EP3576069B1 - Verfahren für ein host-fahrzeug zur bewertung des risikos des überholens eines zielfahrzeugs auf einem fussgängerstreifen - Google Patents

Verfahren für ein host-fahrzeug zur bewertung des risikos des überholens eines zielfahrzeugs auf einem fussgängerstreifen Download PDF

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Publication number
EP3576069B1
EP3576069B1 EP18175202.3A EP18175202A EP3576069B1 EP 3576069 B1 EP3576069 B1 EP 3576069B1 EP 18175202 A EP18175202 A EP 18175202A EP 3576069 B1 EP3576069 B1 EP 3576069B1
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Prior art keywords
host vehicle
target vehicle
vehicle
pedestrian crossing
target
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English (en)
French (fr)
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EP3576069A1 (de
Inventor
Dariusz Borkowski
Mariusz LICHON
Dominik Sasin
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Aptiv Technologies Ltd
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Aptiv Technologies Ltd
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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

Definitions

  • the invention relates to a system and method for a host vehicle to assess risk of overtaking a target vehicle on a pedestrian crossing, and more particularly to assess the risk when the pedestrian crossing is partially occluded.
  • EP 3 273 423 A1 discloses a device and method for a vehicle for recognizing a pedestrian.
  • the invention relates to a risk evaluation system for a host vehicle that assesses the risk of overtaking a target vehicle on a pedestrian crossing, said risk being a risk of hitting a pedestrian on the pedestrian crossing during the overtaking maneuver.
  • the risk evaluation system comprises the features of claim 1 and is configured to operate when pedestrian crossing may only be partially seen by the host vehicle as the target vehicle, running toward the pedestrian crossing, partially obstructs the front field of view of the host vehicle. In such situation, the host vehicle estimates a potential risk of the presence of a pedestrian crossing the road on the obstructed pedestrian crossing, said pedestrian cannot be seen by the host vehicle.
  • the invention further relates to a method for a host vehicle to assess the risk of a collision with a pedestrian according to appended claim 2.
  • the step of detecting a target vehicle may be a step of detecting the target vehicle traveling on an immediate adjacent lane of the host vehicle lane.
  • the method may further comprises the steps of determining the speed of the host vehicle; evaluating a host vehicle stop distance between the host vehicle and the pedestrian crossing based on the host vehicle speed; comparing the estimated host vehicle stop distance with a predetermined pedestrian crossing stop distance threshold; and adjusting the estimated risk according to comparison step of the estimated host vehicle stop distance.
  • the step of evaluation a host vehicle stop distance may comprise a step of estimating the speed of the host vehicle 10 at the pedestrian crossing point if a maximum force is applied on the brake system of the host vehicle 10.
  • Figure 1 and figure 2 are two non-limited examples of usual traffic situations wherein a host vehicle 10 and a target vehicle 12 drive toward a pedestrian crossing 14 and wherein a pedestrian 16 can potentially cross a road 18 on the pedestrian crossing 14.
  • the target vehicle 12 and the host vehicle 10 are on two distinct traffic lanes 20, 22.
  • Figure 2 differs from figure 1 only by the road shape, more particularly figure 1 is a situation wherein the road 18 is a straight road 18 and figure 2 is another particularly situation wherein the road 18 is a curved road 18.
  • the target vehicle 12 is closer to the pedestrian crossing 14 than the host vehicle 10 and the host vehicle 10 is not able to detect the potential presence of the pedestrian 16, said pedestrian 16, if any, being outside the front field of view 24 of the host vehicle 10.
  • a portion 26 of the front field of view 24 of the host vehicle 10 is occluded by the target vehicle 12 such that the pedestrian 16 cannot be detected by the host vehicle 10.
  • the pedestrian 16 won't be visible by a driver of the host vehicle 10 or by any front camera, front or side radar, or lidar of the host vehicle 10.
  • the host vehicle 10 comprises object detector means 30 for detecting pedestrians 16 crossing and target vehicles 12.
  • the object detector means 30 are arranged on the host vehicle 10 such that they are configured to detect object in the front of the vehicle 10, said object detector means 30 having a front field of view 24 covering the front direction 29 of the host vehicle 10.
  • the object detector means 30 comprises road sign detector 32 configured to detect marks on the road 18 as pedestrian crossing 14 and/or pedestrian traffic sign.
  • road sign detector 32 may be a camera 34, a vehicle to infrastructure communication device 36, or a global positioning system (GPS) 38, more particularly, the maps information of the GPS. Combination of such road sign detectors 32 is also a possibility in order to get the most reliable presence information on the detected pedestrian crossing 14.
  • GPS global positioning system
  • the object detector means 30 comprises vehicle detector 40 configured to detect the target vehicle 12.
  • the vehicle detector 40 may be a camera 42, a radar 44, or a lidar 46. Combination of such vehicle detectors 40 is also a possibility in order to get the most reliable dynamic information on the detected target vehicle 12.
  • the host vehicle 10 may have a unique front camera 34, 42 for target vehicle 12 detection and for pedestrian crossing 14 detection.
  • the host vehicle 10 further comprises a controller 48 configured to analyze the detected objects. More particularly, the controller 48 is configured to analyze 50 the detected pedestrian crossing 14 as the location 52 of said pedestrian crossing 14.
  • the controller 48 is further configured to analyze the driving behavior 54 of the detected target vehicle 12.
  • the analysis of the driving behavior 54 of the target vehicle 12 comprises determination of parameters of the target vehicle 12 as location 56, speed 58, and direction 29.
  • Speed 58 estimation of the target vehicle 12 may also comprise estimation of the yaw rate of the target vehicle 12, acceleration of the target vehicle 12 and deceleration of the target vehicle 12.
  • Estimation of the location 56 of the target vehicle 12 may also comprise the estimation of the lane 22 of the road 18 on which the target vehicle 10 is driving.
  • the controller 48 is also further configured to analyze the driving behavior 54 of the host vehicle 10 as being in communication with other sensors of (not shown) the host vehicle 10.
  • the analysis of the driving behavior 54 of the host vehicle 10 comprises determination of parameters of the host vehicle 10 as location, speed, and direction.
  • Speed estimation of the host vehicle 10 may also comprise estimation of the yaw rate of the host vehicle 10, acceleration of the host vehicle 10 and deceleration of the host vehicle 10.
  • Estimation of the location of the host vehicle may also comprise the estimation of the lane 20 of the road 18 on which the host vehicle 10 is driving.
  • the controller 48 is configured to determine a target vehicle 12 to host vehicle 10 relative longitudinal position according to a host curvilinear coordinate system and also a target vehicle 12 to a host vehicle 10 relative lateral position 31.
  • the controller 48 is also further configured to determine a longitudinal distance according to the curvilinear coordinate system between the host vehicle 10 and the pedestrian crossing 14 and between the target vehicle 12 and the pedestrian crossing 14.
  • the controller 48 is configured to determine the road shape according to the determination of the motion of the host vehicle 10 and of the motion of the target vehicle 12, said motion of both vehicles 10, 12 being based on a regular determination of the position of both vehicles 10, 12.
  • the road shape determination may be more accurately determined, if possible, by using information from the maps of global positioning system 38 of the host vehicle 10.
  • the controller 48 is configured to assess 60 the risk of overtaking the target vehicle 12 on the pedestrian crossing 14.
  • the risk is binary coded 62, as for instance coded as a '0' if no risks are estimated and as a '1' if a risk is estimated.
  • a no risks situation may be a situation wherein the host vehicle 10 determines that the target vehicle 12 stops before reaching the pedestrian crossing 14 at a sufficient distance from the pedestrian crossing 14, such that, the host vehicle 10 overtaking the target vehicle 12 and still driving towards the pedestrian crossing 14, will be able to detects the previously occluded portion 28 of the pedestrian crossing 14 enough in advance to check if there is a presence of a pedestrian 16 on the pedestrian crossing 14, and such that the host vehicle 10 will be able to avoid collision with the pedestrian 16, if any, by braking or changing lane 20, 22.
  • a risk situation may be a situation wherein the target vehicle 12 is occluding the field of view 24 of the host vehicle 10 while the host vehicle 10 is overtaking the target vehicle 12 such that pedestrian 16 on the pedestrian crossing 14 cannot be detected by the host vehicle 10.
  • the binary coding 62 may also present more levels, as for instance a code '00' for no risks, '01' for low risk, '10' for medium risk, an '11' for severe risk.
  • the granularity of the risk may be attached to the driving behavior 54 of the target vehicle 12 and of the host vehicle 10.
  • no risk estimation may be the situation previously described.
  • the low risk estimation may be a situation wherein the risk evaluation system of the host vehicle 10 determines that the speed 58 of the host vehicle 10 and the speed of the target vehicle 12 are slow enough such that collision with the pedestrian 16 may be avoided by a last moment braking action.
  • a medium risk estimation may be a situation wherein the host vehicle 10 detects an emergency braking of the target vehicle 12 such that the target vehicle 12 will stop at the limit of the pedestrian crossing 14. Said target vehicle 12 behavior detected by the host vehicle 10 is such that the host vehicle 10 considers a very high probability of the presence of the pedestrian 16 on the pedestrian crossing 14. Said situation may be estimated as a 'medium risk' as long as the risk estimation system estimates that the host vehicle 10 may still have possibility to stop just before reaching the pedestrian crossing 14, or changing lane 20, 22 to avoid potential collision with the pedestrian 16.
  • a high risk estimation may be a situation wherein the target vehicle 12 behavior is similar as the medium risk but wherein the speed of the host vehicle 10 and the distance between the host vehicle 10 and the pedestrian crossing 14 is such that the risk estimation system estimates that there is no possible usual maneuvers (changing lane, braking) to avoid passing over the pedestrian crossing during the overtaking maneuver of the target vehicle 12.
  • the risk estimation system estimates that there is no possible usual maneuvers (changing lane, braking) to avoid passing over the pedestrian crossing during the overtaking maneuver of the target vehicle 12.
  • there is no possible usual maneuvers changing lane, braking
  • the controller 48 may be also configured to estimate a potential location of the pedestrian 16 on the pedestrian crossing 14 when host vehicle 10 will arrive at the pedestrian crossing 14, such that the controller 48 may be configured to control 64 the host vehicle 10 to avoid the collision by bypassing the pedestrian 16.
  • the controller 48 is configured to directly control 64 the host vehicle 10 or may alert the driver of the host vehicle 10 on the best driving behavior to limit said potential collision.
  • the controller 48 is configured to operate 74 the host vehicle 10 in automated mode 76 wherein driver does not control the host vehicle 10, or to operate 74 the vehicle in manual mode 78 wherein driver has still control on the host vehicle 10.
  • the controller 48 may be configured such that the risk estimation system is adapted for manual vehicle and for an automated vehicle or driverless vehicle.
  • the controller 48 is configured to advise driver or to have control 64 on the host vehicle 10 in order to stop 66 the host vehicle 10, to adjust 68 the speed of the host vehicle 10 and/or to adjust the direction 70 of the host vehicle 10. Additionally the controller 40 is configured to get control on the activation of warning devices 72 as horn, or exterior light of the host vehicle 10 to get the attention of the potential pedestrian 16.
  • the controller 48 is thus configured to operate the vehicle controls 80 such as the brakes 82 of the host vehicle 10, the accelerator 84, the steering 86 of the host vehicle 10, and the warning devices such as the exterior lights 88 or the horn 90.
  • the method 100 comprises a step of detecting 110 the presence of the pedestrian crossing 14 in the front field of view 24 of the host vehicle 10, i.e. on the host vehicle 10 path.
  • Another step comprises the analysis of the driving behavior 170 of the target vehicle 12. More particularly, this step 170 consists at first on determining regularly, i.e. monitoring, 120 the speed of the target vehicle 12 and detecting 130 if the target vehicle 12 is in deceleration mode. If the target vehicle 12 is not in a deceleration mode, the probability of the presence of the pedestrian 16 is considered as null.
  • a further step 140 consists on that the controller 48 of the host vehicle 10 predicts a null speed location of the target vehicle 12. Then a further step 150 consists on the analysis of the null speed location of the target vehicle 12. If the null speed location of the target vehicle 12 is at the pedestrian crossing 14 or at a very near distance from the pedestrian crossing 14 before passing on the pedestrian crossing 14, i.e. for instance 1 meter, then another step 160 of the method 100 consists of on considering a high probability of the presence of the pedestrian 16 engaged or engaging on the pedestrian crossing 14 such that a high risk of overtaking the target vehicle 12 on the pedestrian crossing 14 is estimated.
  • the controller 48 of the host vehicle 10 consider a high probability of the presence of the pedestrian 16 engaged or engaging on the pedestrian crossing 14 if the predicted target vehicle stop distance SD_t of the target vehicle 12, i.e. the distance between the location of the target vehicle 12 at a null speed and the location of the pedestrian crossing 14, is at a distance from the pedestrian crossing 14 lower than a predetermined target stop distance threshold TSD_th.
  • the predetermined target stop distance threshold TSD_th is a distance from the pedestrian crossing 14 wherein the controller 48 could estimate that if the target vehicle 12 stops before said target stop distance threshold TSD_th, the reason of the stop of the target vehicle 12 is not the presence of a pedestrian 16 and that if the target vehicle 12 stops between said target stop distance threshold TSD_th and the pedestrian crossing 14, the reason of the stop of the target vehicle 12 is the presence of a pedestrian 16.
  • the host vehicle 10 may estimate a high risk of overtaking the target vehicle 12 on the pedestrian crossing 14.
  • the method 100 may comprises a step of determining the speed of the host vehicle 10 such that an evaluation of the distance, called the host vehicle stop distance SD_h, between the host vehicle 10 and the pedestrian crossing 14 may be performed by the controller 48.
  • Said host vehicle stop distance SD_h may be evaluated according to a maximum braking force of the host vehicle, i.e. in an emergency braking mode of the host vehicle 10.
  • a step of comparing the estimated stop distance SD_h of the host vehicle 10 with a predetermined safe distance from the pedestrian crossing at which the controller 48 considers that there is no risks of collision with a pedestrian 16 on the pedestrian crossing 14 is performed.
  • Said safe distance may be used as a threshold level for the comparison step, said threshold level being called a predetermined pedestrian crossing stop distance threshold PCSD_th.
  • the controller 48 of the host vehicle 10 estimates that the host vehicle 10 stop distance could be greater than the predetermined pedestrian crossing stop distance threshold, it means that the host vehicle 10 is able to stop before reaching the pedestrian crossing 14, thus, the risk of overtaking the target vehicle 12 such that host vehicle 10 may be able to stop before potential collision with the pedestrian 16 may be considered as a no risks situation.
  • the target vehicle 12 driving behavior is represented by the fist curve C1
  • the host vehicle 10 driving behavior is represented by the second curve C2.
  • the situation is comparable as the situation of figure 1 or figure 2 .
  • the position of the target vehicle 12 is closer to the pedestrian crossing 14 than the position of the host vehicle 10.
  • the V axis of the graph represents the speed of the target vehicle 12 and of the host vehicle 10.
  • the X axis represents the location of the target vehicle 12 and of the host vehicle 10. Location and speed of both vehicles are represented over the time (T0, T1, T2, T3).
  • the locations X0_h, X1_h, X2_h and X3_h correspond to the location of the host vehicle 10 respectively at the point of times T0, T1, T2 and T3.
  • the locations X0_t, X1_t, X2_t and X3_t correspond to the location of the target vehicle 12 respectively at the point of times T0, T1, T2 and T3.
  • the graph is split in three phases P1, P2, P3.
  • First phase P1 is the phase wherein the speed of both vehicles 10, 12 is constant. More particularly, the speed of the host vehicle 10 is higher than the speed of the target vehicle 12 such that the host vehicle 10 is closer to the target vehicle 12 at the point of time T1 than at point of time T0. During said first phase, even so the host vehicle detects the pedestrian crossing 14, the controller 48 of the host vehicle 10 considers a no risks situation as the speed of the target vehicle 12 is constant.
  • the controller may also adjust the risk estimation by comparing the speed of the target vehicle 12 with a predetermined minimum speed of the target vehicle threshold MST_th such that, as represented by the graph, risk is considered as a no risks situation when the speed of the target vehicle 12 is detected as greater than said predetermined minimum speed of the target vehicle threshold MST_th.
  • a determined speed of the target vehicle greater than the predetermined minimum speed of the target vehicle threshold MST_th is interpreted as a driving behavior of the target vehicle 12 such that target vehicle does not detect any pedestrians in its front field of view.
  • the controller 48 of the host vehicle 10 determines whether the speed of the target 12 is lower than the predetermined minimum speed of the target vehicle threshold MST th. If the speed of the target 12 is lower than the predetermined minimum speed of the target vehicle threshold MST th, then it would be considered by the controller 48 of the host vehicle 10 as a potential risk of the presence of a pedestrian 16 on the pedestrian crossing 14.
  • a determined speed of the target vehicle lower than the predetermined minimum speed of the target vehicle threshold MST_th is interpreted as a driving behavior of the target vehicle 12 such that target vehicle 12 does detect a pedestrians in its front field of view.
  • the second phase P2 is the phase wherein the target vehicle 12 is in deceleration mode and wherein the host vehicle 10 is still at a constant speed.
  • the host vehicle 10 detects the deceleration of the target vehicle12 such that a no risks situation may be reconsidered by the controller 48 of the host vehicle 10.
  • the controller 48 of the host vehicle 10 estimates the potential target vehicle stop distance SD_t, by considering a linear deceleration of the target vehicle 12.
  • the controller 48 may estimate that there is a risk of a potential presence of a pedestrian 16 on the occluded portion 28 of the pedestrian crossing 14 if the predicted target vehicle stop distance SD_t is at a distance lower to the pedestrian crossing 14 than the predetermined target stop distance threshold TSD_th.
  • the predicted target vehicle stop distance SD_t is at a distance from the pedestrian crossing 14 lower than the predetermined target stop distance threshold TSD_th such that the controller 48 estimates that there is a presence of a pedestrian 16 on the occluded portion 28 of the pedestrian crossing 14.
  • the host vehicle 10 still runs at the constant speed as long as the controller 48 estimates that a braking action BA of the host vehicle 10, especially a maximum braking force, is enough to stop the host vehicle 10 at a distance SD_h greater than the predetermined pedestrian crossing stop distance threshold PCSD_th.
  • the manoeuver of overtaking the target vehicle 12 is a no risks situation.
  • the third phase P3 starts at the point of time T3 wherein the risk of overtaking the target vehicle 12 is considered as not being any more a no risks situation. More particularly, the third phase P3 starts when the controller 48 of the host vehicle 10 estimates that by applying a maximum force on the braking system of the host vehicle 10, i.e. operating an emergency brake, the host vehicle 10 will stop at a distance SD_h equal or lower than the predetermined pedestrian crossing stop distance threshold PCSD_th. In said situation, controller 48 takes control on the host vehicle 10 such that emergency braking is activated.

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  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Claims (5)

  1. Risikobeurteilungssystem für ein Host-Fahrzeug (10) zum Bewerten des Risikos einer Kollision mit einem Fußgänger beim Überholen eines Zielfahrzeugs (12) an einem Fußgängerübergang (14), umfassend
    a) ein Objektdetektormittel (30), das ausgestaltet ist, um einen Fußgängerübergang (14) zu detektieren und um ein Zielfahrzeug (12) in dem vorderen Sichtfeld des Host-Fahrzeugs (10) zu detektieren;
    b) einen Controller (48) in Verbindung mit dem Objektdetektormittel (30), wobei der Controller ausgestaltet ist, um den Fußgängerübergangsort (50) zu ermitteln und um den Ort (56), die Geschwindigkeit (58) und die Richtung (29) des Zielfahrzeugs (12) zu ermitteln; wobei der Controller (48) ferner ausgestaltet ist, um
    c) die Geschwindigkeit (58) des Zielfahrzeugs (12) zu überwachen
    d) eine Geschwindigkeitsverringerung des Zielfahrzeugs (12) zu detektieren;
    e) eine Zielfahrzeugstoppdistanz (SD_t) zwischen dem Zielfahrzeug (12) und dem Fußgängerübergang (14) basierend auf der Zielfahrzeuggeschwindigkeit zu beurteilen;
    f) die beurteilte Zielfahrzeugstoppdistanz (SD_t) mit einem vorbestimmten Zielstoppdistanzschwellenwert (TSD_th) zu vergleichen; und
    g) ein Risiko für das Host-Fahrzeug (10) hinsichtlich einer Kollision mit einem Fußgänger beim Überholen des Zielfahrzeugs (12) an dem Fußgängerübergang (14) basierend auf dem Vergleichsschrittergebnis der Zielfahrzeugstoppdistanz (SD_t) zu schätzen; und
    h) basierend auf der Risikoschätzung den Fahrer zu informieren oder das Host-Fahrzeug (10) zu steuern (64), um das Host-Fahrzeug (10) zu stoppen (66), um die Geschwindigkeit des Host-Fahrzeugs (10) anzupassen (68) und/oder um die Richtung (70) des Host-Fahrzeugs (10) anzupassen.
  2. Verfahren (100) für ein Host-Fahrzeug (10) zum Bewerten des Risikos einer Kollision mit einem Fußgänger beim Überholen eines Zielfahrzeugs (12) an einem Fußgängerübergang (14), umfassend die Schritte, dass
    a) ein Fußgängerübergang (14) und ein Zielfahrzeug (12) in dem vorderen Sichtfeld des Host-Fahrzeugs (10) detektiert werden (110);
    b) die Geschwindigkeit des Zielfahrzeugs (12) überwacht wird (120);
    c) eine Geschwindigkeitsverringerung des Zielfahrzeugs detektiert wird (130)
    d) eine Zielfahrzeugstoppdistanz (SD_t) zwischen dem Zielfahrzeug (12) und dem Fußgängerübergang (14) basierend auf der Zielfahrzeuggeschwindigkeit beurteilt wird (140)
    e) die beurteilte Zielfahrzeugstoppdistanz (SD_t) mit einem vorbestimmten Zielstoppdistanzschwellenwert (TSD_th) verglichen wird (150);
    f) ein Risiko für das Host-Fahrzeug (10) hinsichtlich einer Kollision mit einem Fußgänger beim Überholen des Zielfahrzeugs (12) an dem Fußgängerübergang (14) basierend auf dem Vergleichsschrittergebnis der Zielfahrzeugstoppdistanz (SD_t) geschätzt wird (160); und
    g) basierend auf der Risikoschätzung der Fahrer informiert wird oder das Host-Fahrzeug (10) gesteuert wird (64), um das Host-Fahrzeug (10) zu stoppen (66), die Geschwindigkeit des Host-Fahrzeugs (10) anzupassen (68) und/oder die Richtung (70) des Host-Fahrzeugs (10) anzupassen.
  3. Verfahren (100) nach Anspruch 2, wobei der Schritt des Detektierens eines Zielfahrzeugs (12) ein Schritt eines Detektierens des Zielfahrzeugs (12), das auf einer unmittelbar benachbarten Spur (22) der Host-Fahrzeugspur (20) fährt, ist.
  4. Verfahren (100) nach einem der Ansprüche 2 oder 3, wobei
    der Schritt des Beurteilens der Zielfahrzeugstoppdistanz (SD_t) ein Schritt eines Schätzens der Zielfahrzeugstoppdistanz (SD_t) zwischen dem Zielfahrzeug und dem Fußgängerübergang (14) durch Betrachten einer linearen Geschwindigkeitsverringerung des Zielfahrzeugs (12) ist.
  5. Verfahren (100) nach einem der Ansprüche 2 bis 4, ferner umfassend die Schritte, dass:
    die Geschwindigkeit des Host-Fahrzeugs (10) ermittelt wird;
    eine Host-Fahrzeugstoppdistanz (SD_h) zwischen dem Host-Fahrzeug (10) und dem Fußgängerübergang (14) basierend auf der Host-Fahrzeuggeschwindigkeit beurteilt wird;
    die geschätzte Host-Fahrzeugstoppdistanz (SD_h) mit einem vorbestimmten Fußgängerübergangsstoppdistanzschwellenwert (PCSD_th) verglichen wird;
    das geschätzte Risiko gemäß einem Vergleichsschritt der geschätzten Host-Fahrzeugstoppdistanz (SD_h) angepasst wird.
EP18175202.3A 2018-05-30 2018-05-30 Verfahren für ein host-fahrzeug zur bewertung des risikos des überholens eines zielfahrzeugs auf einem fussgängerstreifen Active EP3576069B1 (de)

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US11327507B2 (en) 2019-04-12 2022-05-10 Waymo Llc Exception handling for autonomous vehicles
US11738682B2 (en) * 2020-10-08 2023-08-29 Motional Ad Llc Communicating vehicle information to pedestrians
JP7524810B2 (ja) * 2021-03-30 2024-07-30 トヨタ自動車株式会社 情報処理装置、情報処理システム、情報処理方法、及び車両
CN113793534B (zh) * 2021-09-09 2023-02-24 清华大学 一种确定车路协同环境下行车风险场的方法和装置
CN114274928A (zh) * 2021-12-01 2022-04-05 浙江亚太机电股份有限公司 基于视觉系统的斑马线视线遮挡行人防撞控制系统
CN114312772B (zh) * 2022-01-24 2023-05-26 北京国家新能源汽车技术创新中心有限公司 一种斑马线路口场景下安全驾驶控制方法
CN115331436B (zh) * 2022-08-04 2024-04-30 西安理工大学 一种兼顾行人安全的路段自动驾驶汽车运动规划方法

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JP2011108016A (ja) * 2009-11-18 2011-06-02 Toyota Motor Corp 走行支援装置
EP3273423B1 (de) * 2016-07-21 2019-03-13 Continental Automotive GmbH Vorrichtung und verfahren zur erkennung eines fussgängers

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