CN113460043B - 确定车辆前方的可用距离的方法和*** - Google Patents
确定车辆前方的可用距离的方法和*** Download PDFInfo
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- CN113460043B CN113460043B CN202110332434.1A CN202110332434A CN113460043B CN 113460043 B CN113460043 B CN 113460043B CN 202110332434 A CN202110332434 A CN 202110332434A CN 113460043 B CN113460043 B CN 113460043B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008859 change Effects 0.000 claims description 35
- 230000001133 acceleration Effects 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 22
- 230000008447 perception Effects 0.000 claims description 10
- 238000013500 data storage Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000035484 reaction time Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
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- 230000009849 deactivation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- B60W30/0956—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
- 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
-
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- 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
- B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- 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
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4043—Lateral speed
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4049—Relationship among other objects, e.g. converging dynamic 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
- B60W2554/802—Longitudinal 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral speed
-
- 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
- B60W2554/804—Relative longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (12)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20166617.9A EP3888988A1 (en) | 2020-03-30 | 2020-03-30 | Method and system for determining a usable distance in front of a vehicle |
EP20166617.9 | 2020-03-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113460043A CN113460043A (zh) | 2021-10-01 |
CN113460043B true CN113460043B (zh) | 2024-04-12 |
Family
ID=70058166
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110332434.1A Active CN113460043B (zh) | 2020-03-30 | 2021-03-29 | 确定车辆前方的可用距离的方法和*** |
Country Status (3)
Country | Link |
---|---|
US (1) | US20210300353A1 (zh) |
EP (1) | EP3888988A1 (zh) |
CN (1) | CN113460043B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3882813A1 (en) | 2020-03-20 | 2021-09-22 | Aptiv Technologies Limited | Method for generating a dynamic occupancy grid |
EP3905106A1 (en) | 2020-04-27 | 2021-11-03 | Aptiv Technologies Limited | Method for determining a drivable area |
EP3905105A1 (en) | 2020-04-27 | 2021-11-03 | Aptiv Technologies Limited | Method for determining a collision free space |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7124027B1 (en) * | 2002-07-11 | 2006-10-17 | Yazaki North America, Inc. | Vehicular collision avoidance system |
DE102009022588A1 (de) * | 2009-05-26 | 2010-12-02 | GM Global Technology Operations, Inc., Detroit | Verfahren und System zur Überwachung eines Umgebungsbereichs eines Fahrzeugs |
JP2013173416A (ja) * | 2012-02-24 | 2013-09-05 | Nissan Motor Co Ltd | 車両走行支援装置 |
CN103373351A (zh) * | 2012-04-16 | 2013-10-30 | 通用汽车环球科技运作有限责任公司 | 用于车辆横向控制的***和方法 |
CN104114423A (zh) * | 2012-02-14 | 2014-10-22 | 威伯科有限公司 | 用于测定车辆的紧急制动状况的方法 |
WO2017220174A1 (de) * | 2016-06-23 | 2017-12-28 | Wabco Gmbh | Verfahren zum ermitteln einer notbremssituation eines fahrzeuges sowie vorrichtung zur durchführung des verfahrens |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3982503B2 (ja) * | 2004-01-21 | 2007-09-26 | 日産自動車株式会社 | 車両用走行制御装置 |
JP2009120116A (ja) * | 2007-11-16 | 2009-06-04 | Hitachi Ltd | 車両衝突回避支援装置 |
JP4602444B2 (ja) * | 2008-09-03 | 2010-12-22 | 株式会社日立製作所 | ドライバ運転技能支援装置及びドライバ運転技能支援方法 |
US20120109421A1 (en) * | 2010-11-03 | 2012-05-03 | Kenneth Scarola | Traffic congestion reduction system |
DE102013001228A1 (de) * | 2013-01-25 | 2014-07-31 | Wabco Gmbh | Verfahren zum Ermitteln eines Auslösekriteriums für eine Bremsung und Notbremssystem für ein Fahrzeug |
JP6486640B2 (ja) * | 2014-10-09 | 2019-03-20 | 株式会社日立製作所 | 運転特性診断装置、運転特性診断システム、運転特性診断方法、情報出力装置、情報出力方法 |
JP6859907B2 (ja) * | 2017-09-08 | 2021-04-14 | トヨタ自動車株式会社 | 車両制御装置 |
JP2019156068A (ja) * | 2018-03-09 | 2019-09-19 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
US10642275B2 (en) * | 2018-06-18 | 2020-05-05 | Zoox, Inc. | Occulsion aware planning and control |
DE102019107412B3 (de) * | 2019-03-22 | 2020-07-09 | Zf Active Safety Gmbh | Steuerungssystem und Steuerungsverfahren zum Führen eines Kraftfahrzeugs |
WO2021120200A1 (en) * | 2019-12-20 | 2021-06-24 | Baidu.Com Times Technology (Beijing) Co., Ltd. | Spline curve and spiral curve based reference line smoothing method |
-
2020
- 2020-03-30 EP EP20166617.9A patent/EP3888988A1/en active Pending
-
2021
- 2021-03-08 US US17/195,536 patent/US20210300353A1/en active Pending
- 2021-03-29 CN CN202110332434.1A patent/CN113460043B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7124027B1 (en) * | 2002-07-11 | 2006-10-17 | Yazaki North America, Inc. | Vehicular collision avoidance system |
DE102009022588A1 (de) * | 2009-05-26 | 2010-12-02 | GM Global Technology Operations, Inc., Detroit | Verfahren und System zur Überwachung eines Umgebungsbereichs eines Fahrzeugs |
CN104114423A (zh) * | 2012-02-14 | 2014-10-22 | 威伯科有限公司 | 用于测定车辆的紧急制动状况的方法 |
JP2013173416A (ja) * | 2012-02-24 | 2013-09-05 | Nissan Motor Co Ltd | 車両走行支援装置 |
CN103373351A (zh) * | 2012-04-16 | 2013-10-30 | 通用汽车环球科技运作有限责任公司 | 用于车辆横向控制的***和方法 |
WO2017220174A1 (de) * | 2016-06-23 | 2017-12-28 | Wabco Gmbh | Verfahren zum ermitteln einer notbremssituation eines fahrzeuges sowie vorrichtung zur durchführung des verfahrens |
Also Published As
Publication number | Publication date |
---|---|
CN113460043A (zh) | 2021-10-01 |
US20210300353A1 (en) | 2021-09-30 |
EP3888988A1 (en) | 2021-10-06 |
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