DE112017001438B8 - Autonome Fahrunterstützungsvorrichtung und Computerprogramm - Google Patents

Autonome Fahrunterstützungsvorrichtung und Computerprogramm Download PDF

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Publication number
DE112017001438B8
DE112017001438B8 DE112017001438.7T DE112017001438T DE112017001438B8 DE 112017001438 B8 DE112017001438 B8 DE 112017001438B8 DE 112017001438 T DE112017001438 T DE 112017001438T DE 112017001438 B8 DE112017001438 B8 DE 112017001438B8
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DE
Germany
Prior art keywords
computer program
support device
autonomous driving
driving support
autonomous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE112017001438.7T
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English (en)
Other versions
DE112017001438B4 (de
DE112017001438T5 (de
Inventor
Masao MAURA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aisin Corp
Original Assignee
Aisin Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aisin Corp filed Critical Aisin Corp
Publication of DE112017001438T5 publication Critical patent/DE112017001438T5/de
Application granted granted Critical
Publication of DE112017001438B4 publication Critical patent/DE112017001438B4/de
Publication of DE112017001438B8 publication Critical patent/DE112017001438B8/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
DE112017001438.7T 2016-05-20 2017-05-17 Autonome Fahrunterstützungsvorrichtung und Computerprogramm Active DE112017001438B8 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2016-101234 2016-05-20
JP2016101234A JP6614025B2 (ja) 2016-05-20 2016-05-20 自動運転支援装置及びコンピュータプログラム
PCT/JP2017/018516 WO2017200003A1 (ja) 2016-05-20 2017-05-17 自動運転支援装置及びコンピュータプログラム

Publications (3)

Publication Number Publication Date
DE112017001438T5 DE112017001438T5 (de) 2018-12-06
DE112017001438B4 DE112017001438B4 (de) 2022-06-30
DE112017001438B8 true DE112017001438B8 (de) 2022-08-25

Family

ID=60325417

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112017001438.7T Active DE112017001438B8 (de) 2016-05-20 2017-05-17 Autonome Fahrunterstützungsvorrichtung und Computerprogramm

Country Status (5)

Country Link
US (1) US10858012B2 (de)
JP (1) JP6614025B2 (de)
CN (1) CN109070886B (de)
DE (1) DE112017001438B8 (de)
WO (1) WO2017200003A1 (de)

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MX2019002591A (es) * 2016-09-09 2019-07-04 Nissan Motor Metodo de control de desplazamiento y dispositivo de control de desplazamiento de vehiculo.
DE112018004163T5 (de) * 2017-09-29 2020-04-30 Hitachi Automotive Systems, Ltd. Steuereinrichtung und Steuerverfahren für autonomes Fahren
JP7081117B2 (ja) * 2017-11-06 2022-06-07 いすゞ自動車株式会社 操舵制御装置及び操舵制御方法
US10816990B2 (en) * 2017-12-21 2020-10-27 Baidu Usa Llc Non-blocking boundary for autonomous vehicle planning
US10816977B2 (en) * 2018-01-26 2020-10-27 Baidu Usa Llc Path and speed optimization fallback mechanism for autonomous vehicles
WO2019186692A1 (ja) * 2018-03-27 2019-10-03 日産自動車株式会社 自動運転車両の制御方法および制御装置
US10816985B2 (en) * 2018-04-17 2020-10-27 Baidu Usa Llc Method on moving obstacle representation for trajectory planning
TWI674984B (zh) * 2018-11-15 2019-10-21 財團法人車輛研究測試中心 自動駕駛車輛之行駛軌跡規劃系統及方法
TWI726274B (zh) * 2019-01-19 2021-05-01 宏碁股份有限公司 影像感測系統及其調控方法
CN109976341B (zh) * 2019-03-21 2022-09-23 驭势科技（北京）有限公司 一种自动驾驶车辆附着路网的方法、车载设备及存储介质
US11106212B2 (en) * 2019-03-26 2021-08-31 Baidu Usa Llc Path planning for complex scenes with self-adjusting path length for autonomous driving vehicles
JP7427869B2 (ja) 2019-04-25 2024-02-06 株式会社アドヴィックス 車両の制御装置
JP7310272B2 (ja) * 2019-04-25 2023-07-19 株式会社アドヴィックス 車両の制御装置
KR20200142155A (ko) * 2019-06-11 2020-12-22 주식회사 만도 운전자 보조 시스템, 그를 가지는 차량 및 그 제어 방법
CN110502012A (zh) * 2019-08-20 2019-11-26 武汉中海庭数据技术有限公司 一种他车轨迹预测方法、装置及存储介质
DE102019123900B3 (de) * 2019-09-05 2020-11-12 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren für optimiertes autonomes Fahren eines Fahrzeugs
US11292470B2 (en) * 2020-01-06 2022-04-05 GM Global Technology Operations LLC System method to establish a lane-change maneuver
JP7226357B2 (ja) * 2020-02-05 2023-02-21 トヨタ自動車株式会社 走行経路の設定装置および設定方法
JP7406432B2 (ja) 2020-03-31 2023-12-27 本田技研工業株式会社 移動体制御装置、移動体制御方法、およびプログラム
US11807240B2 (en) * 2020-06-26 2023-11-07 Toyota Research Institute, Inc. Methods and systems for evaluating vehicle behavior
CN114889650A (zh) * 2021-01-11 2022-08-12 广东科学技术职业学院 一种行驶车辆的方法以及无人驾驶车辆
CN113602270B (zh) * 2021-08-16 2023-05-12 广州小鹏汽车科技有限公司 交通工具的控制方法、控制装置、交通工具及存储介质
US20230162374A1 (en) * 2021-11-19 2023-05-25 Shenzhen Deeproute.Ai Co., Ltd Method for forecasting motion trajectory, storage medium, and computer device
JP2024072646A (ja) * 2022-11-16 2024-05-28 株式会社ジェイテクト 操舵制御装置

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DE102007061900A1 (de) 2007-12-20 2009-06-25 Volkswagen Ag Spurhalteassistenzsystem und -verfahren für ein Kraftfahrzeug
JP2013112067A (ja) 2011-11-25 2013-06-10 Toyota Motor Corp 走行進路生成装置および走行制御装置
DE102013017212A1 (de) 2013-10-16 2015-04-16 Audi Ag Kraftfahrzeug und Verfahren zur Steuerung eines Kraftfahrzeugs
DE102015108605A1 (de) 2014-06-05 2015-12-10 Gm Global Technology Operations, Llc Fahrzeugspurwechselpfad-Planungsalgorithmus für ein autonom-fahrendes Fahrzeug
US20160052547A1 (en) 2013-05-01 2016-02-25 Toyota Jidosha Kabushiki Kaisha Driving support apparatus and driving support method

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JPH112067A (ja) 1997-06-10 1999-01-06 Osaka Shinku Kagaku Kk 引き戸取付補助具及び引き戸取付方法
JP2001141467A (ja) * 1999-11-15 2001-05-25 Equos Research Co Ltd データベース修正装置及びデータベース修正方法
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JP2009040267A (ja) * 2007-08-09 2009-02-26 Toyota Motor Corp 走行制御装置
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JP5796632B2 (ja) * 2011-09-26 2015-10-21 トヨタ自動車株式会社 車両の運転支援システム
JP2013112068A (ja) 2011-11-25 2013-06-10 Toyota Motor Corp 走行進路生成装置および走行制御装置
CN105197010B (zh) * 2014-06-04 2018-03-27 长春孔辉汽车科技股份有限公司 辅助泊车***以及辅助泊车控制方法
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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007061900A1 (de) 2007-12-20 2009-06-25 Volkswagen Ag Spurhalteassistenzsystem und -verfahren für ein Kraftfahrzeug
JP2013112067A (ja) 2011-11-25 2013-06-10 Toyota Motor Corp 走行進路生成装置および走行制御装置
US20160052547A1 (en) 2013-05-01 2016-02-25 Toyota Jidosha Kabushiki Kaisha Driving support apparatus and driving support method
DE102013017212A1 (de) 2013-10-16 2015-04-16 Audi Ag Kraftfahrzeug und Verfahren zur Steuerung eines Kraftfahrzeugs
DE102015108605A1 (de) 2014-06-05 2015-12-10 Gm Global Technology Operations, Llc Fahrzeugspurwechselpfad-Planungsalgorithmus für ein autonom-fahrendes Fahrzeug

Also Published As

Publication number Publication date
US10858012B2 (en) 2020-12-08
US20190084579A1 (en) 2019-03-21
JP2017206181A (ja) 2017-11-24
CN109070886A (zh) 2018-12-21
CN109070886B (zh) 2021-09-21
DE112017001438B4 (de) 2022-06-30
DE112017001438T5 (de) 2018-12-06
JP6614025B2 (ja) 2019-12-04
WO2017200003A1 (ja) 2017-11-23

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R012 Request for examination validly filed
R081 Change of applicant/patentee

Owner name: AISIN CORPORATION, KARIYA-SHI, JP

Free format text: FORMER OWNER: AISIN AW CO., LTD., ANJO-SHI, AICHI, JP

R016 Response to examination communication
R018 Grant decision by examination section/examining division
R020 Patent grant now final