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1. WO2022126349 - CONTROL METHOD AND CONTROL APPARATUS

Publication Number WO/2022/126349
Publication Date 23.06.2022
International Application No. PCT/CN2020/136335
International Filing Date 15.12.2020
IPC
B60W 30/09 2012.1
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
09Taking automatic action to avoid collision, e.g. braking and steering
CPC
B60W 2540/18
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
2540Input parameters relating to occupants
18Steering angle
B60W 2552/10
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
10Number of lanes
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 2554/402
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
40Dynamic objects, e.g. animals, windblown objects
402Type
B60W 2554/801
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
80Spatial relation or speed relative to objects
801Lateral distance
B60W 2554/802
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
80Spatial relation or speed relative to objects
802Longitudinal distance
Applicants
  • 华为技术有限公司 HUAWEI TECHNOLOGIES CO., LTD. [CN]/[CN]
Inventors
  • 周伟 ZHOU, Wei
  • 刘小青 LIU, Xiaoqing
Agents
  • 北京龙双利达知识产权代理有限公司 LONGSUN LEAD IP LTD.
Priority Data
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) CONTROL METHOD AND CONTROL APPARATUS
(FR) APPAREIL DE COMMANDE ET PROCÉDÉ DE COMMANDE
(ZH) 控制方法和控制装置
Abstract
(EN) Provided are a control method and a control apparatus, which are applicable to various types of vehicles, such as a traditional automobile, a new energy automobile and an intelligent automobile. The control method comprises: acquiring environmental information of a vehicle, wherein the environmental information comprises information of an obstacle and road structure information; and then controlling, according to the environmental information, the vehicle to execute in-lane lateral obstacle avoidance or out-lane lateral obstacle avoidance. According to the solution, lateral obstacle avoidance modes are further broken down, and in-lane lateral obstacle avoidance or out-lane lateral obstacle avoidance can be executed according to environmental information; moreover, using in-lane lateral obstacle avoidance can not only effectively avoid obstacles, but also has higher safety, such that obstacle avoidance performance during assisted driving or intelligent driving is ensured.
(FR) La présente invention concerne un procédé de commande et un appareil de commande, qui sont applicables à divers types de véhicules, tels qu'une automobile classique, une automobile à nouvelle énergie et une automobile intelligente. Le procédé de commande consiste : à acquérir des informations environnementales d'un véhicule, les informations environnementales comportant des informations d'un obstacle et des informations de structure de route; et, ensuite, à commander, en fonction des informations environnementales, le véhicule pour exécuter une évitement d'obstacle latéral dans la voie ou un évitement d'obstacle latéral en dehors de la voie. Selon la solution, des modes d'évitement d'obstacle latéral sont en outre désactivés et un évitement d'obstacle latéral dans la voie ou un évitement d'obstacle latéral en dehors de la voie peut être exécuté selon des informations environnementales; en outre, l'utilisation d'un évitement d'obstacle latéral dans la voie peut non seulement éviter efficacement des obstacles mais présente également une sécurité plus élevée de telle sorte que la performance d'évitement d'obstacle pendant une conduite assistée ou une conduite intelligente soit assurée.
(ZH) 本申请提供了一种控制方法和控制装置,适用于传统汽车、新能源汽车、智能汽车等各类车辆,该控制方法包括:获取车辆的环境信息,该环境信息包括障碍物的信息和道路结构信息,再根据环境信息控制车辆执行道内横向避障或者道外横向避障。该方案通过将横向避障方式进一步细分,并可以根据环境信息来执行道内横向避障或道外横向避障,而采用道内横向避障既能有效避障又具有更高的安全性,从而保证了辅助驾驶或者智能驾驶中的避障性能。
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