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WO2017047261A1 - Dispositif de commande de changement de voie - Google Patents

Dispositif de commande de changement de voie Download PDF

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Publication number
WO2017047261A1
WO2017047261A1 PCT/JP2016/072721 JP2016072721W WO2017047261A1 WO 2017047261 A1 WO2017047261 A1 WO 2017047261A1 JP 2016072721 W JP2016072721 W JP 2016072721W WO 2017047261 A1 WO2017047261 A1 WO 2017047261A1
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WO
WIPO (PCT)
Prior art keywords
lane
lane change
white line
control device
virtual
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.)
Ceased
Application number
PCT/JP2016/072721
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English (en)
Japanese (ja)
Inventor
中村　秋夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Astemo Ltd
Original Assignee
Hitachi Automotive Systems Ltd
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 Hitachi Automotive Systems Ltd filed Critical Hitachi Automotive Systems Ltd
Priority to JP2017539758A priority Critical patent/JPWO2017047261A1/ja
Publication of WO2017047261A1 publication Critical patent/WO2017047261A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a lane change control device for controlling a lane change in an automatic driving system of a vehicle represented by an automobile.
  • the driver's safety support function includes a ⁇ constant speed driving / inter-vehicle distance control device (ACC) '' that runs at a set speed and automatically adjusts the speed when there is a preceding vehicle.
  • ACC inter-vehicle distance control device
  • LKAS lane keeping control device
  • LKAS is a device for recognizing a left and right solid white line of a travel lane with a front camera and controlling the vehicle travel with the center of the left and right solid white line as a target travel lane.
  • a lane change control device of the present invention includes a lane keeping control unit that controls traveling of the host vehicle so as to maintain the lane, and a blinker control unit that controls blinking of the blinker.
  • a lane keeping control unit that controls traveling of the host vehicle so as to maintain the lane
  • a blinker control unit that controls blinking of the blinker.
  • the driver when the lane change is performed across the solid white line, the driver does not need to operate the steering wheel, and the lane change is performed while maintaining the LKAS (LKAS lamp is lit). It is possible to provide a lane change control device that automatically changes lanes while reducing discomfort.
  • LKAS LKAS lamp is lit
  • FIG. 1 shows the configuration of a lane change control device 111 to which the present invention is applied.
  • the automatic driving control device 110 includes peripheral devices including a camera system 101, a surrounding state detection device 102, a high-precision map device 103, a roadside communication device 104, a display device 105, and a vehicle control device 120.
  • the vehicle control device 120 includes a steering control unit 121, a brake control unit 122, an accelerator control unit 123, a winker control unit 124, a vehicle speed detection unit 125, and a yaw rate detection unit 126, and inputs and outputs control information. I do.
  • the lane change control device 111 of the automatic driving control device 110 includes a lane change detection device 112, a lane change determination device 113, a virtual white line generation device 114, and a control white line control device 115. From the input control information, Lane change is controlled via a constant speed travel / inter-vehicle distance control device (ACC) 116 or a lane keeping control device (LKAS) 117.
  • ACC constant speed travel / inter-vehicle distance control device
  • LKAS lane keeping control device
  • the camera system 101 is a camera system mounted in front of the vehicle, images a road ahead, extracts an image (pixel) of the road and incidental information, and transmits it to the automatic driving control device 110.
  • the automatic operation control device 110 extracts the actual white line position and shape from the image information, and transmits it to the control white line control device 115.
  • the solid white line is a road lane marking represented by a solid line, a broken line, a dotted line, or the like of road paint.
  • the surrounding situation detection device 102 is configured by radar sensors attached to the front side and the rear side of the vehicle, and accurately detects the situation of the front vehicle, an obstacle such as a stopped car, and the vehicle situation of the rear side, It transmits to the automatic operation control apparatus 110.
  • the automatic driving control device 110 extracts the situation of the traveling lane and the vehicle situation of the lane change destination lane, and transmits them to the lane change determination device 113.
  • the surrounding state detection device 102 may detect the surrounding state of the host vehicle using a camera, sonar, or the like instead of the radar sensor.
  • the high-precision map device 103 can accurately represent the map information for each road lane, and the road shape for each lane, white line position and shape, curvature, vertical and horizontal gradient, destination route set by the driver, GPS, gyro
  • the own vehicle position detected by the sensor and the vehicle speed sensor is transmitted to the automatic driving control device 110.
  • the automatic driving control device 110 detects the lane change from the destination route, and determines whether the lane change is possible from the map information.
  • the lane change detection device 112 and the lane change determination device 113 are used for the information.
  • the virtual white line is transmitted to the virtual white line generation device 114 in order to obtain a virtual white line in consideration of the shape.
  • the roadside communication device 104 detects the traffic situation of the traveling route by a beacon or FM broadcast and transmits it to the automatic driving control device 110.
  • the automatic operation control device 110 makes the lane change to the rear of the traffic jam end vehicle when the traffic jam continues to the main line at the IC exit or SA / PA entrance of the traveling route, so the position of the traffic jam end vehicle is displayed as a virtual white line. Transmit to the generation device 114.
  • the display device 105 includes an input unit for performing various settings such as LKAS and ACC valid / invalid setting, lane change time, and destination setting as a driver's intention, and a control white line used by LKAS is a real white line or a virtual white line And an output unit that utters a voice when switching between a real white line and a virtual white line.
  • the settings of LKAS and ACC as the input information are transmitted to the lane keeping control device (LKAS) 117 and the constant speed travel / inter-vehicle distance control device (ACC) 116 in order to determine whether or not to perform the operation of the function. Is done.
  • the destination setting is transmitted to the high-precision map device 103, and when the lane change time is set, it is transmitted to the virtual white line generation device 114.
  • the output to the display device 105 is instructed from the lane keeping control device (LKAS) 117 and notified by screen display and voice utterance so that the driver can recognize whether the LKAS control white line is a real white line or a virtual white line. .
  • LKAS lane keeping control device
  • the vehicle control device 120 includes a steering control unit 121, a brake control unit 122, an accelerator control unit 123, a winker control unit 124, a vehicle speed detection unit 125, and a yaw rate detection unit 126.
  • the steering control unit 121 receives a torque instruction value from the lane keeping control device (LKAS) 117 along the target travel lane, and performs steering control.
  • LKAS lane keeping control device
  • the brake control unit 122 receives a deceleration instruction from the constant speed travel / inter-vehicle distance control device (ACC) 116 and performs deceleration control.
  • ACC constant speed travel / inter-vehicle distance control device
  • the accelerator control unit 123 receives an acceleration instruction from the constant speed travel / inter-vehicle distance control device (ACC) 116 and performs acceleration control.
  • ACC constant speed travel / inter-vehicle distance control device
  • the blinker control unit 124 detects the blinker blinking state and transmits it to the automatic operation control device 110.
  • the automatic driving control device 110 transmits the blinking state of the blinker to the lane change detection device 112.
  • the blinker blinks according to an instruction from the lane change detection device 112.
  • the vehicle speed detection unit 125 detects the vehicle speed of the host vehicle from the vehicle speed sensor and transmits it to the automatic driving control device 110.
  • the automatic operation control device 110 transmits the virtual white line to the virtual white line generation device 114 in order to use it for the calculation of the travel trajectory when generating the virtual white line.
  • the yaw rate detection unit 126 detects the angular velocity from the yaw rate sensor and transmits it to the automatic driving control device 110.
  • the automatic operation control device 110 transmits the virtual white line to the virtual white line generation device 114 in order to use it for the calculation of the travel trajectory when generating the virtual white line.
  • the lane change control device 111 includes a lane change detection device 112, a lane change determination device 113, a virtual white line generation device 114, and a control white line control device 115, detects a lane change, and determines whether or not a lane change is possible. Then, a virtual white line is provided between the current travel lane and the lane change destination, and the lane change across the actual white line is controlled while maintaining LKAS.
  • the lane change detection device 112 detects the lane change from the blinking of the left turn signal or the right turn signal, and requests the lane change determination device 113 to determine whether the lane change is possible in the detected turn signal direction.
  • the lane change detection device 112 can also detect a lane change from the destination route.
  • the lane change control of the present invention can be performed only by instructing the blinker control unit 124 to blink the blinker. Detect by flashing.
  • the lane change determination device 113 determines whether the lane change is possible without contacting other vehicles or obstacles based on the vehicle information around the host vehicle and the stop vehicle information from the surrounding state detection device 102.
  • the virtual white line generation device 114 is requested to generate a virtual white line.
  • the virtual white line generation device 114 is based on the road shape, white line position and shape of map information, curvature, vertical and horizontal gradients, traffic congestion end vehicle information, vehicle speed, yaw rate, and driver intention setting values (for example, lane change time)
  • a virtual white line is generated between the travel lane and the lane change destination, and the control white line control device 115 is requested to control the travel lane.
  • Control white line control device 115 connects a real white line and a virtual white line from the camera system 101 to determine a control white line for performing LKAS travel control, and sends the control white line to the lane maintenance control device (LKAS) 117. Request to follow the driving. When the travel of the virtual white line is finished, switching to the actual white line recognized by the camera system 101 is performed.
  • LKAS lane maintenance control device
  • the constant speed travel / inter-vehicle distance control device (ACC) 116 controls the vehicle to travel at a constant speed set by the driver when the driver sets the function to be effective, and sets the inter-vehicle distance when there is a preceding vehicle.
  • an acceleration / deceleration control instruction is given to the brake control unit 122 and the accelerator control unit 123.
  • LKAS Lane Maintenance Control Device
  • the lane keeping control device (LKAS) 117 automatically controls the center of the control white line as the target driving lane according to the control white line (real white line or virtual white line) when the driver sets the function to be effective.
  • a steering control instruction is issued to the control unit 121.
  • the display device 105 is instructed to perform screen display and voice utterance so that the driver can recognize whether the control white line used for LKAS control is a real white line or a virtual white line.
  • an acceleration / deceleration instruction is given to the constant speed traveling / inter-vehicle distance control device (ACC) 116.
  • Example 1 ⁇ Flowchart> Next, Example 1 in the case of changing the lane to the adjacent lane will be described with reference to FIGS. 2 and 3 together with the processing executed by the lane change control device 111.
  • the autonomous driving vehicle 303 recognizes the actual white lines 331 and 332 of the camera system 101, operates the LKAS (the LKAS lamp is lit), and always detects the actual white line and the surrounding situation detected by the camera system 101.
  • the vehicle surrounding information detected by the device 102, the map information and destination route information detected by the high-precision map device 103, the traffic information of the traveling path detected by the roadside communication device 104, the vehicle speed detection unit 125 and the yaw rate detection unit 126 are detected.
  • the vehicle is traveling on the traveling path A301 while acquiring information such as the vehicle speed and yaw rate to be performed and the driver intention information input from the display device 105.
  • the lane change detection device 112 receives a notification of the blinker blinking state from the blinker control unit 124 and detects a lane change to the right lane.
  • a lane change is detected by a notification from the turn signal control unit 124, but a lane change may be detected when the driver operates blinking of a turn signal or from a destination route.
  • ⁇ Lane change determination S203, S204> it is confirmed from the vehicle surrounding information detected by the surrounding situation detection device 102 that the vehicle does not come into contact with the other vehicle on the front side and the vehicle approaching from the rear side, and the lane change is determined. to decide. Further, whether or not the lane can be changed is determined based on the road shape of the map information and the restriction information, such as whether there is an adjacent lane in the lane change direction or whether the lane change is prohibited.
  • a virtual white line generation (S205) is requested.
  • the lane change impossible factor for example, a rapid approaching vehicle from the rear side
  • the lane change possibility determination in S203 is performed again.
  • a virtual white line 305 that connects the travel path A and the travel path B is generated. The generation of this virtual white line will be described with reference to FIG.
  • the automatic driving vehicle 303 acquires the solid white line of the road A (matching the solid white line from the camera system 101) and the solid white line of the road B from the road shape of the map information.
  • the solid white line shape of the traveling path B is correctly recognized.
  • a virtual white line switching start point 706 for starting lane change steering is determined from the position of the autonomous driving vehicle, and a lane change trajectory (traveling trajectory) 704 is calculated from the lane change time, vehicle speed, and yaw rate set by the driver.
  • the lane change track 704 may be calculated after first obtaining the virtual white line switching end point 708 that is the steering end point of the lane change from the information such as the vehicle speed. This is because the lane change track 704 is a curve corresponding to the speed of the autonomous driving vehicle 303, and the distance related to the lane change increases as the speed increases (see FIG. 8).
  • the lane change track 704 becomes a compound clothoid curve when the lane is changed to an adjacent lane, and the lane change track 704 is corrected based on the curvature of the road shape and the vertical and horizontal gradients.
  • shape points such as a virtual white line switching middle point 707 and a virtual white line switching end point 708 are extracted from the corrected lane change trajectory.
  • a virtual white line switching allowance section 712 is provided in front of the virtual white line switching start point 706 and in the back of the virtual white line switching end point 708, and the tip or end thereof is set as a virtual white line generation start point 709 and a virtual white line generation end point 710.
  • the virtual white line switching margin section 712 is used to connect the real white line and the virtual white line without a sense of incongruity by overlapping the real white line and the virtual white line for a certain period.
  • This virtual white line switching margin section 712 may be a time-converted distance or a specific distance according to the speed (for example, about 30 m in the case of 100 km / h).
  • the left and right virtual white line positions are calculated using the respective lane widths 711 with respect to the shape point positions of the travel track, and the virtual white line 305 is generated by connecting the virtual white line positions.
  • the lane width 711 used at this time the lane width of the lane on the road A is used up to the virtual white line switching midpoint 707, and the lane width of the lane on the road B is used after the virtual white line switching midpoint 707.
  • the generated virtual white line 305 is connected to the actual white lines 331 and 332 of the travel path A and the virtual white line, and the virtual white line and the actual white lines 332 and 333 of the travel path B.
  • the lane width 711 is generated by reducing the lane width between the virtual white line switching middle point 707 and the virtual white line switching end point 708 when there is a speed suppression lane mark on the traveling road B side. You may adjust speed, such as decelerating based on it. In this case, an acceleration / deceleration instruction is issued from the lane keeping control device (LKAS) 117 to the constant speed travel / inter-vehicle distance control device (ACC) 116.
  • LKAS lane keeping control device
  • ACC inter-vehicle distance control device
  • the actual white lines 331 and 332 from the camera system 101 are connected to the virtual white line 305 generated in S205 to determine the control white line, and the control white line information is transferred to the lane keeping control device (LKAS). ) 117 is notified.
  • the lane keeping control device (LKAS) 117 obtains the center of the lane from the control white line, and controls the vehicle to travel along the target travel lane.
  • control white line was a solid white line
  • LKAS LKAS lamp lit
  • the display device 105 notifies the driver by voice utterance that the driving is switched from the real white line to the virtual white line, and the screen display for running the virtual white line from the actual white lines 331 and 332, and the driver automatically You can recognize that you are changing lanes by driving control, and you can reduce anxiety and discomfort.
  • the virtual white line and the solid white lines 332 and 333 are connected when the automatic driving vehicle 303 recognizes the solid white line with the camera system 101 while traveling on the virtual white line on the travel path B.
  • the solid white line from the camera system 101, the solid white line of the road shape of the map information, and the virtual white line are layered and overlapped, and the virtual white line, the real white line from the camera system 101, and the solid white line of the road shape are prioritized. You may take it out and join it together. With this method, the virtual white line and the actual white line of the road B are connected before the lane change.
  • Example 2 which changes a lane across a white line when branching or joining will be described with reference to FIGS. 4 and 5.
  • Example 2 is a vehicle equipped with the lane change control device of the present invention.
  • One of the second embodiments is a case where the autonomous driving vehicle 403 changes lanes by branching from the traveling path A 401 to the branch path 402 (see FIG. 4).
  • the autonomous driving vehicle 403 detects a lane change by blinking the left turn signal.
  • the determination as to whether or not the lane can be changed is made based on the information on the surroundings of the own vehicle.
  • a virtual white line 405 is generated between the travel route A 401 and the branch route 402 based on the road shape of the map information.
  • the difference from the first embodiment is that it has to pass through the vehicle traffic lane and branch off, so that the position of the lane changeable range 406 is recognized from the road shape of the map information and passes above it.
  • a virtual white line 405 is generated.
  • the generated virtual white line 405 and the actual white line 404 of the travel route A401 are connected, and the lane of the branch can be changed across the vehicle traffic lane while maintaining the LKAS (LKAS lamp is lit).
  • the second example of the second embodiment is a case where the autonomous driving vehicle 503 changes lanes by merging from the merge path 501 to the travel path A 502 (see FIG. 5).
  • the self-driving vehicle 503 detects the merged lane change based on the destination route and road shape by blinking the right side blinker.
  • the lane change permission determination is made based on the information on the surroundings of the host vehicle whether it is possible to change the lane of the merging.
  • the vehicle passes through the vehicle lane and merges. Therefore, the position of the lane changeable range 506 is recognized from the road shape of the map information, and the virtual lane is changed so as to pass over it. A white line 505 is generated.
  • the generated virtual white line 505 and the actual white line 504 of the travel route A502 are connected, and the lane of the merge can be changed across the vehicle traffic lane while maintaining the LKAS (LKAS lamp is lit).
  • the third embodiment is also a vehicle equipped with the lane change control device of the present invention, as in the first and second embodiments.
  • the autonomous driving vehicle 603 is going to change the lane of the branch from the travel route A601 to the branch road 602.
  • the traffic jam end car 605 is a road lane line. This is a case where the vehicle stops outside and must travel behind the traffic jam end vehicle 605.
  • the self-driving vehicle 603 detects a branch lane change by blinking the left turn signal.
  • the positions of the traffic jam row 604 and the traffic jam end vehicle 605 on the branch road 602 are detected to recognize that it is necessary to travel outside the road line.
  • the virtual white line 606 is generated, but the virtual white line 606 is generated so as to pass through the position of the traffic jam end car 605, and the virtual white line 606 and the real white line 607 are connected to be the control white line of LKAS.
  • the position of the traffic jam end car 605 from the roadside communication device 104 and the roadside band width from the high-precision map device 103 are obtained. It is determined whether or not the roadside zone is exceeded even if a virtual white line is generated at the position, and whether or not the vehicle can actually travel is determined.
  • the autonomous driving vehicle 603 stops behind the traffic jam end vehicle 605 by automatic braking based on detection of a preceding vehicle or detection of a front obstacle by a constant speed traveling / inter-vehicle distance control device (ACC) 116.
  • ACC traveling / inter-vehicle distance control device
  • the present invention is not limited to the above-described embodiment, and includes various modifications.
  • the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of the embodiment.
  • each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit.
  • Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor.
  • Information such as programs, tables, and files for realizing each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
  • control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.
  • ACC inter-vehicle distance control
  • LKAS Lane maintenance control device
  • Blinker control unit 125 ... Vehicle speed detection unit, 126 ... Yaw rate detection unit, 301, 401, 502, 601 ... Travel path A, 302 ... Runway B, 402,602 ... Branch, 501 ... Joint passage, 303,403,503,603,801 ... Automatic driving car, 304 ... first Car, 305, 405, 505, 606 ... Virtual white line, 331, 332, 333, 404, 504, 607 ... Real white line, 406, 506 ... Lane changeable range, 604 ... Congestion line, 605 ... Congestion end car, 704 802 ... Lane change trajectory (traveling trajectory), 706 ... Virtual white line switching start point, 707 ... Virtual white line switching middle point, 708 ... Virtual white line switching end point, 709 ... Virtual white line generation starting point, 710 ... Virtual white line generation end point, 711 ... Lane width 712: Virtual white line switching margin section

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  • Combustion & Propulsion (AREA)
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Abstract

L'invention concerne un dispositif de commande de changement de voie qui réalise automatiquement un changement de voie dans un système de conduite automatique. Une voie virtuelle est prévue sur la voie sur laquelle le véhicule se déplace actuellement et une voie cible ou position cible, et une commande est réalisée, la voie virtuelle étant considerée en tant que voie réelle de telle sorte qu'un changement de voie automatique est réalisé tandis qu'un suivi de voie automatique (LKAS) est maintenu actif même en chevauchant une ligne blanche.
PCT/JP2016/072721 2015-09-17 2016-08-03 Dispositif de commande de changement de voie Ceased WO2017047261A1 (fr)

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JP2017539758A JPWO2017047261A1 (ja) 2015-09-17 2016-08-03 車線変更制御装置

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JP2015183538 2015-09-17
JP2015-183538 2015-09-17

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WO2018138769A1 (fr) * 2017-01-24 2018-08-02 本田技研工業株式会社 Appareil, procédé et programme de commande de véhicule
CN108725316A (zh) * 2017-04-25 2018-11-02 现代摩比斯株式会社 行驶车道引导系统及其控制方法
US20180345964A1 (en) * 2017-06-06 2018-12-06 Toyota Jidosha Kabushiki Kaisha Steering assist apparatus
CN109059946A (zh) * 2018-06-26 2018-12-21 上汽通用汽车有限公司 车辆路径获取方法、存储介质及电子设备
WO2019017253A1 (fr) * 2017-07-18 2019-01-24 パイオニア株式会社 Dispositif de commande, procédé de commande, et programme
CN109421691A (zh) * 2017-09-01 2019-03-05 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
JP2019064570A (ja) * 2017-09-29 2019-04-25 東軟集団股▲分▼有限公司 車両車線変更制御方法、車両車線変更制御デバイス及び関連装置
JP2019127194A (ja) * 2018-01-25 2019-08-01 トヨタ自動車株式会社 車両制御システム
CN110462707A (zh) * 2017-03-24 2019-11-15 奔迪士商业运输系统公司 用于在车道偏离告警系统中设置干预区的控制器和方法
CN110619757A (zh) * 2018-12-29 2019-12-27 长城汽车股份有限公司 自动驾驶车辆的车道选择方法、系统及车辆
JP2020506837A (ja) * 2017-01-04 2020-03-05 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 自動車線変更中の横方向位置偏差の低減
CN111627252A (zh) * 2020-06-10 2020-09-04 上海商汤智能科技有限公司 车辆预警方法、装置、电子设备及存储介质
CN111754793A (zh) * 2019-03-29 2020-10-09 本田技研工业株式会社 车辆用驾驶辅助装置
CN111845669A (zh) * 2019-04-24 2020-10-30 马自达汽车株式会社 车辆控制装置
CN112061121A (zh) * 2019-05-21 2020-12-11 铃木株式会社 车辆的行驶控制装置
JPWO2020249993A1 (fr) * 2019-06-14 2020-12-17
CN112352269A (zh) * 2018-06-26 2021-02-09 日产自动车株式会社 驾驶辅助方法及驾驶辅助装置
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