WO2019166540A1 - Procédé de fonctionnement d'un véhicule et véhicule autonome ou partiellement autonome - Google Patents

Procédé de fonctionnement d'un véhicule et véhicule autonome ou partiellement autonome Download PDF

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Publication number
WO2019166540A1
WO2019166540A1 PCT/EP2019/054963 EP2019054963W WO2019166540A1 WO 2019166540 A1 WO2019166540 A1 WO 2019166540A1 EP 2019054963 W EP2019054963 W EP 2019054963W WO 2019166540 A1 WO2019166540 A1 WO 2019166540A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
fahrbahngstelle
autonomous
calculated
stop line
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/EP2019/054963
Other languages
German (de)
English (en)
Inventor
Holger Mielenz
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to EP19709857.7A priority Critical patent/EP3759643A1/fr
Publication of WO2019166540A1 publication Critical patent/WO2019166540A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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
    • 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
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9318—Controlling the steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

  • the invention relates to a method for operating an autonomous or semi-autonomous vehicle and an autonomously or partially autonomously operable vehicle having a sensor device for detecting a vehicle environment, with a scattering unit for evaluating data of the sensor device and for controlling the vehicle based on the evaluated data of the vehicle
  • Such methods are used in particular to comply with infrastructural stop lines.
  • the stop lines are
  • stop lines For example, stop lines, stop lines of traffic lights, crosswalks and the like.
  • the mentioned stop lines are permanently positioned holding positions and can thus be integrated as fixed reference points in a digital map. Furthermore, these fixed stop lines can be perceived by optical sensors, such as Lidar- or video sensors, or by a so-called “onboard perception" of the automated vehicle and perceived as potential stop positions.
  • the object underlying the invention can be seen to propose a method for determining and driving stops for driving situations without a significant infrastructure. Furthermore, the object of the invention is to propose an autonomous or partially autonomous vehicle for carrying out the method.
  • a method for operating an autonomous or semi-autonomous vehicle is provided.
  • an arranged in front of the autonomous or semi-autonomous vehicle is provided.
  • Fahrbahngstelle least one vehicle participating in the traffic is calculated.
  • the possible and differing trajectories of the vehicles participating in the traffic are estimated on the basis of a width of the Fahrbahngstelle and classified a possible drivable area before or after the bottleneck as relevant.
  • a stop line for the vehicle is determined based on the at least one calculated trajectory of the at least one traffic-participating vehicle and used for at least temporary stopping.
  • the method may preferably by a control unit or a
  • Control unit of the autonomous or semi-autonomous vehicle are executed.
  • the control unit can access data from the vehicle sensor system and use the data for evaluation.
  • the vehicle may include communication devices for establishing assistive wireless communication links.
  • an autonomous or partially autonomous vehicle can have its planned target position or a temporary stop position during adapting to driving on a route in such a way that these perceived and possible traffic-blocking vehicles which can be blocked by the autonomous or semi-autonomous vehicle are not obstructed at temporary bottlenecks.
  • the vehicles participating in the journey do not necessarily have to be determined by the vehicle sensors of the autonomous or semi-autonomous vehicle.
  • the calculation of the trajectories can be as a
  • Vehicle can be determined by the method such that
  • oncoming traffic has sufficient maneuvering area in an exit area of the lane for passing the autonomous or semi-autonomous vehicle.
  • Vehicle size determined As a result, in calculating the possible trajectories certain vehicle sizes can be excluded and a
  • the autonomous or semi-autonomous vehicles can be assigned to the automation levels 2 to 5 according to the SAE J3016 standard.
  • vehicle trajectories for entering or leaving the Fahrbahngstelle be calculated based on model libraries.
  • the model library can be provided in-vehicle or vehicle-external and, for example, have possible vehicle-size-dependent steering radii and corresponding space requirements. This allows an estimate of the by the
  • Fahrbahngstelle calculated before the Fahrbahngstelle maximum passable area and used to set the stop line.
  • a restricted zone can be calculated by the control unit, which is unsuitable for holding the autonomous or semi-autonomous vehicle, whereby the stop line can be laid in front of the Fahrbahngstelle or behind the Fahrbahngstelle.
  • the stop line is determined by including a security buffer.
  • the adjustment of the position of the stop line for the autonomous or semi-autonomous vehicle can be further optimized by providing an additional safety margin to the so-called
  • Vehicle sizes and the resulting trajectories less precise and fail to increase the computing speed.
  • the stop line may be classified as a new temporary or permanent target position of the autonomous or semi-autonomous vehicle.
  • the route planning of the vehicle can therefore adapt the previous route accordingly, as a result of which the vehicle can reliably come to a stop at the newly determined stop line.
  • Such traffic-regulating object may be, for example, a traffic signal, a traffic sign, a signpost and the like.
  • the stop line or the stop position of the vehicle is moved in front of or behind the Fahrbahngstelle at a planned stop position of the vehicle in the Fahrbahngstelle. It can thus be a blockage of traffic by the autonomous or
  • an autonomously or partially autonomously operable vehicle in particular for carrying out the method according to the invention, is provided.
  • the autonomous or teilautonome vehicle has a sensor device for detecting a vehicle environment, which may also consist of a variety of sensors, such as cameras, LIDAR sensors, radar sensors and the like.
  • the autonomous or teilautonome vehicle has a scattering unit for evaluating data of the sensor device and for controlling the
  • Vehicle based on the evaluated data of the sensor device.
  • lane pitches and a cleared area in front of the lane location for enabling one Passing by the vehicle by the sensor device and the control unit determined.
  • the area to be kept free can be determined on the basis of data from a vehicle-internal or a vehicle-external model library.
  • the autonomous or partially autonomous vehicle can determine flexibly based on a simulation, which area can be traveled in front of or behind the Fahrbahngstelle passable by the Fahrbahngstelle vehicles.
  • FIG. 1 is a schematic representation of a vehicle environment with a determined by the inventive method and controlled holding position
  • FIG. 2 is a schematic flow diagram of a method according to an embodiment of the invention.
  • Fig. 3 is a schematic representation of a Fahrbahngstelle from the
  • Fig. 4 is a schematic representation of the Fahrbahngstelle from the
  • FIG. 1 shows a schematic representation of a vehicle environment with a determined by the inventive method 1 and controlled holding position.
  • a Fahrbahngstelle 4 was determined in the form of a construction site, in which only one lane is released.
  • a traffic-regulating object 6 in the form of a mobile traffic light 6 is positioned in front of the Fahrbahngstelle 4.
  • the Fahrbahngstelle 4 is shown from the perspective of an autonomous vehicle 8. Based on the vehicle sensor system 10 and the corresponding
  • the stop line 2 can be adapted to the Fahrbahngstelle 4 and moved in front of the traffic light 6.
  • the vehicle 8 can be optimally braked in front of the traffic light 8.
  • the vehicle sensor system 10 may include a plurality of sensors, such as
  • LIDAR sensors For example, LIDAR sensors, radar sensors, cameras, laser or infrared distance, ultrasonic distance sensors and the like exist.
  • the control unit 12 of the vehicle 8 can be configured as a control unit or as a computer and connected in a data-conducting manner to the vehicle sensor system 10.
  • the control unit 12 may comprise an integrated memory for storing data.
  • FIG. 2 shows a schematic flow diagram of a method 1 according to an embodiment of the invention.
  • a first step 14 is arranged in front of the vehicle 8
  • Fahrbahngstelle 4 and a width of Fahrbahngstelle 4 detected This can be done by the vehicle sensor system 10 or by an infrastructure, not shown. Sensors are made. Based on the determined sensor measurement data, a measurement of the width of the Fahrbahngstelle 4 can be made by the control unit 12.
  • a vehicle trajectory for driving on or leaving the Fahrbahngstelle 4 is calculated at least one vehicle participating in the traffic. This step is explained in more detail in the other figures. In this case, trajectories of the other road users are calculated or estimated by potential road users, who by the
  • the stop line 2 may be defined as a stop position of the vehicle 8 and used as a last step 17 for at least temporary stopping by the vehicle 8. Subsequently, the vehicle 8 can calculate a trajectory for stopping at the stop line 2 by an internal vehicle control and then follow it.
  • FIG 3 shows a schematic representation of a Fahrbahngstelle 4 from a bird's eye view illustrating the method 1 according to an embodiment of the invention.
  • the Fahrbahngstelle 4 is formed here by parked on the roadside vehicles 18.
  • the autonomous vehicle 8 can determine and measure the Fahrbahngstelle 4 based on the sensor measurement data here. Furthermore, the autonomous vehicle 8 can detect an oncoming vehicle 20.
  • the trajectories can be calculated within the scope of simulations by the control unit 12. This can do that autonomous vehicle 8 notice that it must stop in front of the Fahrbahngstelle 4, to allow the traffic-participating vehicle 20.
  • FIG. 4 illustrates a bird's eye view of the Fahrbahngstelle 4 with a calculated holding position 4 for illustrating the method 1 according to an embodiment of the invention.
  • the area 22 must keep the autonomous vehicle 8 free, so that the
  • Oncoming vehicle 20 can pass unhindered.
  • the area 22 can be regarded as a stop zone for a stop position, so that a stop line 2 is positioned by the control unit 12 with a defined safety distance to the calculated stop zone 22.
  • One possible trajectory of the vehicle 22 is indicated by an arrow and the
  • the autonomous or semi-autonomous vehicle 8 stops, at least temporarily, at the fixed stop line 2, whereby the oncoming stop
  • Vehicle 20 can leave the Fahrbahngstelle 4 unhindered.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de fonctionnement d'un véhicule autonome ou partiellement autonome, un rétrécissement de voie de circulation disposé devant le véhicule et une largeur du rétrécissement de voie de circulation étant détectés ; une trajectoire de véhicule, destinée à parcourir ou à quitter le rétrécissement de voie de circulation d'au moins un véhicule participant au trafic, étant calculée ; une ligne d'arrêt du véhicule étant définie en fonction de la trajectoire calculée de l'au moins un véhicule participant au trafic et ladite ligne d'arrêt étant utilisée pour un arrêt au moins temporaire. En outre, l'invention concerne un véhicule à fonctionnement autonome ou partiellement autonome.
PCT/EP2019/054963 2018-03-01 2019-02-28 Procédé de fonctionnement d'un véhicule et véhicule autonome ou partiellement autonome Ceased WO2019166540A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19709857.7A EP3759643A1 (fr) 2018-03-01 2019-02-28 Procédé de fonctionnement d'un véhicule et véhicule autonome ou partiellement autonome

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018203083.9A DE102018203083A1 (de) 2018-03-01 2018-03-01 Verfahren zum Betreiben eines Fahrzeugs und ein autonomes oder teilautonomes Fahrzeug
DE102018203083.9 2018-03-01

Publications (1)

Publication Number Publication Date
WO2019166540A1 true WO2019166540A1 (fr) 2019-09-06

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Country Link
EP (1) EP3759643A1 (fr)
DE (1) DE102018203083A1 (fr)
WO (1) WO2019166540A1 (fr)

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CN120645942A (zh) * 2024-03-08 2025-09-16 深圳引望智能技术有限公司 泊车方法、装置和车辆

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DE102019125958A1 (de) * 2019-09-26 2021-04-01 Audi Ag Verfahren zum Betrieb eines Kraftfahrzeugs im Umfeld einer Engstelle und Kraftfahrzeug
US11603095B2 (en) * 2020-10-30 2023-03-14 Zoox, Inc. Collision avoidance planning system
US12065132B2 (en) 2021-04-20 2024-08-20 Argo AI, LLC Methods and systems for inferring unpainted stop lines for autonomous vehicles

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DE102014111023A1 (de) * 2014-08-04 2016-02-04 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren und Vorrichtung zum Steuern eines automatisierten Fahrzeuges
US20160311431A1 (en) * 2015-04-27 2016-10-27 Toyota Jidosha Kabushiki Kaisha Autonomous driving vehicle system
DE102016211139A1 (de) * 2016-06-22 2017-12-28 Continental Automotive Gmbh Verfahren zum autonomen Fahren eines Fahrzeugs in einer Engstelle

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Publication number Publication date
EP3759643A1 (fr) 2021-01-06
DE102018203083A1 (de) 2019-09-05

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