JP2020042007A - 地図上のランドマークを使用して車両の長手方向位置を補正するためのシステム及び方法 - Google Patents
地図上のランドマークを使用して車両の長手方向位置を補正するためのシステム及び方法 Download PDFInfo
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Abstract
Description
Claims (20)
- 車両の長手方向位置を補正するためのシステムであって、
一つ以上のプロセッサと、
前記一つ以上のプロセッサに通信可能に結合され且つランドマーク追跡モジュール及び長手方向位置補正モジュールを記憶するメモリと
を具備し、
前記ランドマーク追跡モジュールは命令を含み、該命令が前記一つ以上のプロセッサによって実行されると、該一つ以上のプロセッサは、
記憶された地図データにおいて、前記車両から所定距離以内にある地図上のランドマークを特定し、
前記地図上のランドマークから所定距離以内にある一つ以上の検出静止物体を特定し、
少なくとも第1の所定期間の間、前記一つ以上の検出静止物体を追跡し、
前記一つ以上の検出静止物体のうちの特定の物体を前記地図上のランドマークとマッチングし、
少なくとも第2の所定期間の間、前記特定の物体を追跡し、
前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算し、
前記長手方向位置補正モジュールは命令を含み、該命令が前記一つ以上のプロセッサによって実行されると、該一つ以上のプロセッサは前記長手方向の距離に基づいて前記車両の長手方向位置を補正する、システム。 - 前記地図上のランドマークは道路標識である、請求項1に記載のシステム。
- 前記ランドマーク追跡モジュールは、追跡された前記一つ以上の検出静止物体のうちの特定の物体の幅が前記道路標識の幅と所定の幅公差内で一致することと、前記特定の物体の方位角が前記道路標識の方位角と所定の方位角公差内で一致することとを判定することによって前記特定の物体を前記地図上のランドマークとマッチングする命令を含む、請求項2に記載のシステム。
- 前記ランドマーク追跡モジュールは、前記車両の長手方向位置が前記長手方向の距離に基づいて補正される前に、最大で第3の所定期間までの間、前記特定の物体を追跡する命令を含む、請求項1に記載のシステム。
- 前記ランドマーク追跡モジュールは、前記特定の物体の最新の検出に基づいて前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算する命令を含む、請求項1に記載のシステム。
- 前記ランドマーク追跡モジュールは、前記特定の物体の複数の検出に基づく複数の長手方向の距離の計算を平均化することによって前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算する命令を含む、請求項1に記載のシステム。
- 前記地図上のランドマークから前記所定距離以内にある前記一つ以上の検出静止物体はカメラデータと光検出及び測距(ライダ)データとの少なくとも一方を使用して検出される、請求項1に記載のシステム。
- 車両の長手方向位置を補正するための非一時的コンピュータ可読媒体であって、
命令を記憶し、該命令が一つ以上のプロセッサによって実行されると、該一つ以上のプロセッサは、
記憶された地図データにおいて、前記車両から所定距離以内にある地図上のランドマークを特定し、
前記地図上のランドマークから所定距離以内にある一つ以上の検出静止物体を特定し、
少なくとも第1の所定期間の間、前記一つ以上の検出静止物体を追跡し、
前記一つ以上の検出静止物体のうちの特定の物体を前記地図上のランドマークとマッチングし、
少なくとも第2の所定期間の間、前記特定の物体を追跡し、
前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算し、
前記長手方向の距離に基づいて前記車両の長手方向位置を補正する、非一時的コンピュータ可読媒体。 - 前記地図上のランドマークは道路標識である、請求項8に記載の非一時的コンピュータ可読媒体。
- 追跡された前記一つ以上の検出静止物体のうちの特定の物体を前記地図上のランドマークとマッチングする命令は、前記特定の物体の幅が前記道路標識の幅と所定の幅公差内で一致することと、前記特定の物体の方位角が前記道路標識の方位角と所定の方位角公差内で一致することとを判定する命令を含む、請求項9に記載の非一時的コンピュータ可読媒体。
- 記憶された前記命令は更なる命令を含み、該更なる命令が前記一つ以上のプロセッサによって実行されると、該一つ以上のプロセッサは、前記車両の長手方向位置が前記長手方向の距離に基づいて補正される前に、最大で第3の所定期間までの間、前記特定の物体を追跡する、請求項8に記載の非一時的コンピュータ可読媒体。
- 記憶された前記命令は、前記特定の物体の最新の検出に基づいて前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算する命令を含む、請求項8に記載の非一時的コンピュータ可読媒体。
- 記憶された前記命令は、前記特定の物体の複数の検出に基づく複数の長手方向の距離の計算を平均化することによって前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算する命令を含む、請求項8に記載の非一時的コンピュータ可読媒体。
- 車両の長手方向位置を補正する方法であって、
記憶された地図データにおいて、前記車両から所定距離以内にある地図上のランドマークを特定することと、
前記地図上のランドマークから所定距離以内にある一つ以上の検出静止物体を特定することと、
少なくとも第1の所定期間の間、前記一つ以上の検出静止物体を追跡することと、
前記一つ以上の検出静止物体のうちの特定の物体を前記地図上のランドマークとマッチングすることと、
少なくとも第2の所定期間の間、前記特定の物体を追跡することと、
前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算することと、
前記長手方向の距離に基づいて前記車両の長手方向位置を補正することと
を含む、方法。 - 前記地図上のランドマークは道路標識である、請求項14に記載の方法。
- 追跡された前記一つ以上の検出静止物体のうちの特定の物体を前記地図上のランドマークとマッチングすることは、前記特定の物体の幅が前記道路標識の幅と所定の幅公差内で一致することと、前記特定の物体の方位角が前記道路標識の方位角と所定の方位角公差内で一致することとを判定することを含む、請求項15に記載の方法。
- 前記車両の長手方向位置が前記長手方向の距離に基づいて補正される前に、最大で第3の所定期間までの間、前記特定の物体を追跡することを更に含む、請求項14に記載の方法。
- 前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算することが前記特定の物体の最新の検出に基づく、請求項14に記載の方法。
- 前記特定の物体と前記地図上のランドマークとの間の長手方向の距離を計算することが、前記特定の物体の複数の検出に基づく複数の長手方向の距離の計算を平均化することを含む、請求項14に記載の方法。
- 前記地図上のランドマークから前記所定距離以内にある前記一つ以上の検出静止物体は、カメラデータと光検出及び測距(ライダ)データとの少なくとも一方を使用して検出される、請求項14に記載の方法。
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