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1. WO2020135742 - AUTONOMOUS DRIVING VEHICLE HORIZONTAL DECISION SYSTEM AND HORIZONTAL DECISION-MAKING METHOD

Publication Number WO/2020/135742
Publication Date 02.07.2020
International Application No. PCT/CN2019/129284
International Filing Date 27.12.2019
IPC
B60W 30/08 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
08Predicting or avoiding probable or impending collision
CPC
B60W 2552/53
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2552Input parameters relating to infrastructure
53Road markings, e.g. lane marker or crosswalk
B60W 2554/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2554Input parameters relating to objects
20Static objects
B60W 30/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
10Path keeping
12Lane keeping
B60W 30/18163
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
18Propelling the vehicle
18009related to particular drive situations
18163Lane change; Overtaking manoeuvres
B60W 40/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
40Estimation 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
02related to ambient conditions
06Road conditions
B60W 60/0011
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
60Drive control systems specially adapted for autonomous road vehicles
001Planning or execution of driving tasks
0011involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
Applicants
  • 长城汽车股份有限公司 GREAT WALL MOTOR COMPANY LIMITED [CN]/[CN]
Inventors
  • 张凯 ZHANG, Kai
  • 葛建勇 GE, Jianyong
  • 甄龙豹 ZHEN, Longbao
  • 和林 HE, Lin
  • 常仕伟 CHANG, Shiwei
  • 王天培 WANG, Tianpei
  • 刘宏伟 LIU, Hongwei
  • 刘洪亮 LIU, Hongliang
  • 卜玉帅 BU, Yushuai
  • 高健 GAO, Jian
Agents
  • 北京润平知识产权代理有限公司 RUNPING & PARTNERS
Priority Data
201811642027.529.12.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) AUTONOMOUS DRIVING VEHICLE HORIZONTAL DECISION SYSTEM AND HORIZONTAL DECISION-MAKING METHOD
(FR) SYSTÈME DE DÉCISION HORIZONTALE DE VÉHICULE À CONDUITE AUTONOME ET PROCÉDÉ DE PRISE DE DÉCISION HORIZONTALE
(ZH) 自动驾驶车辆的横向决策系统及横向决策确定方法
Abstract
(EN)
An autonomous driving vehicle horizontal decision system and a horizontal decision-making method, the horizontal decision system comprising: an evaluation unit, used to evaluate a target lane and a lane exception status required by the autonomous driving vehicle performing horizontal decision according to path feature information and a pre-selected target line and an environment object target; and a determination unit, used to integrate path feature information, and determine and output expected horizontal behavior of the autonomous driving vehicle according to the target lane and lane exception status evaluated by the evaluation unit, expected horizontal behavior comprising any one of maintaining a lane, changing lanes and abnormally changing lanes. The present horizontal decision system and method can evaluate a target lane and a lane exception status, and according to this make a horizontal decision matching road features, so as to facilitate a vehicle control system performing appropriate horizontal control on the basis of this decision.
(FR)
La présente invention porte sur un système de décision horizontale de véhicule à conduite autonome et sur un procédé de prise de décision horizontale, le système de décision horizontale comprenant : une unité d'évaluation, utilisée pour évaluer une voie cible et un état d'exception de voie requis par le véhicule à conduite autonome effectuant une décision horizontale selon des informations de caractéristique de trajet et une ligne cible présélectionnée et une cible d'objet d'environnement ; et une unité de détermination, utilisée pour intégrer des informations de caractéristique de trajet, et pour déterminer et transmettre un comportement horizontal attendu du véhicule à conduite autonome en fonction de la voie cible et de l'état d'exception de voie évalué par l'unité d'évaluation, le comportement horizontal attendu comprenant l'un quelconque parmi le maintien d'une voie, le changement de voies et le changement anormal de voies. Le système et le procédé de décision horizontale de la présente invention peuvent évaluer une voie cible et un état d'exception de voie et, selon ceci, prendre une décision horizontale correspondant à des caractéristiques de route de sorte à faciliter un système de commande de véhicule effectuant une commande horizontale appropriée sur la base de cette décision.
(ZH)
一种自动驾驶车辆的横向决策系统及横向决策确定方法,该横向决策系统包括:评估单元,用于根据道路特征信息以及预先选择的目标线和环境物体目标,评估自动驾驶车辆进行横向决策所需的目标车道和车道异常情况;以及判断单元,用于结合道路特征信息,根据评估单元所评估的目标车道和车道异常情况,判断并输出自动驾驶车辆的预期横向行为,其中预期横向行为包括车道保持、换道和异常换道中的任意一者。该横向决策系统及方法能够评估出目标车道及车道异常情况,并据此作出符合道路特性的横向决策,以便于车辆的控制系统可基于其决策进行适应性的横向控制。
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