[go: up one dir, main page]

WO2018188177A1 - Procédé, dispositif et système de planification d'itinéraire sur la base d'une conduite sans pilote - Google Patents

Procédé, dispositif et système de planification d'itinéraire sur la base d'une conduite sans pilote Download PDF

Info

Publication number
WO2018188177A1
WO2018188177A1 PCT/CN2017/086327 CN2017086327W WO2018188177A1 WO 2018188177 A1 WO2018188177 A1 WO 2018188177A1 CN 2017086327 W CN2017086327 W CN 2017086327W WO 2018188177 A1 WO2018188177 A1 WO 2018188177A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
speed
navigation
traffic light
vehicle speed
Prior art date
Application number
PCT/CN2017/086327
Other languages
English (en)
Chinese (zh)
Inventor
邓立邦
Original Assignee
广东数相智能科技有限公司
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 广东数相智能科技有限公司 filed Critical 广东数相智能科技有限公司
Publication of WO2018188177A1 publication Critical patent/WO2018188177A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3469—Fuel consumption; Energy use; Emission aspects

Definitions

  • the invention belongs to the field of driverless technology, and in particular relates to a method, device and system based on unmanned path planning.
  • the traffic signal conversion cycle in the traffic control department has a public timetable to provide specific data queries; this brings real-time calculations for navigation.
  • the traffic light conversion time to optimize the vehicle navigation control tuning speed scheme provides a reliable data base.
  • one of the objects of the present invention is to provide a method based on unmanned path planning that achieves accurate estimation of travel time and optimizes driving experience.
  • a second object of the present invention is an apparatus based on unmanned path planning that achieves accurate estimation of travel time and optimizes the driving experience.
  • a third object of the present invention is a system based on unmanned path planning that achieves accurate estimation of travel time and optimizes the driving experience.
  • a method based on driverless path planning comprising the following steps:
  • S1 calculating a starting parameter and a braking parameter according to the acquired vehicle parameters, and correspondingly controlling the vehicle according to the starting parameter and the braking parameter, the vehicle parameter including a starting acceleration and a braking acceleration, the starting parameter including a starting distance and a starting time, the braking Parameters include braking distance and braking time;
  • S2 acquiring navigation road information between the starting point and the destination, where the navigation road information includes a navigation path, a traffic light signal, and road condition information;
  • S3 acquiring a current driving state of the vehicle, where the current driving state of the vehicle includes current location information of the vehicle and a traveling speed of the vehicle;
  • S6 Determine whether the driving speed of the vehicle is adapted to the tuning speed, and if not, adjust the vehicle speed to the tuning speed.
  • the step S2 specifically includes the following sub-steps:
  • S22 Identify all traffic light signals on the navigation path, where the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule;
  • the navigation path is divided into a plurality of road segments according to the position of the traffic light to obtain a navigation road segment;
  • S24 Obtain road condition information of each navigation road segment, where the road condition information includes average vehicle speed and speed limit information.
  • the step S5 specifically includes the following sub-steps:
  • S51 Calculate a time required for each vehicle speed in the floating vehicle speed group to pass each navigation section according to the floating vehicle speed group, the current position of the vehicle, and the road condition information;
  • S52 Calculate the sum of the waiting times of each navigation section, the traffic light, and the traffic light in each speed of the floating speed group;
  • S53 Calculate the corresponding vehicle speed in the floating vehicle speed group that has the shortest total time to reach the destination by the tuning calculation formula, that is, adjust the vehicle speed.
  • the formula for calculating the tempered vehicle speed used in step S53 is:
  • t vi represents the time required to advance at speed v, to reach the ith traffic light
  • t wi represents the waiting time required at the ith traffic light
  • t ci represents the time required to cross the ith traffic light intersection
  • f(v ) represents a function that finds the speed v that minimizes the total accumulated time.
  • a device based on unmanned path planning comprising the following modules:
  • the parameter calculation module is configured to calculate a starting parameter and a braking parameter according to the acquired vehicle parameters, and correspondingly control the vehicle according to the starting parameter and the braking parameter, the vehicle parameter includes a starting acceleration and a braking acceleration, and the starting parameter includes a starting distance and a starting point.
  • Time, the braking parameters include braking distance and braking time;
  • a navigation information acquiring module configured to acquire navigation road information between a starting point and a destination, where the navigation road information includes a navigation path, a traffic light signal, and road condition information;
  • a vehicle state acquisition module configured to acquire a current driving state of the vehicle, where the current driving state of the vehicle includes current location information of the vehicle and a traveling speed of the vehicle;
  • the floating vehicle speed calculation module is configured to obtain a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;
  • Tuning vehicle speed module used to obtain a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;
  • Vehicle speed control module used to determine whether the vehicle's driving speed and the tuned vehicle speed are suitable. If not, adjust the vehicle speed to the tuned vehicle speed.
  • the navigation information acquiring module specifically includes the following submodules:
  • the navigation path obtaining module is configured to acquire a navigation path between the starting point and the destination;
  • the traffic light recognition module is configured to identify all traffic light signals on the navigation path, where the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule;
  • the navigation segment segmentation module is configured to divide the navigation path into a plurality of segments according to the position of the traffic light to obtain a navigation segment;
  • the road information acquiring module is configured to acquire road condition information of each navigation road segment, where the road condition information includes average vehicle speed and speed limit information.
  • the tuning vehicle speed module specifically includes the following submodules:
  • the navigation section time module is configured to calculate the time required for each vehicle speed in the floating speed group to pass each navigation section according to the floating speed group, the current position of the vehicle, and the road condition information;
  • Time calculation module used to calculate the sum of time waiting through each navigation section, traffic lights, and traffic lights in each speed of the floating speed group;
  • Tuning speed calculation module used to calculate the corresponding minimum speed of the total time to reach the destination in the floating speed group by tuning calculation formula, which is to adjust the speed.
  • the formula for calculating the tempered vehicle speed used in the tuning vehicle speed calculation module is:
  • t vi represents the time required to advance at speed v, to reach the ith traffic light
  • t wi represents the waiting time required at the ith traffic light
  • t ci represents the time required to cross the ith traffic light intersection
  • f(v ) represents a function that finds the speed v that minimizes the total accumulated time.
  • a system based on driverless path planning comprising an actuator for performing a method based on driverless path planning as described in any of the above.
  • the method of the invention based on driverless path planning can help achieve in no one In the case of driving, by fine-tuning the speed while driving, avoid waiting time for the traffic lights to be too long, to achieve the purpose of optimizing the driving experience, green low-carbon travel.
  • FIG. 1 is a flow chart of a method for unmanned path planning according to the present invention
  • FIG. 2 is a structural diagram of an apparatus for unmanned route planning according to the present invention.
  • the prior art path planning algorithm does not consider the processing of the intersection, lacks the traffic signal conversion cycle combined with the intersections, the waiting time through the intersection, the driving speed of the owner, the traffic flow, the comprehensive calculation planning route, the arrival time, and also There is no real-time reminder to the owner or to remind the vehicle to drive at the optimal speed to avoid waiting or reducing the waiting time to navigate through the intersection with the signal light.
  • the unmanned driving technology is becoming more and more mature, but there is no relevant content for publicizing the design method of the vehicle speed according to the navigation path of the traffic light.
  • the present invention provides a method for unmanned path planning, including the following steps:
  • S1 calculating a starting parameter and a braking parameter according to the acquired vehicle parameters, and correspondingly controlling the vehicle according to the starting parameter and the braking parameter, the vehicle parameter including a starting acceleration and a braking acceleration, the starting parameter including a starting distance and a starting time, the braking Parameters include braking distance and braking time;
  • the starting distance and the starting time are correspondingly set to achieve the calculated optimized vehicle speed, and the safe braking distance and the braking time are calculated to control the vehicle to stop at each intersection that needs parking waiting;
  • Each type of car has a corresponding parameter configuration at the factory. This parameter is pre-set in the system and can be automatically matched when the corresponding model is selected.
  • step S2 Acquire navigation road information between the starting point and the destination, the navigation road information includes a navigation path, a traffic light signal, and road condition information; the step S1 specifically includes the following sub-steps:
  • S22 Identify all traffic light signals on the navigation path, where the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule; the traffic light signal conversion cycle has a public timetable provided by the traffic control department to provide a specific data query.
  • the related data is stored in a data server for data support, and the server of the present invention Connected to the Internet to obtain real-time dynamic traffic control and traffic control data for the updated car network or traffic control department;
  • S24 Obtain road condition information of each navigation section, where the road condition information includes average vehicle speed and speed limit information; according to the average vehicle speed and the speed limit information, the reference calculation information is used as the tuning speed, for example, the range of the adjusted vehicle speed cannot be high.
  • the speed limit of the road on the corresponding road section is used as the tuning speed, for example, the range of the adjusted vehicle speed cannot be high.
  • S3 acquiring a current driving state of the vehicle, the current driving state of the vehicle includes current location information of the vehicle and a traveling speed of the vehicle; positioning the current location of the vehicle by using GPS positioning and other auxiliary positioning functions, and detecting the vehicle in unit time The travel distance within the vehicle is used to measure the current travel speed of the vehicle.
  • S4 obtaining a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information; the floating vehicle speed group floating up and down a range based on the current vehicle speed to obtain a set of floating vehicle speed; the floating vehicle speed group may be a continuous threshold range, It can be that all speed values form an arithmetic progression and then form a floating speed group.
  • the floating vehicle speed group used in the method of the present invention is set based on the current actual vehicle speed of the vehicle, instead of being determined by the system to make the user decide, making the implementation more humanized, more convenient, and easier to promote;
  • step S5 According to each speed in the floating speed group, the time required for the full driving time is obtained, and the vehicle speed corresponding to the shortest running time is used as the tuning speed; the floating speed group is used to calculate the total time to reach the destination, and the comparison result is obtained.
  • the shortest overall arrival time, the driving speed corresponding to the shortest overall arrival time is the result data of the tuned vehicle speed; the overall arrival time is when the driving time of each navigational section between the traffic lights and the traffic light of each intersection is switched.
  • the sum of the steps; the step S4 specifically includes the following sub-steps:
  • S51 Calculate the time required for each vehicle speed in the floating vehicle speed group to pass each navigation section according to the floating vehicle speed group, the current position of the vehicle, and the road condition information; respectively calculate the time required for each vehicle speed in the floating vehicle speed group to pass each navigation segment path .
  • the time consider the effect of the time required to stop the acceleration at each intersection because of the different speed of the vehicle, the average speed of the road vehicle, the speed limit data of the road, etc., on the overall transit time;
  • S52 Calculate the sum of the waiting times of each navigation section, the traffic light, and the traffic light in each speed of the floating speed group;
  • step S53 Calculate the corresponding vehicle speed with the shortest total time to reach the destination in the floating vehicle speed group by using the tuning calculation formula, that is, the tuned vehicle speed; the formula for calculating the tempered vehicle speed used in step S45 is:
  • t vi represents the time required to advance at the speed v and reach the ith traffic light, calculated by dividing the distance by the speed, t wi indicating the waiting time required at the ith traffic light, and calculating the corresponding traffic light state when the traffic light arrives at the traffic light The waiting time is determined; t ci represents the time required to traverse the i-th traffic light intersection; f(v) represents a function of the speed v at which the cumulative total time is minimized.
  • S6 It is judged whether the running speed of the vehicle is consistent with the tuning speed, and if not, the vehicle speed is adjusted to the tuning speed. Or the owner can select the navigation path according to the actual situation, and select the path with the least time to reach the destination. When there is congestion on the navigation path or some roads are convenient and cannot be displayed through the map, the user can independently select the corresponding The path is used to plan the driving path and recalculate the tuning speed on the navigation path.
  • the method of unmanned path planning can be made more widely used by increasing user settings.
  • the method for planning the vehicle speed of the navigation path of the present invention can also be applied to the situation of the traffic light when the next intersection is reached, by calculating the distance from the current vehicle speed to the next intersection, and obtaining the tuning speed according to the state of the traffic signal, so that At the next intersection, the status of the traffic light is green, so that it can pass through the intersection.
  • the driving path can also be anywhere before navigating to the traffic light intersection.
  • the road map and the GPS positioning and other auxiliary positioning functions of the existing navigation system are used to calculate the time required to wait for the signal light when passing each intersection according to the traffic signal conversion period data and the current driving speed. Integrate the traffic conditions of each section to calculate the travel time, plan the route navigation and adjust the optimal speed to help the owner to more accurately estimate the travel time, select the navigation line, and control the vehicle to adjust the speed. By fine-tuning the speed when driving, avoiding the waiting time of the traffic lights is too long, to achieve an optimized driving experience, the purpose of green low-carbon travel, and even the state of green light passing through various intersections from the starting point to the end point.
  • the present invention provides an apparatus for unmanned path planning, including the following modules:
  • a navigation information acquiring module configured to acquire navigation road information between a starting point and a destination, where the navigation road information includes a navigation path, a traffic light signal, and road condition information;
  • the navigation information acquisition module specifically includes the following sub-modules:
  • the navigation path obtaining module is configured to acquire a navigation path between the starting point and the destination;
  • the traffic light recognition module is configured to identify all traffic light signals on the navigation path, where the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule;
  • the navigation segment segmentation module is configured to divide the navigation path into a plurality of segments according to the position of the traffic light to obtain a navigation segment;
  • the road information acquiring module is configured to acquire road condition information of each navigation road segment, where the road condition information includes average vehicle speed and speed limit information;
  • a vehicle state acquisition module configured to acquire a current driving state of the vehicle, where the current driving state of the vehicle includes current location information of the vehicle and a traveling speed of the vehicle;
  • the floating vehicle speed calculation module is configured to obtain a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;
  • the tuned vehicle speed module is configured to obtain a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information; the tuned vehicle speed module specifically includes the following sub-modules:
  • the navigation section time module is configured to calculate the time required for each vehicle speed in the floating speed group to pass each navigation section according to the floating speed group, the current position of the vehicle, and the road condition information;
  • Time calculation module used to calculate the sum of time waiting through each navigation section, traffic lights, and traffic lights in each speed of the floating speed group;
  • Tuning speed calculation module used to calculate the corresponding minimum speed of the total time to reach the destination in the floating speed group by the tuning calculation formula, which is the tuning speed; the formula of the tuning speed adopted in the tuning speed calculation module For:
  • t vi represents the time required to advance at speed v, to reach the ith traffic light
  • t wi represents the waiting time required at the ith traffic light
  • t ci represents the time required to cross the ith traffic light intersection
  • f(v ) a function that finds the velocity v that minimizes the total accumulated time
  • Vehicle speed control module used to determine whether the vehicle's driving speed is consistent with the tuning speed. If not, adjust the vehicle speed to the tuning speed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé, un dispositif et un système de planification d'itinéraire sur la base d'une conduite sans pilote. Le procédé comprend les étapes suivantes consistant à : S1 : acquérir des informations de paramètres d'un véhicule ; S2 : acquérir des informations d'itinéraire de navigation entre un point d'origine et un point de destination, les informations d'itinéraire de navigation comprenant des informations sur un itinéraire de navigation, les signaux lumineux tricolores et les conditions de circulation ; S3 : acquérir un état de déplacement actuel du véhicule, l'état de déplacement actuel du véhicule comprenant des informations d'emplacement actuel du véhicule et la vitesse de déplacement du véhicule ; S4 : produire un réglage dynamique de vitesse de véhicule sur la base de l'état de déplacement actuel du véhicule et des informations sur l'itinéraire de navigation ; S5 : produire le temps nécessaire pour parcourir l'ensemble du trajet sur la base des vitesses de véhicule dans le réglage dynamique de vitesse de véhicule, faisant que la vitesse du véhicule correspondant au temps de déplacement le plus court soit une vitesse de véhicule réglée ; et S6 : déterminer si la vitesse de déplacement du véhicule correspond à la vitesse réglée ; si ce n'est pas le cas, ajuster la vitesse du véhicule à la vitesse de véhicule réglée. Le procédé, par un réglage fin de la vitesse du véhicule, empêche un temps d'attente prolongé au niveau des feux tricolores et atteint l'objectif d'une expérience de conduite optimisée et d'un déplacement écologique et à faibles émissions de carbone.
PCT/CN2017/086327 2017-04-10 2017-05-27 Procédé, dispositif et système de planification d'itinéraire sur la base d'une conduite sans pilote WO2018188177A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710229858.9A CN107084733B (zh) 2017-04-10 2017-04-10 一种基于无人驾驶的路径规划的方法、装置及系统
CN201710229858.9 2017-04-10

Publications (1)

Publication Number Publication Date
WO2018188177A1 true WO2018188177A1 (fr) 2018-10-18

Family

ID=59611275

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/086327 WO2018188177A1 (fr) 2017-04-10 2017-05-27 Procédé, dispositif et système de planification d'itinéraire sur la base d'une conduite sans pilote

Country Status (2)

Country Link
CN (1) CN107084733B (fr)
WO (1) WO2018188177A1 (fr)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107380160A (zh) * 2017-08-30 2017-11-24 重庆凯泽科技股份有限公司 一种汽车自动控制系统及控制方法
US20180004215A1 (en) * 2017-09-15 2018-01-04 GM Global Technology Operations LLC Path planning of an autonomous vehicle for keep clear zones
CN108364494B (zh) * 2018-02-26 2023-11-10 郑清辉 道路交通智能管理方法、系统及平台
US20210003411A1 (en) * 2018-03-07 2021-01-07 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, medium, and information processing device
CN108597218A (zh) * 2018-06-13 2018-09-28 桂林电子科技大学 基于车辆监控和车联网技术的路径规划与车辆速度优化装置
CN112437951B (zh) * 2018-08-17 2023-03-10 谷歌有限责任公司 减少交叉路口处的车辆拥堵
CN109389838A (zh) * 2018-11-26 2019-02-26 爱驰汽车有限公司 无人驾驶路口路径规划方法、系统、设备及存储介质
CN109656248A (zh) * 2018-11-30 2019-04-19 五方智能车科技有限公司 一种用于智能车路况分析的测试系统
CN109597317B (zh) * 2018-12-26 2022-03-18 广州小鹏汽车科技有限公司 一种基于自学习的车辆自动驾驶方法、系统及电子设备
CN109813330B (zh) * 2019-02-24 2021-06-08 深圳市灿晶电子科技有限公司 一种导航路线的发送方法、装置及电子设备
CN109827588B (zh) * 2019-03-08 2022-01-14 联想(北京)有限公司 一种处理方法及电子设备
CN111380557A (zh) * 2020-03-24 2020-07-07 李子月 一种无人车全局路径规划方法及装置
CN113781818B (zh) * 2020-06-08 2022-11-08 北京京东乾石科技有限公司 规划车辆行驶信息的方法和装置
CN112258873B (zh) * 2020-09-04 2022-10-28 阿波罗智联(北京)科技有限公司 用于控制车辆的方法、装置、电子设备及存储介质
CN112991772A (zh) * 2021-02-26 2021-06-18 西北工业大学 一种无人车调度方法及系统
CN113173166B (zh) * 2021-04-30 2023-01-24 重庆工程职业技术学院 车辆用自动驾驶系统
CN113917924A (zh) * 2021-10-10 2022-01-11 安徽江淮汽车集团股份有限公司 智能驾驶导航规划与控制方法及系统
CN114572230A (zh) * 2022-03-23 2022-06-03 南京四维智联科技有限公司 车辆节能方法、装置、车辆设备及存储介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103245351A (zh) * 2012-02-07 2013-08-14 英华达（上海）科技有限公司 可弹性调整路径规划的导航方法及其装置
CN104183124A (zh) * 2014-09-16 2014-12-03 北京交通大学 一种基于单路口交通信号信息的主干道车速规划方法
CN104192148A (zh) * 2014-09-16 2014-12-10 北京交通大学 一种基于交通信号信息预知的主干道车速规划方法
CN104200656A (zh) * 2014-09-16 2014-12-10 北京交通大学 一种基于交通信号信息的主干道车速规划方法
US20150168157A1 (en) * 2013-12-17 2015-06-18 Volkswagen Ag Method and system for determining parameters of a model for the longitudinal guidance and for the determination of a longitudinal guide for a vehicle
CN104794915A (zh) * 2015-05-11 2015-07-22 清华大学 一种连续交叉路口车辆通行控制方法及装置
CN105225502A (zh) * 2015-11-02 2016-01-06 招商局重庆交通科研设计院有限公司 一种基于多智能体的交叉口信号控制方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103245351A (zh) * 2012-02-07 2013-08-14 英华达（上海）科技有限公司 可弹性调整路径规划的导航方法及其装置
US20150168157A1 (en) * 2013-12-17 2015-06-18 Volkswagen Ag Method and system for determining parameters of a model for the longitudinal guidance and for the determination of a longitudinal guide for a vehicle
CN104183124A (zh) * 2014-09-16 2014-12-03 北京交通大学 一种基于单路口交通信号信息的主干道车速规划方法
CN104192148A (zh) * 2014-09-16 2014-12-10 北京交通大学 一种基于交通信号信息预知的主干道车速规划方法
CN104200656A (zh) * 2014-09-16 2014-12-10 北京交通大学 一种基于交通信号信息的主干道车速规划方法
CN104794915A (zh) * 2015-05-11 2015-07-22 清华大学 一种连续交叉路口车辆通行控制方法及装置
CN105225502A (zh) * 2015-11-02 2016-01-06 招商局重庆交通科研设计院有限公司 一种基于多智能体的交叉口信号控制方法

Also Published As

Publication number Publication date
CN107084733B (zh) 2019-02-05
CN107084733A (zh) 2017-08-22

Similar Documents

Publication Publication Date Title
WO2018188177A1 (fr) Procédé, dispositif et système de planification d'itinéraire sur la base d'une conduite sans pilote
WO2018171464A1 (fr) Procédé, appareil et système permettant de planifier une vitesse de véhicule en fonction d'un trajet de navigation
EP3528078B1 (fr) Commande de système de peloton de véhicules pour intersections
US10215576B2 (en) Energy-optimized vehicle route selection
JP5725810B2 (ja) 車両用道路案内システム及び道路案内サービス方法
CN105865472B (zh) 一种基于最佳油耗的车载导航方法
WO2018122807A1 (fr) Procédé de régulation de vitesse de véhicule à conduite autonome reposant sur le confort
US20190346275A1 (en) Vehicle route guidance
CN106233355B (zh) 驾驶辅助装置及驾驶辅助方法
CN110349420B (zh) 一种基于数据分析的智能路况管理系统
US20210055122A1 (en) Pedestrian and vehicle route optimization
CN110861650A (zh) 车辆的路径规划方法、装置，车载设备和存储介质
CN106097718B (zh) 基于gps数据的信号交叉口区域通行时间估计方法
CN106781511B (zh) 一种基于gps数据和交通事故类型的拥堵时间预测方法
RU2764469C1 (ru) Система формирования корректирующего энергоэффективного трека эксплуатируемого транспортного средства
CN115440045B (zh) 一种提高交通导航实时准确性的方法
CN103914988A (zh) 一种交通路况数据处理方法、装置和系统
CN110758232B (zh) 一种车辆转向灯控制方法、车辆及存储介质
US11623662B2 (en) Planning system for speed limit changes for autonomous vehicles
CN108847019B (zh) 一种计算可变线路公交车辆到达固定站点行程时间的方法
CN105806355A (zh) 一种车辆绿色路径导航系统及方法
RU2771477C1 (ru) Способ формирования энергоэффективного трека эксплуатируемого транспортного средства при движении эксплуатируемого транспортного средства по участку пути, включающему точку обязательной децелерации
CN115376333B (zh) 一种交叉口车辆调度方法、装置及电子设备
CN117055576A (zh) 一种路径规划方法及无人车
RU2766897C1 (ru) Транспортное средство с функцией формирования энергоэффективного трека эксплуатируемого транспортного средства при движении эксплуатируемого транспортного средства по участку пути, включающему точку обязательной децелерации

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17905738

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC , EPO FORM 1205A DATED 03.12.2019.

122 Ep: pct application non-entry in european phase

Ref document number: 17905738

Country of ref document: EP

Kind code of ref document: A1