheme in the target driving direction according to the drivable path and the target driving direction;
controlling the vehicle to execute automatic low-speed driving operation according to the travelable path scheme;
wherein the state information further comprises gear information;
when the vehicle speed information is not greater than a first preset vehicle speed value, confirming a target driving direction according to the vehicle state information comprises:
if the gear information is a forward gear, confirming that the target driving direction of the vehicle is forward;
if the gear information is a reverse gear, determining that the target driving direction of the vehicle is backward;
wherein the acquiring of the travelable path around the vehicle includes:
judging whether the distance of a drivable area around the vehicle is smaller than a preset distance value or not;
if the distance of the travelable area around the vehicle is not less than a preset distance value, determining the travelable area as a travelable path;
and if the distance of the drivable area around the vehicle is less than a preset distance value, prompting a driver of the vehicle to take over the vehicle.
2. The low-speed driving control method according to claim 1, wherein the generating a travelable path plan in the target travel direction from the travelable path and the target travel direction includes:
if the travelable path is in the target traveling direction, putting the travelable path into a travelable path scheme;
and if the drivable path in the target driving direction does not exist, prompting the driver to change gears.
3. The low-speed driving control method according to claim 1, wherein the performing low-speed driving operation according to the travelable path scenario includes:
if the drivable path scheme comprises a plurality of paths, controlling the vehicle to stop and prompting a driver to select a target path;
and if the travelable path scheme has a unique path, controlling the vehicle to automatically travel at a low speed according to the unique path.
4. The low-speed driving control method according to claim 3, wherein, if the travelable path plan includes a plurality of paths, controlling the vehicle to stop and prompting the driver to select a target path comprises:
receiving a path selection instruction and determining a target path;
and controlling the vehicle to automatically run at a low speed according to the target path.
5. The low-speed driving control method according to claim 1, characterized by further comprising:
acquiring state parameters of a driver;
and if the state parameters do not accord with the preset safety conditions, executing ending operation.
6. The low-speed drive control method according to claim 5, characterized in that the end operation includes:
controlling the vehicle to end low-speed driving; and/or
Prompting a driver of the vehicle to take over the vehicle; and/or
And controlling the vehicle to stop.
7. A low-speed driving control apparatus, characterized in that the apparatus comprises: the device comprises an acquisition module and a processing module;
the acquisition module is used for acquiring state information of a vehicle and a preset vehicle speed value, wherein the state information comprises vehicle speed information;
the processing module is used for confirming a target driving direction according to the state information of the vehicle when the vehicle speed information is not larger than a preset vehicle speed value, acquiring a drivable path in the target driving direction, and generating a drivable path scheme in the target driving direction according to the drivable path and the target driving direction so that the vehicle executes low-speed driving operation according to the drivable path scheme;
wherein the state information further comprises gear information;
the processing module confirms that the target driving direction of the vehicle is forward when the gear information is a forward gear, and confirms that the target driving direction of the vehicle is backward when the gear information is a backward gear;
the processing module judges whether the distance of the drivable area around the vehicle is smaller than a preset distance value or not when acquiring the drivable path around the vehicle, determines that the drivable area is the drivable path when the distance of the drivable area around the vehicle is not smaller than the preset distance value, and prompts a driver of the vehicle to take over the vehicle when the distance of the drivable area around the vehicle is smaller than the preset distance value.
8. A vehicle comprising a low-speed driving control apparatus according to claim 7.
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| JP6728558B2 (en) * | 2016-01-25 | 2020-07-22 | 日立オートモティブシステムズ株式会社 | Automatic operation control device and automatic operation control method |
| JP6678605B2 (en) * | 2017-01-11 | 2020-04-08 | 株式会社東芝 | Information processing apparatus, information processing method, and information processing program |
| DE102017210173A1 (en) * | 2017-06-19 | 2018-12-20 | Robert Bosch Gmbh | Trajectory-based driving a motor vehicle |
| KR102408743B1 (en) * | 2017-07-27 | 2022-06-14 | 주식회사 에이치엘클레무브 | Method and system for determining whether a vehicle can enter a road |
| CN107479558A (en) * | 2017-09-22 | 2017-12-15 | 中国人民解放军63983部队 | Vehicle field paths planning method based on vehicle movement model |
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