JP6874834B2 - 走行支援装置の動作予測方法及び動作予測装置 - Google Patents
走行支援装置の動作予測方法及び動作予測装置 Download PDFInfo
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- JP6874834B2 JP6874834B2 JP2019518628A JP2019518628A JP6874834B2 JP 6874834 B2 JP6874834 B2 JP 6874834B2 JP 2019518628 A JP2019518628 A JP 2019518628A JP 2019518628 A JP2019518628 A JP 2019518628A JP 6874834 B2 JP6874834 B2 JP 6874834B2
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- 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
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
- B60W50/0097—Predicting future conditions
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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
- 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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- 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
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- G—PHYSICS
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- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- 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]
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- 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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
-
- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/097—Supervising of traffic control systems, e.g. by giving an alarm if two crossing streets have green light simultaneously
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/35—Road bumpiness, e.g. potholes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
52 他車両
53 水たまり(路面の状態)
54a、54b 轍(路面の状態)
55 歩行者(他車両の進行方向前方の物体)
56 先行車両(他車両の進行方向前方の物体)
100マイクロコンピュータ(制御部)
Claims (4)
- 自車両の周囲における他車両の動作を予測した結果に基づいて自車両の走行を支援する走行支援装置の動作予測方法において、
前記他車両の周囲における路面上の轍を示す情報を取得し、
前記路面上の轍を示す情報に基づいて前記轍に沿って走行する前記他車両の動作を予測する
ことを特徴とする走行支援装置の動作予測方法。 - 前記路面上の轍の上に物体が存在するか否かを判断し、
前記路面上の轍を示す情報及び前記路面上の轍の上に物体が存在するか否かの判断結果に基づいて、前記他車両の動作を予測する
ことを特徴とする請求項1に記載の走行支援装置の動作予測方法。 - 前記他車両は停車していることを特徴とする請求項1に記載の走行支援装置の動作予測方法。
- 自車両の周囲における他車両の位置に基づいて前記他車両の動作を予測する制御部を備える走行支援装置の動作予測装置において、
前記制御部は、
前記他車両の周囲における路面上の轍を示す情報を取得し、
前記路面上の轍を示す情報に基づいて前記轍に沿って走行する前記他車両の動作を予測する
ことを特徴とする走行支援装置の動作予測装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2017/018297 WO2018211582A1 (ja) | 2017-05-16 | 2017-05-16 | 走行支援装置の動作予測方法及び動作予測装置 |
Publications (2)
Publication Number | Publication Date |
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JPWO2018211582A1 JPWO2018211582A1 (ja) | 2020-04-02 |
JP6874834B2 true JP6874834B2 (ja) | 2021-05-19 |
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JP2019518628A Active JP6874834B2 (ja) | 2017-05-16 | 2017-05-16 | 走行支援装置の動作予測方法及び動作予測装置 |
Country Status (10)
Country | Link |
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US (1) | US20200164873A1 (ja) |
EP (1) | EP3627470A4 (ja) |
JP (1) | JP6874834B2 (ja) |
KR (1) | KR20190135051A (ja) |
CN (1) | CN110622226A (ja) |
BR (1) | BR112019024097A2 (ja) |
CA (1) | CA3063820A1 (ja) |
MX (1) | MX2019013555A (ja) |
RU (1) | RU2721387C1 (ja) |
WO (1) | WO2018211582A1 (ja) |
Families Citing this family (14)
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JP7113383B2 (ja) * | 2018-03-26 | 2022-08-05 | パナソニックIpマネジメント株式会社 | 運転支援システム、運転支援装置、運転支援方法 |
JP6789440B2 (ja) * | 2018-03-30 | 2020-11-25 | 三菱電機株式会社 | 物体同定装置 |
CN111223319A (zh) * | 2018-11-23 | 2020-06-02 | 宝沃汽车(中国)有限公司 | 行车策略规划方法、装置和车辆 |
US11390288B2 (en) * | 2018-12-11 | 2022-07-19 | Nissan Motor Co., Ltd. | Other-vehicle action prediction method and other-vehicle action prediction device |
CN109583151B (zh) * | 2019-02-20 | 2023-07-21 | 阿波罗智能技术(北京)有限公司 | 车辆的行驶轨迹预测方法及装置 |
JP2020147139A (ja) * | 2019-03-13 | 2020-09-17 | 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 |
EP4074563A4 (en) * | 2019-12-30 | 2022-12-28 | Huawei Technologies Co., Ltd. | TRAJECTORY PREDICTION METHOD AND ASSOCIATED DEVICE |
JP7313298B2 (ja) * | 2020-02-13 | 2023-07-24 | 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 |
CN111325980B (zh) * | 2020-02-28 | 2022-01-14 | 浙江吉利汽车研究院有限公司 | 一种基于路况监测的驾驶方法、***和装置 |
JP7268629B2 (ja) * | 2020-03-23 | 2023-05-08 | トヨタ自動車株式会社 | 運転支援システム |
RU2757037C1 (ru) * | 2020-04-23 | 2021-10-11 | Общество с ограниченной ответственностью «Яндекс Беспилотные Технологии» | Способ и система для выявления наличия колеи на текущей местности |
GB2599727A (en) * | 2020-10-12 | 2022-04-13 | Daimler Ag | Predicting the behavior of a vehicle using agent-to-agent relations to control an autonomous vehicle |
CN112550308B (zh) * | 2020-12-17 | 2022-07-08 | 东风汽车有限公司 | 一种防止路面积水溅射行人的方法、车载终端及*** |
CN114475656B (zh) * | 2022-02-21 | 2024-06-14 | 中国第一汽车股份有限公司 | 行驶轨迹预测方法、装置、电子设备以及存储介质 |
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-
2017
- 2017-05-16 JP JP2019518628A patent/JP6874834B2/ja active Active
- 2017-05-16 EP EP17910176.1A patent/EP3627470A4/en not_active Ceased
- 2017-05-16 CA CA3063820A patent/CA3063820A1/en not_active Abandoned
- 2017-05-16 KR KR1020197033266A patent/KR20190135051A/ko not_active Application Discontinuation
- 2017-05-16 MX MX2019013555A patent/MX2019013555A/es unknown
- 2017-05-16 CN CN201780090716.7A patent/CN110622226A/zh active Pending
- 2017-05-16 WO PCT/JP2017/018297 patent/WO2018211582A1/ja unknown
- 2017-05-16 RU RU2019141079A patent/RU2721387C1/ru active
- 2017-05-16 US US16/612,896 patent/US20200164873A1/en not_active Abandoned
- 2017-05-16 BR BR112019024097-7A patent/BR112019024097A2/pt not_active IP Right Cessation
Also Published As
Publication number | Publication date |
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CN110622226A (zh) | 2019-12-27 |
JPWO2018211582A1 (ja) | 2020-04-02 |
US20200164873A1 (en) | 2020-05-28 |
EP3627470A1 (en) | 2020-03-25 |
RU2721387C1 (ru) | 2020-05-19 |
CA3063820A1 (en) | 2019-12-09 |
EP3627470A4 (en) | 2020-05-27 |
KR20190135051A (ko) | 2019-12-05 |
BR112019024097A2 (pt) | 2020-06-02 |
MX2019013555A (es) | 2019-12-18 |
WO2018211582A1 (ja) | 2018-11-22 |
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