MX2020002227A - Metodo para corregir error de posicion y dispositivo para corregir error de posicion en vehiculo de conduccion asistida. - Google Patents

Metodo para corregir error de posicion y dispositivo para corregir error de posicion en vehiculo de conduccion asistida.

Info

Publication number
MX2020002227A
MX2020002227A MX2020002227A MX2020002227A MX2020002227A MX 2020002227 A MX2020002227 A MX 2020002227A MX 2020002227 A MX2020002227 A MX 2020002227A MX 2020002227 A MX2020002227 A MX 2020002227A MX 2020002227 A MX2020002227 A MX 2020002227A
Authority
MX
Mexico
Prior art keywords
correction amount
horizontal
target route
horizontal correction
unit
Prior art date
Application number
MX2020002227A
Other languages
English (en)
Inventor
Satoshi Tange
Takashi Fukushige
Original Assignee
Nissan Motor
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 Nissan Motor filed Critical Nissan Motor
Publication of MX2020002227A publication Critical patent/MX2020002227A/es

Links

Classifications

    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0225—Failure correction strategy
    • 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
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)

Abstract

Se hace que una posición de un vehículo principal después de haber pasado a través de una intersección por medio de un giro a la derecha o a la izquierda se acerque al centro del carril incluso en intersecciones sin líneas blancas o un cruce para peatones. En un dispositivo para corregir un error de posición de un vehículo autónomo provisto con una unidad (3) de control de navegación que corrige el error de navegación durante el desplazamiento autónomo, la unidad (3) de control de navegación incluye, en un corrector 36 de la ruta objetivo que corrige una ruta objetivo, una unidad (361) de consolidación de la información de los límites del camino, una unidad (362) de cálculo de la cantidad de corrección lateral, y una unidad (363) de movimiento lateral. La unidad (361) de consolidación de la información de los límites del camino detecta un límite de carril de un carril en el cual se desplaza el vehículo principal. La unidad (362) de cálculo de la cantidad de corrección lateral calcula un valor objetivo para una cantidad de corrección lateral de la ruta objetivo comparando las relaciones posicionales entre los resultados de la detección de los límites de carril y la ruta objetivo en un mapa, y cambia una velocidad de movimiento lateral de la ruta objetivo para calcular el valor objetivo para la cantidad de corrección lateral de acuerdo con un rumbo del vehículo principal en que el rumbo es un ángulo de actitud del vehículo. La unidad (363) de movimiento lateral corrige la ruta objetivo moviendo la ruta objetivo lateralmente en una dirección lateral por una cantidad igual a la cantidad de corrección lateral tras el cálculo de la cantidad de corrección lateral.
MX2020002227A 2017-08-30 2017-08-30 Metodo para corregir error de posicion y dispositivo para corregir error de posicion en vehiculo de conduccion asistida. MX2020002227A (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/031168 WO2019043833A1 (ja) 2017-08-30 2017-08-30 運転支援車両の位置誤差補正方法及び位置誤差補正装置

Publications (1)

Publication Number Publication Date
MX2020002227A true MX2020002227A (es) 2020-07-14

Family

ID=65525842

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2020002227A MX2020002227A (es) 2017-08-30 2017-08-30 Metodo para corregir error de posicion y dispositivo para corregir error de posicion en vehiculo de conduccion asistida.

Country Status (10)

Country Link
US (1) US10988139B2 (es)
EP (1) EP3678110B1 (es)
JP (1) JP6658978B2 (es)
KR (1) KR20200036038A (es)
CN (1) CN111066071B (es)
BR (1) BR112020003996A2 (es)
CA (1) CA3074414A1 (es)
MX (1) MX2020002227A (es)
RU (1) RU2738491C1 (es)
WO (1) WO2019043833A1 (es)

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BR112020004099A2 (pt) * 2017-08-30 2020-09-24 Nissan Motor Co., Ltd. método de correção de posição e dispositivo de correção de erro de posição para veículos auxiliados por condução
JP6985176B2 (ja) * 2018-02-16 2021-12-22 本田技研工業株式会社 車両制御装置
CN109795477B (zh) * 2019-02-22 2020-11-06 百度在线网络技术（北京）有限公司 消除稳态横向偏差的方法、装置及存储介质
CN111854727B (zh) * 2019-04-27 2022-05-13 北京魔门塔科技有限公司 一种车辆位姿的修正方法和装置
WO2020230314A1 (ja) * 2019-05-15 2020-11-19 日産自動車株式会社 自己位置補正方法及び自己位置補正装置
US20210064031A1 (en) * 2019-08-28 2021-03-04 Zenuity Ab Path planning for autonomous and semi-autonomous vehicles
CN112629544B (zh) * 2019-10-09 2022-12-02 北京魔门塔科技有限公司 一种基于车道线的车辆定位方法及装置
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CN112665538B (zh) * 2020-12-09 2023-10-13 云南昆船电子设备有限公司 车辆自主导航横向测距***及方法
CN112731320B (zh) * 2020-12-29 2024-06-21 福瑞泰克智能***有限公司 车载雷达误差数据的估计方法、装置、设备及存储介质
CN113176779B (zh) * 2021-04-28 2023-05-26 上海布鲁可积木科技有限公司 用于运动装置的控制方法、***、存储介质及运动装置
KR102603534B1 (ko) * 2021-10-21 2023-11-16 한국교통대학교산학협력단 Ldm 정보와 환경 센서를 이용한 차량의 측위 개선 방법 및 장치
CN114114369B (zh) * 2022-01-27 2022-07-15 智道网联科技(北京)有限公司 自动驾驶车辆定位方法和装置、电子设备和存储介质
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Also Published As

Publication number Publication date
CA3074414A1 (en) 2019-03-07
KR20200036038A (ko) 2020-04-06
CN111066071A (zh) 2020-04-24
EP3678110A4 (en) 2020-09-09
EP3678110A1 (en) 2020-07-08
EP3678110B1 (en) 2022-08-10
CN111066071B (zh) 2021-08-17
RU2738491C1 (ru) 2020-12-14
JP6658978B2 (ja) 2020-03-04
WO2019043833A1 (ja) 2019-03-07
JPWO2019043833A1 (ja) 2020-02-06
US20200377089A1 (en) 2020-12-03
US10988139B2 (en) 2021-04-27
BR112020003996A2 (pt) 2020-09-01

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