JP2006508437A - 周囲感知システムによって路上車両の前方周囲を検出するための方法 - Google Patents
周囲感知システムによって路上車両の前方周囲を検出するための方法 Download PDFInfo
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- JP2006508437A JP2006508437A JP2004554332A JP2004554332A JP2006508437A JP 2006508437 A JP2006508437 A JP 2006508437A JP 2004554332 A JP2004554332 A JP 2004554332A JP 2004554332 A JP2004554332 A JP 2004554332A JP 2006508437 A JP2006508437 A JP 2006508437A
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S13/93—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
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
2 車線
3 車線境界
4 中央マーキング
5 許容領域
6 カメラの結像領域の境界
A1〜D4 認知構成領域
Claims (8)
- 周囲感知システム、特に赤外線暗視システムによって路上車両の前方周囲を検出する方法であって、周囲データが周囲センサによって感知され、前記周囲センサによって感知された前記周囲データ内の対象物が、該データを処理することによって検出され、前記対象物が検出される認知領域が、前記周囲センサによって感知された領域の構成領域に対応する方法において、
前記認知領域が複数の構成領域に分割され、該構成領域の各々に特定の評価が施されることを特徴とする方法。 - 前記認知領域が、前記認知領域の複数の構成領域に分割される前に、続いて前記認知領域を車線に制限するために、車線検出が画像処理方法によって実施されるかあるいは車線がナビゲーションシステムのデータによって規定されることを特徴とする請求項1に記載の方法。
- 前記車線を境界付けるために、予め規定された別の許容領域も加えられるように、前記認知領域が制限されることを特徴とする請求項2に記載の方法。
- 前記認知領域で評価を実施するために、画像処理方法によって対象物の認知が実施されることを特徴とする請求項1〜3のいずれか1項に記載の方法。
- 前記認知領域で評価を実施するために、誤警報を排除するため分類方法によって対象物の分類が実施されることを特徴とする請求項1〜4のいずれか1項に記載の方法。
- 前記認知領域の評価のために、障害物に関する情報を適時に提供できるように、検出された対象物からの距離が決定されることを特徴とする請求項4又は5に記載の方法。
- 追跡方法によって前記認知領域で評価を実施するために、対象物の移動方向が車両自体の移動に対応するかどうかを認知するため、前記対象物の移動が感知されることを特徴とする請求項1〜6のいずれか1項に記載の方法。
- 他の車両内部システムに対して作用するために、路上車両の安全システムとしての請求項1〜7のいずれか1項に記載の方法の使用。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10255797A DE10255797A1 (de) | 2002-11-28 | 2002-11-28 | Verfahren zur Erfassung der vorausliegenden Umgebung eines Strassenfahrzeugs mittels eines Umgebungserfassungssystems |
PCT/EP2003/012572 WO2004049000A1 (de) | 2002-11-28 | 2003-11-11 | Verfahren zur erfassung der vorausliegenden umgebung eines strassenfahrzeugs mittels eines umgebungserfassungssystems |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2006508437A true JP2006508437A (ja) | 2006-03-09 |
JP2006508437A5 JP2006508437A5 (ja) | 2006-09-21 |
JP4415856B2 JP4415856B2 (ja) | 2010-02-17 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004554332A Expired - Fee Related JP4415856B2 (ja) | 2002-11-28 | 2003-11-11 | 周囲感知システムによって路上車両の前方周囲を検出するための方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20060038885A1 (ja) |
EP (1) | EP1567888B1 (ja) |
JP (1) | JP4415856B2 (ja) |
AU (1) | AU2003302434A1 (ja) |
DE (2) | DE10255797A1 (ja) |
WO (1) | WO2004049000A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101481503B1 (ko) * | 2013-11-20 | 2015-01-21 | 금오공과대학교 산학협력단 | 다중카메라를 이용한 시각방해대상 제거 시스템 |
JP2019148555A (ja) * | 2018-02-28 | 2019-09-05 | Necプラットフォームズ株式会社 | 位置推定装置、位置推定方法及びプログラム |
Families Citing this family (21)
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DE102004001425A1 (de) * | 2004-01-09 | 2005-08-04 | Robert Bosch Gmbh | Optische Sensorvorrichtung mit zumindest teilweise in das Gerätegehäuse integrierter Optik |
DE102004050597B4 (de) * | 2004-10-15 | 2009-02-12 | Daimler Ag | Wildwechselwarnvorrichtung und Verfahren zur Warnung vor lebenden Objekten auf einer Verkehrsstraße |
JP4628135B2 (ja) * | 2005-02-23 | 2011-02-09 | ユーテック株式会社 | 超音波識別装置、およびこの超音波識別装置を用いた制御装置 |
DE102005028608A1 (de) * | 2005-06-21 | 2006-12-28 | Robert Bosch Gmbh | Nachtsichtgerät für ein Kraftfahrzeug |
DE102005030838A1 (de) * | 2005-07-01 | 2007-01-04 | Siemens Ag | Nightvisionsystem |
JP4400584B2 (ja) * | 2006-03-01 | 2010-01-20 | トヨタ自動車株式会社 | 障害物検出方法及び障害物検出装置 |
CN101369351A (zh) * | 2007-08-14 | 2009-02-18 | 深圳富泰宏精密工业有限公司 | 机动车行驶记录装置 |
DE102007043304B3 (de) * | 2007-09-11 | 2009-02-19 | Daimler Ag | Verfahren und Vorrichtung zum Betreiben eines Fahrzeuges |
JP2009169776A (ja) * | 2008-01-18 | 2009-07-30 | Hitachi Ltd | 検出装置 |
DE102008039606A1 (de) | 2008-08-25 | 2010-03-04 | GM Global Technology Operations, Inc., Detroit | Kraftfahrzeug mit einem Abstandssensor und einem Bilderfassungssystem |
DE102012221766B4 (de) | 2012-11-28 | 2018-08-30 | Robert Bosch Gmbh | Integration eines optischen Sensors und eines Ultraschallsensors |
DE102014005186A1 (de) | 2014-04-08 | 2014-10-02 | Daimler Ag | Verfahren zum Betreiben eines Fahrerassistenzsystems eines Kraftwagens |
EP2950114B1 (en) | 2014-05-30 | 2020-03-04 | Honda Research Institute Europe GmbH | Method for assisting a driver in driving a vehicle, a driver assistance system, a computer software program product and vehicle |
DE102015216352A1 (de) | 2015-08-27 | 2017-03-02 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Erkennen einer möglichen Kollision eines Fahrzeuges mit einem Fußgänger auf Grundlage hochaufgelöster Aufnahmen |
DE102016113312A1 (de) | 2016-07-19 | 2018-01-25 | Comnovo Gmbh | Fahrzeugsicherheitsvorrichtung mit Warnzonen |
EP3684296B1 (en) * | 2017-09-19 | 2024-02-14 | Boston Scientific Scimed, Inc. | Percutaneous repair of mitral prolapse |
DE102018205532A1 (de) | 2018-04-12 | 2019-10-17 | Robert Bosch Gmbh | Verfahren zum Erkennen eines Hindernisses vor einem Fahrzeug |
KR102448164B1 (ko) * | 2018-07-20 | 2022-09-28 | 현대모비스 주식회사 | 차량용 레이더 제어 장치 및 방법 |
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DE102018222036A1 (de) * | 2018-12-18 | 2020-06-18 | Zf Friedrichshafen Ag | Verfahren und Steuereinrichtung zur Objekterfassung im Umfeld eines Fahrzeugs |
CN110488320B (zh) * | 2019-08-23 | 2023-02-03 | 南京邮电大学 | 一种利用立体视觉检测车辆距离的方法 |
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-
2002
- 2002-11-28 DE DE10255797A patent/DE10255797A1/de not_active Ceased
-
2003
- 2003-11-11 EP EP03811754A patent/EP1567888B1/de not_active Expired - Fee Related
- 2003-11-11 US US10/535,157 patent/US20060038885A1/en not_active Abandoned
- 2003-11-11 JP JP2004554332A patent/JP4415856B2/ja not_active Expired - Fee Related
- 2003-11-11 WO PCT/EP2003/012572 patent/WO2004049000A1/de active IP Right Grant
- 2003-11-11 DE DE50304514T patent/DE50304514D1/de not_active Expired - Lifetime
- 2003-11-11 AU AU2003302434A patent/AU2003302434A1/en not_active Abandoned
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101481503B1 (ko) * | 2013-11-20 | 2015-01-21 | 금오공과대학교 산학협력단 | 다중카메라를 이용한 시각방해대상 제거 시스템 |
JP2019148555A (ja) * | 2018-02-28 | 2019-09-05 | Necプラットフォームズ株式会社 | 位置推定装置、位置推定方法及びプログラム |
Also Published As
Publication number | Publication date |
---|---|
US20060038885A1 (en) | 2006-02-23 |
DE10255797A1 (de) | 2004-06-17 |
AU2003302434A1 (en) | 2004-06-18 |
WO2004049000A1 (de) | 2004-06-10 |
JP4415856B2 (ja) | 2010-02-17 |
DE50304514D1 (de) | 2006-09-14 |
EP1567888A1 (de) | 2005-08-31 |
EP1567888B1 (de) | 2006-08-02 |
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