JP2017100716A - オープンエリアの識別 - Google Patents
オープンエリアの識別 Download PDFInfo
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- 238000011156 evaluation Methods 0.000 claims abstract description 93
- 238000000034 method Methods 0.000 claims abstract description 44
- 238000001514 detection method Methods 0.000 claims description 34
- 238000004590 computer program Methods 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims 1
- 230000002093 peripheral effect Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Abstract
Description
本発明は、経路区間の走行可能性を評価するための方法、装置、及び、コンピュータプログラムを含む。
本発明は、周囲センサシステムが搭載された車両のための、当該車両が走行しようとする少なくとも1つの経路区間の走行可能性を表す評価信号を形成するための方法を記載する。前記評価信号は、前記周囲センサシステムによって検出される周囲データに基づいて決定される。本方法の核心部分は、前記評価信号をさらに、
・前記少なくとも1つの経路区間の幾何形態を表す高度マップからの少なくとも1つの周囲情報に基づいて、及び/又は、
・前記車両のピッチ角及び/又はロール角を表す少なくとも1つの運動値に基づいて、
決定することにある。
図6には、特許請求の範囲に記載された本方法の例示的なシーケンスが示されている。ステップ601では、周囲センサシステムによって周囲データ601aが記録される。本実施例では、カメラが車両の前方の領域を撮影する。
Claims (11)
- 周囲センサシステムが搭載された車両(101,201,301,401)のための、当該車両(101,201,301,401)が走行しようとする少なくとも1つの経路区間の走行可能性を表す評価信号(504a,603a)を形成するための方法であって、
前記評価信号(504a,603a)を、前記周囲センサシステムによって検出される周囲データ(511a,601a)に基づいて決定する、
方法において、
前記評価信号(504a,603a)をさらに、
・前記少なくとも1つの経路区間の幾何形態を表す高度マップからの少なくとも1つの周囲情報(512a,602a)に基づいて、及び/又は、
・前記車両のピッチ角及び/又はロール角を表す少なくとも1つの運動値(513a,622a)に基づいて、
決定することを特徴とする方法。 - 前記車両の前記少なくとも1つの周囲情報(512a,602a)及び/又は前記少なくとも1つの運動値(513a,622a)は、前記周囲データ(511a,601a)の導出元となる、前記周囲センサシステムの検出範囲に影響を与える、
請求項1に記載の方法。 - 前記評価信号(504a,603a)は、前記経路区間の走行可能性に関する確率情報を含む、
請求項1又は2に記載の方法。 - 前記評価信号(504a,603a)を、前方を走行する車両(302)の軌跡を用いて決定する、
請求項1乃至3のいずれか一項に記載の方法。 - 前記評価信号(504a,603a)を、前記周囲データ(511a,601a)の評価時に識別された車線標示を用いて実施する、
請求項1乃至4のいずれか一項に記載の方法。 - 前記評価信号(504a,603a)を、デジタル道路マップを用いて決定し、
前記デジタル道路マップは、評価すべき前記経路区間上にあるインフラストラクチャ設備に関する情報、及び/又は、評価すべき前記経路区間の道路形状に関する情報を含む、
請求項1乃至5のいずれか一項に記載の方法。 - 前記評価信号(504a,603a)に考慮されるデータ及び/又は情報及び/又は運動値(511a,512a,513a,601a,602a,622a)を、それぞれ異なる大きさで重み付けする、
請求項1乃至6のいずれか一項に記載の方法。 - 前記評価信号(504a,603a)に考慮されるデータ及び/又は情報及び/又は運動値(511a,512a,513a,601a,602a,622a)の前記重み付けを、前記データ及び/又は情報及び/又は運動値(511a,512a,513a,601a,602a,622a)の評価に基づいて実施する、
請求項7に記載の方法。 - 前記走行可能性に関する前記評価信号(504a,603a)によって評価すべき前記経路区間の少なくとも一部は、前記周囲センサシステムによって直接的には検出不可能である、
請求項1乃至8のいずれか一項に記載の方法。 - 評価信号(504a,603a)を形成し、
前記評価信号(504a,603a)に基づいて、警告信号を形成する、及び/又は、前記評価信号(504a,603a)に基づいた、運転者に対する走行タスクの引き受けの要請を形成をする、及び/又は、
前記評価信号(504a,603a)に基づいて、車両(101,201,301,401)の走行推進力に介入する少なくとも1つのアクチュエータを制御する、
装置において、
前記評価信号(504a,603a)を、請求項1乃至9の少なくとも一項に記載の方法によって形成する、
ことを特徴とする装置。 - 請求項1乃至9のいずれか一項に記載の方法の全てのステップを実施するように構成されたコンピュータプログラム。
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