JP6542196B2 - ルートの自動運転 - Google Patents
ルートの自動運転 Download PDFInfo
- Publication number
- JP6542196B2 JP6542196B2 JP2016505740A JP2016505740A JP6542196B2 JP 6542196 B2 JP6542196 B2 JP 6542196B2 JP 2016505740 A JP2016505740 A JP 2016505740A JP 2016505740 A JP2016505740 A JP 2016505740A JP 6542196 B2 JP6542196 B2 JP 6542196B2
- Authority
- JP
- Japan
- Prior art keywords
- route
- driving strategy
- driving
- information
- strategy
- 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
Links
- 238000000034 method Methods 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 238000012790 confirmation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000013486 operation strategy Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- 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
- G01C21/34—Route searching; Route guidance
-
- 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
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
-
- 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
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
-
- 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
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
-
- 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
-
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0074—Driver shifts control to the controller, e.g. by pressing a button
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
-
- 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
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2556/10—Historical data
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Atmospheric Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Human Computer Interaction (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Navigation (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
本発明は、所定のルートの自動運転のための技術を提供する、という課題に基づく。この課題は主請求項の発明特定事項を備える方法、コンピュータプログラム製品、及び、装置によって解決される。下位の請求項は有利な実施形態を表している。
図1は車両105に搭載されている装置100を示す。装置100は、所定のルートの自動運転を実現するように構成されている。装置100は、処理装置112を備えており、この処理装置112は、複数のセンサ115と、場合によってはアクチュエータ120と、更に有利には、記憶装置125と接続されている。有利には更に、車両105の運転者との相互作用のために操作ユニット130が設けられている。操作ユニット130の代わりに、インタフェース135が設けられていてもよく、このインタフェース135を介して他の機器、例えばスマートフォンや、モバイルコンピュータ又はタブレットPCが、操作エレメント130として接続されていてもよい。さらに、外部のインフラストラクチャ145とのデータ接続を確立する第2のインタフェース140が設けられていてもよい。外部のインフラストラクチャ145は中央サーバや、サーバのネットワーク、又は、データ技術的にネットワーク化されたサーバの緩やかな集合であってもよい。さらに、若しくは、代わりに、外部のインフラストラクチャ145は、1つのまたは多数の車両105を含むこともできる。
105 車両
112 処理装置
120 アクチュエータ
125 記憶装置
130 操作ユニット
135 インタフェース
140 (第2の)インタフェース
145 外部のインフラストラクチャ
150 カメラ
155 レーザスキャナ
160 ナビゲーション受信器
165 スピードコントローラ
170 方向コントローラ
175 減速コントローラ
Claims (10)
- 所定の順序で特徴付けられた運転ルートと、車線の選択、障害による迂回、又は、動的なルート制御に対する反応を含む局所的な走行の決定とを含む運転ストラテジを用いて所定のルート(305)を自動運転するための方法(200)であって、
前記ルート(305)を手動運転する間に、ルート情報及び周辺情報を走査するステップ(210)と、
走査された前記ルート情報及び周辺情報に基づいて、自動運転するための前記運転ストラテジである自動運転ストラテジ(330)を決定するステップ(240)と、
前記ルート(305)を手動運転する間に運転者が取る前記運転ストラテジである手動運転ストラテジ(320)と前記自動運転ストラテジ(330)とを比較するステップ(250)と、
前記自動運転ストラテジ(330)が前記手動運転ストラテジ(320)と所定の基準より大きく異なっている場合には、前記走査するステップ(210)、前記決定するステップ(240)及び前記比較するステップ(250)を繰り返し、前記自動運転ストラテジ(330)が前記手動運転ストラテジ(320)と前記所定の基準より小さくしか異なっていない場合には、前記自動運転ストラテジ(330)に基づく前記ルート(305)の自動運転を実現するステップ(270)と、
を含み、
前記決定するステップ(240)では、前記走査された前記ルート情報及び周辺情報から、選択された前記ルート情報及び周辺情報としての指標(335)が決定され(215)、この決定された前記指標(335)に基づいて、前記自動運転ストラテジ(330)が決定される(240)、
ことを特徴とする方法(200)。 - 前記自動運転は、前記ルート(305)が少なくとも1回、完全に手動運転されて(260)から可能にされる、請求項1記載の方法(200)。
- 前記自動運転は、前記ルート(305)が所定の回数より多く手動運転されてから(260)可能にされる、請求項2記載の方法(200)。
- 前記指標(335)と、当該指標(335)の決定の基礎となった前記走査されたルート情報および周辺情報とが運転者に提供され(220)、前記指標(335)の決定が検査される(225)、請求項1から3のいずれか1項記載の方法(200)。
- 前記指標(335)が、前記車両の外部で使用可能にされる(230)、請求項1から4のいずれか1項記載の方法(200)。
- 前記ルート情報及び周辺情報に基づいて決定された前記指標(335)が、外部のインフラストラクチャ(145)によって受信され、前記指標(335)に基づいて前記自動運転ストラテジ(330)が決定される(240)、請求項1から5いずれか1項記載の方法(200)。
- 前記ルート(305)の前記自動運転は、直前の手動運転後の所定の時間内のみ実現される(265)、請求項1から6いずれか1項記載の方法(200)。
- 処理装置(112)上で実行される際に、請求項1から7いずれか1項記載の方法(200)を実行するためのプログラムコード手段を備えたコンピュータプログラム。
- 請求項8に記載のコンピュータプログラムが記憶されている、コンピュータで読み取り可能な記憶媒体。
- 所定の順序で特徴付けられた運転ルートと、車線の選択、障害による迂回、又は、動的なルート制御に対する反応を含む局所的な走行の決定とを含む運転ストラテジを用いて所定のルート(305)を自動運転するための装置(100)であって、
前記ルート(305)を手動運転する間に、ルート情報及び周辺情報を走査する走査装置(115)と、
走査された前記ルート情報及び周辺情報に基づいて、自動運転するための前記運転ストラテジである自動運転ストラテジ(330)を決定する処理装置(112)と、
を備え、
当該処理装置(112)は、
前記走査された前記ルート情報及び周辺情報から、選択された前記ルート情報及び周辺情報としての指標(335)を決定し、この決定された前記指標(335)に基づいて、前記自動運転ストラテジ(330)を決定し、
前記ルート(305)の手動運転での走行の間に運転者が取る前記運転ストラテジである手動運転ストラテジ(320)と前記自動運転ストラテジ(330)とを比較し、
前記自動運転ストラテジ(330)が前記手動運転ストラテジ(320)と所定の基準より大きく異なっている場合には、前記走査、前記決定及び前記比較を繰り返し、前記自動運転ストラテジ(330)が前記手動運転ストラテジ(320)と前記所定の基準より小さくしか異なっていない場合には、前記自動運転ストラテジ(330)に基づく前記ルート(305)の自動運転を実現する、
ように構成されている、装置(100)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013205840.3A DE102013205840A1 (de) | 2013-04-03 | 2013-04-03 | Automatisches Befahren einer Strecke |
DE102013205840.3 | 2013-04-03 | ||
PCT/EP2014/052681 WO2014161683A1 (de) | 2013-04-03 | 2014-02-12 | Automatisches befahren einer strecke |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016515736A JP2016515736A (ja) | 2016-05-30 |
JP6542196B2 true JP6542196B2 (ja) | 2019-07-10 |
Family
ID=50115852
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016505740A Active JP6542196B2 (ja) | 2013-04-03 | 2014-02-12 | ルートの自動運転 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9784585B2 (ja) |
EP (1) | EP2981951B1 (ja) |
JP (1) | JP6542196B2 (ja) |
CN (1) | CN105122327A (ja) |
DE (1) | DE102013205840A1 (ja) |
WO (1) | WO2014161683A1 (ja) |
Families Citing this family (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9541409B2 (en) | 2014-12-18 | 2017-01-10 | Nissan North America, Inc. | Marker aided autonomous vehicle localization |
US9625906B2 (en) | 2015-01-15 | 2017-04-18 | Nissan North America, Inc. | Passenger docking location selection |
US9448559B2 (en) | 2015-01-15 | 2016-09-20 | Nissan North America, Inc. | Autonomous vehicle routing and navigation using passenger docking locations |
US9519290B2 (en) | 2015-01-15 | 2016-12-13 | Nissan North America, Inc. | Associating passenger docking locations with destinations |
US9697730B2 (en) | 2015-01-30 | 2017-07-04 | Nissan North America, Inc. | Spatial clustering of vehicle probe data |
US9568335B2 (en) | 2015-01-30 | 2017-02-14 | Nissan North America, Inc. | Associating parking areas with destinations based on automatically identified associations between vehicle operating information and non-vehicle operating information |
US9778658B2 (en) * | 2015-03-13 | 2017-10-03 | Nissan North America, Inc. | Pattern detection using probe data |
JP6404750B2 (ja) * | 2015-03-13 | 2018-10-17 | トヨタ自動車株式会社 | ナビゲーションシステム |
CN107207010B (zh) * | 2015-03-31 | 2019-10-18 | 日立汽车***株式会社 | 自动驾驶控制装置 |
JP6376059B2 (ja) * | 2015-07-06 | 2018-08-22 | トヨタ自動車株式会社 | 自動運転車両の制御装置 |
US9796388B2 (en) * | 2015-12-17 | 2017-10-24 | Ford Global Technologies, Llc | Vehicle mode determination |
DE102016200792B4 (de) * | 2016-01-21 | 2022-02-24 | Robert Bosch Gmbh | Verfahren und System zum Ermitteln von Daten für eine fahrerlose Fahrt eines Kraftfahrzeugs |
JP6646856B2 (ja) * | 2016-03-31 | 2020-02-14 | パナソニックIpマネジメント株式会社 | 運転支援装置および運転支援方法、自動運転制御装置、車両、プログラム |
DE102017002964A1 (de) * | 2016-04-22 | 2017-10-26 | Sew-Eurodrive Gmbh & Co Kg | Verfahren zum Betreiben einer Fertigungsanlage und Fertigungsanlage |
JP6355111B2 (ja) * | 2016-04-28 | 2018-07-11 | 本田技研工業株式会社 | 車両制御システム |
DE102016007567A1 (de) * | 2016-06-21 | 2017-12-21 | Audi Ag | Verfahren zum Betreiben eines zum Ermitteln einer zu befahrenden Trajektorie und/oder zum Durchführen von Fahreingriffen ausgebildeten Fahrzeugsystems, Verfahren zum Betreiben eines Steuerungssystems und Kraftfahrzeug |
CN107554530B (zh) * | 2016-06-24 | 2022-05-13 | 阿尔派株式会社 | 驾驶辅助装置、驾驶辅助方法及驾驶辅助*** |
DE102016212009A1 (de) * | 2016-07-01 | 2018-01-04 | Ford Global Technologies, Llc | Verfahren zum Betrieb eines selbstfahrenden Kraftfahrzeugs und autonome Fahreinheit für ein selbstfahrendes Kraftfahrzeug |
US10146222B2 (en) * | 2016-07-12 | 2018-12-04 | Elwha Llc | Driver training in an autonomous vehicle |
JP6597516B2 (ja) * | 2016-08-10 | 2019-10-30 | 株式会社デンソー | 自動運転システム診断装置 |
DE102016216520A1 (de) * | 2016-09-01 | 2018-03-01 | Robert Bosch Gmbh | Verfahren und System zum Betrieb eines Fahrzeugs |
US10133273B2 (en) * | 2016-09-20 | 2018-11-20 | 2236008 Ontario Inc. | Location specific assistance for autonomous vehicle control system |
DE102016219987A1 (de) | 2016-10-13 | 2018-04-19 | Audi Ag | Verfahren zum Betrieb eines Kraftfahrzeugs in einer Navigationsumgebung und Kraftfahrzeug |
US10421460B2 (en) * | 2016-11-09 | 2019-09-24 | Baidu Usa Llc | Evaluation framework for decision making of autonomous driving vehicle |
CN106667680A (zh) * | 2016-11-15 | 2017-05-17 | 广州视源电子科技股份有限公司 | 电动轮椅及其控制方法 |
EP3381758B1 (en) * | 2017-03-30 | 2020-03-04 | Alpine Electronics, Inc. | Driver information system and method for a vehicle capable of driving in an autonomous driving mode |
CN107139917B (zh) * | 2017-04-27 | 2019-05-31 | 江苏大学 | 一种基于混杂理论的无人驾驶汽车横向控制***和方法 |
DE102017211556A1 (de) * | 2017-07-06 | 2019-01-10 | Robert Bosch Gmbh | Verfahren zur Routenplanung für ein Kraftfahrzeug mit einem automatisierten Fahrzeugsystem und Kraftfahrzeug mit einem automatisierten Fahrzeugsystem |
DE102017214611B4 (de) | 2017-08-22 | 2023-02-02 | Audi Ag | Verfahren zum Überprüfen eines Reaktionssignals einer Fahrzeugkomponente sowie Überprüfungsvorrichtung und Kraftfahrzeug |
KR101992416B1 (ko) * | 2017-09-15 | 2019-06-24 | 엘지전자 주식회사 | 차량에 구비된 차량 제어 장치 및 차량의 제어방법 |
US11022971B2 (en) * | 2018-01-16 | 2021-06-01 | Nio Usa, Inc. | Event data recordation to identify and resolve anomalies associated with control of driverless vehicles |
US10710607B2 (en) * | 2018-02-12 | 2020-07-14 | Lenovo (Singapore) Pte. Ltd. | Systems and methods for identifying first route to destination as involving less human driving of vehicle than second route to destination |
CN108820042B (zh) * | 2018-05-25 | 2020-04-10 | 东软集团股份有限公司 | 一种自动驾驶方法及装置 |
DE102018214506A1 (de) * | 2018-08-28 | 2020-03-05 | Zf Friedrichshafen Ag | Verfahren zur Weiterentwicklung eines Fahrerassistenzsystems und Fahrerassistenzsystem für ein Fahrzeug |
DE102019104232B4 (de) * | 2019-02-20 | 2021-01-28 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Vorrichtung und verfahren zur freigabe einer fahrfunktion für teilautonomes fahren |
CN109839937B (zh) * | 2019-03-12 | 2023-04-07 | 百度在线网络技术(北京)有限公司 | 确定车辆自动驾驶规划策略的方法、装置、计算机设备 |
CN110058588B (zh) | 2019-03-19 | 2021-07-02 | 驭势科技(北京)有限公司 | 一种自动驾驶***升级的方法、自动驾驶***及车载设备 |
CN112572461B (zh) * | 2019-09-30 | 2022-10-21 | 阿波罗智能技术(北京)有限公司 | 控制车辆的方法、装置、设备和存储介质 |
DE102021103732A1 (de) | 2021-02-17 | 2022-08-18 | Cariad Se | Fahrerassistenzsystem, Kraftfahrzeug und Verfahren zur automatischen Längsführung eines Kraftfahrzeugs |
CN114475631B (zh) * | 2022-02-22 | 2023-03-24 | 阿波罗智能技术(北京)有限公司 | 驾驶数据处理方法装置、设备、自动驾驶车辆介质及产品 |
CN114735028B (zh) * | 2022-04-28 | 2023-11-14 | 中铁十九局集团矿业投资有限公司 | 一种自动驾驶简易地图快速生成方法和装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5956250A (en) * | 1990-02-05 | 1999-09-21 | Caterpillar Inc. | Apparatus and method for autonomous vehicle navigation using absolute data |
JP2738120B2 (ja) * | 1990-03-23 | 1998-04-08 | トヨタ自動車株式会社 | 車両用自動運転装置 |
US7343232B2 (en) * | 2003-06-20 | 2008-03-11 | Geneva Aerospace | Vehicle control system including related methods and components |
JP4049069B2 (ja) * | 2003-09-22 | 2008-02-20 | 日産自動車株式会社 | 車両用走行制御システム、情報センタ、車載機、及び車両用走行制御方法 |
JP4638277B2 (ja) * | 2005-05-17 | 2011-02-23 | 富士重工業株式会社 | 車両の走行制御装置 |
JP4952268B2 (ja) * | 2007-01-24 | 2012-06-13 | トヨタ自動車株式会社 | 走行制御計画生成装置 |
US9520064B2 (en) * | 2008-07-10 | 2016-12-13 | Mitsubishi Electric Corporation | Train-of-vehicle travel support device, control system and processor unit |
US8676466B2 (en) * | 2009-04-06 | 2014-03-18 | GM Global Technology Operations LLC | Fail-safe speed profiles for cooperative autonomous vehicles |
US8260482B1 (en) * | 2010-04-28 | 2012-09-04 | Google Inc. | User interface for displaying internal state of autonomous driving system |
JP2012051441A (ja) * | 2010-08-31 | 2012-03-15 | Toyota Motor Corp | 自動運転車両制御装置 |
CN103781685B (zh) * | 2011-08-25 | 2016-08-24 | 日产自动车株式会社 | 车辆用自主行驶控制*** |
-
2013
- 2013-04-03 DE DE102013205840.3A patent/DE102013205840A1/de not_active Withdrawn
-
2014
- 2014-02-12 CN CN201480019741.2A patent/CN105122327A/zh active Pending
- 2014-02-12 EP EP14705095.9A patent/EP2981951B1/de active Active
- 2014-02-12 JP JP2016505740A patent/JP6542196B2/ja active Active
- 2014-02-12 WO PCT/EP2014/052681 patent/WO2014161683A1/de active Application Filing
- 2014-12-12 US US14/782,249 patent/US9784585B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2016515736A (ja) | 2016-05-30 |
EP2981951A1 (de) | 2016-02-10 |
EP2981951B1 (de) | 2020-01-01 |
US20160047660A1 (en) | 2016-02-18 |
US9784585B2 (en) | 2017-10-10 |
WO2014161683A1 (de) | 2014-10-09 |
DE102013205840A1 (de) | 2014-10-09 |
CN105122327A (zh) | 2015-12-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6542196B2 (ja) | ルートの自動運転 | |
US11385657B2 (en) | Systems and methods for controlling autonomous vehicles that provide a vehicle service to users | |
KR102222323B1 (ko) | 자율 차량들을 위한 동적 라우팅 | |
US10942516B2 (en) | Vehicle path updates via remote vehicle control | |
US12030517B2 (en) | Method and system for determining a driving maneuver | |
US10732625B2 (en) | Autonomous vehicle operations with automated assistance | |
US11009602B2 (en) | Method and system for environment detection | |
US9952054B2 (en) | Autonomous driving control apparatus and method using navigation technology | |
US11643092B2 (en) | Vehicle lane change prediction | |
US8258980B2 (en) | Method and device for driver assistance by generating lane information for supporting of replacing lane information of a video-based lane information device | |
CN101256713B (zh) | 驾驶支援***及车载装置 | |
CN109863074B (zh) | 用于运行交通工具的方法和用于实施该方法的控制设备 | |
CN106778548B (zh) | 用于检测障碍物的方法和装置 | |
CN104890595A (zh) | 在自动驾驶车辆中预测自动驾驶可用时间的设备和方法 | |
CN112230656B (zh) | 一种园区车辆自动驾驶方法及其***、客户端、存储介质 | |
JP7035204B2 (ja) | 車両制御装置、自動運転車開発システム、車両制御方法、およびプログラム | |
CN111497853B (zh) | 用于传感器诊断的***和方法 | |
JP6792160B2 (ja) | 移動支援システム、移動支援装置、移動支援端末、移動支援方法、地図作成システム、地図作成装置、及び情報取得端末 | |
CN110733496A (zh) | 信息处理装置、信息处理方法以及记录介质 | |
KR20210082448A (ko) | 정보 처리 장치, 정보 처리 방법 및 정보 처리 프로그램 | |
CN113734193A (zh) | 用于估计接管时间的***和方法 | |
JP4946724B2 (ja) | 運転支援装置及び運転支援システム | |
KR102350197B1 (ko) | 주행경로 설정장치 및 주행경로 설정방법 | |
JP2017162472A (ja) | 自動車のための情報システム | |
Flores et al. | A multi-agent, in-vehicle database recorder system for supporting traffic hotspots detection, geographical representation and analysis |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20160926 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20161221 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20170220 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170518 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20170710 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20171110 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20171117 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20171208 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190612 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6542196 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |