CN112906450A - 确定车辆附近的占用地图的条目的车辆、***和方法 - Google Patents
确定车辆附近的占用地图的条目的车辆、***和方法 Download PDFInfo
- Publication number
- CN112906450A CN112906450A CN202011393711.1A CN202011393711A CN112906450A CN 112906450 A CN112906450 A CN 112906450A CN 202011393711 A CN202011393711 A CN 202011393711A CN 112906450 A CN112906450 A CN 112906450A
- Authority
- CN
- China
- Prior art keywords
- sensor data
- sensor
- data portion
- computer
- vehicle
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000013528 artificial neural network Methods 0.000 claims description 47
- 238000005259 measurement Methods 0.000 claims description 14
- 238000013507 mapping Methods 0.000 claims description 7
- 230000000875 corresponding effect Effects 0.000 claims 2
- 230000002596 correlated effect Effects 0.000 claims 1
- 230000004927 fusion Effects 0.000 description 27
- 238000001514 detection method Methods 0.000 description 25
- 238000012545 processing Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 239000011159 matrix material Substances 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 238000009795 derivation Methods 0.000 description 3
- 230000015654 memory Effects 0.000 description 3
- 238000007500 overflow downdraw method Methods 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000000306 recurrent effect Effects 0.000 description 1
- 230000006403 short-term memory Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/045—Combinations of networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20081—Training; Learning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20084—Artificial neural networks [ANN]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mathematical Physics (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Computational Linguistics (AREA)
- Molecular Biology (AREA)
- Electromagnetism (AREA)
- Databases & Information Systems (AREA)
- Medical Informatics (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Abstract
Description
Claims (15)
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19213307.2 | 2019-12-03 | ||
EP19213307.2A EP3832525A1 (en) | 2019-12-03 | 2019-12-03 | Vehicles, systems, and methods for determining an entry of an occupancy map of a vicinity of a vehicle |
EP20204096.0A EP3832531A1 (en) | 2019-12-03 | 2020-10-27 | Vehicles, systems, and methods for determining an entry of an occupancy map of a vicinity of a vehicle |
EP20204096.0 | 2020-10-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN112906450A true CN112906450A (zh) | 2021-06-04 |
Family
ID=68771360
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011393711.1A Pending CN112906450A (zh) | 2019-12-03 | 2020-12-03 | 确定车辆附近的占用地图的条目的车辆、***和方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11610407B2 (zh) |
EP (2) | EP3832525A1 (zh) |
CN (1) | CN112906450A (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230195854A1 (en) * | 2021-12-22 | 2023-06-22 | Julien Ip | Filtering of dynamic objects from vehicle generated map |
US20230294671A1 (en) * | 2022-03-21 | 2023-09-21 | Volvo Car Corporation | Fast sensor fusion for free space detection |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106546977A (zh) * | 2015-09-16 | 2017-03-29 | 福特全球技术公司 | 车辆雷达感知和定位 |
CN109425855A (zh) * | 2017-08-31 | 2019-03-05 | 福特全球技术公司 | 使用模拟传感器数据扩增现实传感器记录 |
US20190161002A1 (en) * | 2012-03-07 | 2019-05-30 | Zipcar, Inc. | Apparatus and methods for renting and controlling occupancy of a vehicle |
CN109844562A (zh) * | 2016-10-21 | 2019-06-04 | 伟摩有限责任公司 | 用于自主车辆感知和计划的雷达生成的占用网格 |
CN110494863A (zh) * | 2018-03-15 | 2019-11-22 | 辉达公司 | 确定自主车辆的可驾驶自由空间 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7188397B2 (ja) * | 2017-12-04 | 2022-12-13 | ソニーグループ株式会社 | 画像処理装置及び画像処理方法 |
US20200074233A1 (en) * | 2018-09-04 | 2020-03-05 | Luminar Technologies, Inc. | Automatically generating training data for a lidar using simulated vehicles in virtual space |
CN112930554A (zh) * | 2018-09-12 | 2021-06-08 | 丰田自动车欧洲公司 | 用于确定车辆环境的语义网格的电子设备、***和方法 |
US10928508B2 (en) * | 2019-04-12 | 2021-02-23 | Ford Global Technologies, Llc | Camera and radar fusion |
US11403853B2 (en) * | 2019-08-30 | 2022-08-02 | Waymo Llc | Occupancy prediction neural networks |
-
2019
- 2019-12-03 EP EP19213307.2A patent/EP3832525A1/en not_active Withdrawn
-
2020
- 2020-10-27 EP EP20204096.0A patent/EP3832531A1/en active Pending
- 2020-11-25 US US17/105,211 patent/US11610407B2/en active Active
- 2020-12-03 CN CN202011393711.1A patent/CN112906450A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190161002A1 (en) * | 2012-03-07 | 2019-05-30 | Zipcar, Inc. | Apparatus and methods for renting and controlling occupancy of a vehicle |
CN106546977A (zh) * | 2015-09-16 | 2017-03-29 | 福特全球技术公司 | 车辆雷达感知和定位 |
CN109844562A (zh) * | 2016-10-21 | 2019-06-04 | 伟摩有限责任公司 | 用于自主车辆感知和计划的雷达生成的占用网格 |
CN109425855A (zh) * | 2017-08-31 | 2019-03-05 | 福特全球技术公司 | 使用模拟传感器数据扩增现实传感器记录 |
CN110494863A (zh) * | 2018-03-15 | 2019-11-22 | 辉达公司 | 确定自主车辆的可驾驶自由空间 |
Non-Patent Citations (1)
Title |
---|
SANG-I1 OH ET AL.: "Fast Occupancy Grid Filtering Using Grid Cell Clusters From LIDAR and Stereo Vision Sensor Data", IEEE SENSORS JOURNAL, vol. 16, no. 19, 8 August 2016 (2016-08-08), pages 7258 - 7265 * |
Also Published As
Publication number | Publication date |
---|---|
EP3832525A1 (en) | 2021-06-09 |
EP3832531A1 (en) | 2021-06-09 |
US20210165093A1 (en) | 2021-06-03 |
US11610407B2 (en) | 2023-03-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109934163B (zh) | 一种基于场景先验和特征再融合的航空图像车辆检测方法 | |
CN111666921B (zh) | 车辆控制方法、装置、计算机设备和计算机可读存储介质 | |
CN113412505B (zh) | 用于对通过探测和测距传感器获得的点云进行有序表示和特征提取的处理单元和方法 | |
US11151734B2 (en) | Method and system for generating synthetic point cloud data using a generative model | |
Yao et al. | Estimating drivable collision-free space from monocular video | |
CN105825173A (zh) | 通用道路和车道检测***与方法 | |
CN106971185B (zh) | 一种基于全卷积网络的车牌定位方法及装置 | |
CN115049700A (zh) | 一种目标检测方法及装置 | |
CN105718872A (zh) | 两侧车道快速定位及检测车辆偏转角度的辅助方法及*** | |
CN112906450A (zh) | 确定车辆附近的占用地图的条目的车辆、***和方法 | |
CN112287824A (zh) | 基于双目视觉的三维目标检测方法、装置及*** | |
CN115861799A (zh) | 基于注意力梯度的轻量化空对地目标检测方法 | |
CN115457354A (zh) | 融合方法、3d目标检测方法、车载设备及存储介质 | |
CN110991414A (zh) | 一种交通要素高精度分割方法、电子设备及存储介质 | |
Zhang et al. | Lateral distance detection model based on convolutional neural network | |
US20220292806A1 (en) | Methods and Systems for Object Detection | |
CN115512330A (zh) | 基于图像分割与激光雷达点云补全的物体检测方法 | |
CN113343817A (zh) | 一种面向目标区域的无人车路径检测方法、装置及介质 | |
CN113196746A (zh) | 在摄像机***之间转移附加信息 | |
KR102540629B1 (ko) | 교통 시설물에 대한 학습 데이터 생성 방법 및 이를 실행하기 위하여 기록매체에 기록된 컴퓨터 프로그램 | |
KR102540636B1 (ko) | 방향 정보를 포함한 지도 생성 방법 및 이를 실행하기 위하여 기록매체에 기록된 컴퓨터 프로그램 | |
KR102540634B1 (ko) | 프로젝션 기반 컬러맵 생성 방법 및 이를 실행하기 위하여 기록매체에 기록된 컴퓨터 프로그램 | |
KR102540624B1 (ko) | 항공 라이다를 이용한 지도 생성 방법 및 이를 실행하기 위하여 기록매체에 기록된 컴퓨터 프로그램 | |
KR102540632B1 (ko) | 색상 보정을 적용한 컬러맵 생성 방법 및 이를 실행하기 위하여 기록매체에 기록된 컴퓨터 프로그램 | |
US20240177499A1 (en) | Method for detecting lane lines and electronic device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Country or region after: Luxembourg Address after: Luxembourg Applicant after: Aptiv Technology (2) Co. Address before: Babado J San Michael Applicant before: Aptiv Technologies Ltd. Country or region before: Barbados |
|
CB02 | Change of applicant information | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20240227 Address after: Luxembourg Applicant after: Aptiv Manufacturing Management Services Co. Country or region after: Luxembourg Address before: Luxembourg Applicant before: Aptiv Technology (2) Co. Country or region before: Luxembourg |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20240321 Address after: Schaffhausen Applicant after: APTIV Technology Co.,Ltd. Country or region after: Switzerland Address before: Luxembourg Applicant before: Aptiv Manufacturing Management Services Co. Country or region before: Luxembourg |
|
TA01 | Transfer of patent application right |