CN114523963B - 预测与宿主车辆的道路碰撞的***和方法 - Google Patents
预测与宿主车辆的道路碰撞的***和方法 Download PDFInfo
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- CN114523963B CN114523963B CN202111396141.6A CN202111396141A CN114523963B CN 114523963 B CN114523963 B CN 114523963B CN 202111396141 A CN202111396141 A CN 202111396141A CN 114523963 B CN114523963 B CN 114523963B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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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- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
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- B60W2554/4044—Direction of movement, e.g. backwards
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4046—Behavior, e.g. aggressive or erratic
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (14)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20209229.2 | 2020-11-23 | ||
EP20209229.2A EP4001042B1 (en) | 2020-11-23 | 2020-11-23 | System and method for predicting road collisions with a host vehicle |
Publications (2)
Publication Number | Publication Date |
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CN114523963A CN114523963A (zh) | 2022-05-24 |
CN114523963B true CN114523963B (zh) | 2024-01-30 |
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CN202111396141.6A Active CN114523963B (zh) | 2020-11-23 | 2021-11-23 | 预测与宿主车辆的道路碰撞的***和方法 |
Country Status (3)
Country | Link |
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US (1) | US11926299B2 (zh) |
EP (1) | EP4001042B1 (zh) |
CN (1) | CN114523963B (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11960009B2 (en) | 2020-12-30 | 2024-04-16 | Zoox, Inc. | Object contour determination |
US12030522B2 (en) * | 2020-12-30 | 2024-07-09 | Zoox, Inc. | Collision avoidance using an object contour |
CN115092136B (zh) * | 2022-07-27 | 2023-09-12 | 广州小鹏自动驾驶科技有限公司 | 车速规划方法、装置、车辆及存储介质 |
DE102022123474A1 (de) | 2022-09-14 | 2024-03-14 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Berechnen einer prognostizierten Zeit bis zu einer möglichen Kollision zweier Kraftfahrzeuge, Computerprogramm und Fahrerassistenzsystem |
CN117944671A (zh) * | 2022-10-27 | 2024-04-30 | 华为技术有限公司 | 一种目标行为预测方法、智能设备及车辆 |
CN117250602B (zh) * | 2023-11-15 | 2024-03-15 | 中汽研汽车检验中心(天津)有限公司 | 碰撞类型预测方法、设备和存储介质 |
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JP2011227582A (ja) * | 2010-04-15 | 2011-11-10 | Toyota Motor Corp | 車両用衝突予測装置 |
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CN110352153A (zh) * | 2018-02-02 | 2019-10-18 | 辉达公司 | 自主车辆中用于障碍物躲避的安全程序分析 |
CN111133448A (zh) * | 2018-02-09 | 2020-05-08 | 辉达公司 | 使用安全到达时间控制自动驾驶车辆 |
CN111824139A (zh) * | 2019-04-23 | 2020-10-27 | 百度(美国)有限责任公司 | 用于预测与自动驾驶车辆相关的运动对象的运动的方法 |
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JP4623057B2 (ja) * | 2007-06-05 | 2011-02-02 | トヨタ自動車株式会社 | 自車両の移動領域取得装置 |
DE102008062916A1 (de) * | 2008-12-23 | 2010-06-24 | Continental Safety Engineering International Gmbh | Verfahren zur Ermittlung einer Kollisionswahrscheinlichkeit eines Fahrzeuges mit einem Lebewesen |
DE102013019202B4 (de) | 2013-11-15 | 2016-08-11 | Audi Ag | Fahrerassistenzsystem mit intuitiver Fahrerführung |
KR20160023193A (ko) * | 2014-08-21 | 2016-03-03 | 현대자동차주식회사 | 긴급 제동 시스템에서 전방위 확장 적용을 위한 충돌 위험 판단 방법 및 장치 |
EP2990290B1 (en) * | 2014-09-01 | 2019-11-06 | Honda Research Institute Europe GmbH | Method and system for post-collision manoeuvre planning and vehicle equipped with such system |
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JP7063043B2 (ja) | 2018-03-26 | 2022-05-09 | 株式会社デンソー | 車両制御装置、および、決定方法 |
EP3683782B1 (en) * | 2019-01-18 | 2023-06-28 | Honda Research Institute Europe GmbH | Method for assisting a driver, driver assistance system, and vehicle including such driver assistance system |
CN110264721B (zh) | 2019-07-01 | 2021-04-20 | 北京理工大学 | 一种城市交叉口周边车辆轨迹预测方法 |
-
2020
- 2020-11-23 EP EP20209229.2A patent/EP4001042B1/en active Active
-
2021
- 2021-11-03 US US17/518,462 patent/US11926299B2/en active Active
- 2021-11-23 CN CN202111396141.6A patent/CN114523963B/zh active Active
Patent Citations (6)
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DE102006036363A1 (de) * | 2005-09-15 | 2007-04-05 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum Prädizieren einer Bewegungstrajektorie |
JP2011227582A (ja) * | 2010-04-15 | 2011-11-10 | Toyota Motor Corp | 車両用衝突予測装置 |
DE102012009555A1 (de) * | 2012-05-12 | 2012-11-29 | Daimler Ag | Verfahren zur Unterstützung eines Fahrers beim Führen eines Fahrzeugs und Fahrerassistenzsystem |
CN110352153A (zh) * | 2018-02-02 | 2019-10-18 | 辉达公司 | 自主车辆中用于障碍物躲避的安全程序分析 |
CN111133448A (zh) * | 2018-02-09 | 2020-05-08 | 辉达公司 | 使用安全到达时间控制自动驾驶车辆 |
CN111824139A (zh) * | 2019-04-23 | 2020-10-27 | 百度(美国)有限责任公司 | 用于预测与自动驾驶车辆相关的运动对象的运动的方法 |
Also Published As
Publication number | Publication date |
---|---|
US11926299B2 (en) | 2024-03-12 |
CN114523963A (zh) | 2022-05-24 |
US20220161767A1 (en) | 2022-05-26 |
EP4001042A1 (en) | 2022-05-25 |
EP4001042B1 (en) | 2024-07-17 |
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