JP6666289B2 - 移動体用空間情報算出装置及び衝突回避システム - Google Patents
移動体用空間情報算出装置及び衝突回避システム Download PDFInfo
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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- Transportation (AREA)
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Description
(第1の実施の形態)
図1Aは第1の実施の形態に係る移動体用空間情報算出装置を含む衝突回避システムを示すブロック図である。図1Bは衝突回避システムを搭載する自動車を示す説明図である。図1A及び図1Bにおいて同一の構成要素には同一符号を付してある。本実施の形態は自移動体として自動車を例に示しているが、自動車に限定されるものではない。例えば、移動ロボット等に適用することもできる。
τ=φ/(dφ/dt) …(1)
また、文献(Real-time Time-TO-Collision from variation of Intrinsic(Amaury Negre,Christophe Braillon, Jim Crowley, Christian Laugier著))には、τマージンを下記(2)式によって算出できることが示されている。なお、(2)式において、Zは距離を示し、sは対象物のサイズを示している。
τ=−Z/(Z/dt)=s/(s/dt) …(2)
例えば、τ及びθ算出部4は、上記(1),(2)式等の演算によってτマージンを算出する。例えば、自動車に固定されたセンサ装置21の画角(視野範囲)が既知であるとする。図4は進行方向の撮像画像の一例を示す説明図であり、図2に対応する画像を示している。即ち、図2の車道外側線L1、センターラインL2、他車M2、壁O1及び樹木O2は、それぞれ図4の画像部分PL1,PL2,PM2,PO1,PO2によって示される。他車M2についての対象物視野角は、図4の角度φである。また、図4のθ=0の線は、自車の進行方向を示している。
図8は変形例において採用される動作を示すフローチャートである。図8において図7と同一の手順には同一符号を付して説明を省略する。また、図9は図8中のS11,S12の具体的な処理を示すフローチャートである。本変形例では、衝突回避システムにおいて、センサ装置21としてカメラとLidar装置の両方を採用する例について説明する。
(変形例2)
図11は変形例2におけるモニタの表示画面の一例を示す図である。モニタ27は、制御量算出部12からの出力信号を用いて衝突範囲に存在する対象物に関する情報を表示させることができる。図11の表示画面27aには、対象物である2台の自動車が異なる枠51,52に囲まれ表示されている。対象物を囲う枠は、衝突予測時間の大小に応じて表示形態、例えば色や線の太さ等を異ならせて表示されている。枠51は、衝突範囲に存在しないことを点線で示し、枠52は、衝突範囲に存在することを太い実線で示している。
(変形例3)
図12乃至図18は変形例3を説明するための図である。図12は自車の周囲の状態を説明するXY空間(距離空間)を示している。図13は図12の自車M11のカメラによって取得したセンサ情報に基づくτ−θ空間を示している。
(第2の実施の形態)
図19は第2の実施の形態を示すブロック図である。図19において図1Aと同一の構成要素には同一符号を付して説明を省略する。第1の実施の形態におけるτ−θ空間は、自車に対する他車の位置情報を含んでいるが、他車の移動情報は含んでいない。このため、他車が自車の衝突範囲に位置するまでは他車が衝突する可能性があるか否かを判別できない場合がある。また、パスプランニングの十分な性能が得られない場合がある。そこで、本実施の形態においては、対象物の動きを判定することで、制御量算出部12におけるパスプランニングの性能を向上させる。
Claims (4)
- センサ装置から自移動体の位置を基準にした対象物に関する情報であって、前記自移動体から前記対象物までの距離情報及び前記自移動体の進行方向に対する前記対象物の角度の情報を含むセンサ情報が入力される入力部と、
前記センサ情報に基づいて前記対象物を認識する物体認識部と、
前記物体認識部が認識した前記対象物について、前記距離情報に基づいて衝突予測時間を求め、前記対象物の角度の情報に基づいて対象部角度を求める算出部と、
前記自移動体の速度情報及び操舵情報を取得し、前記速度情報及び操舵情報に基づいて前記算出部が求めた前記衝突予測時間及び対象部角度を補正し補正後の前記衝突予測時間及び対象部角度を用いて、所定時間後における前記自移動体の衝突可能性範囲の情報を含む空間情報を生成し生成した前記空間情報を記憶させる空間情報生成部と
を具備する移動体用空間情報算出装置。 - 前記センサ情報は、画像情報を含み、
前記算出部は、前記対象物に対応する画像上の位置に基づいて前記衝突予測時間及び前記対象部角度を求める
請求項1に記載の移動体用空間情報算出装置。 - 前記センサ情報は、さらに画像情報を含み、
前記算出部は、前記画像情報に基づいて前記衝突予測時間及び前記対象部角度を補正する
請求項1に記載の移動体用空間情報算出装置。 - 前記請求項1に記載の移動体用空間情報算出装置と、
前記対象物毎の前記空間情報に基づいて、各対象物との衝突を回避するための情報を生成する制御部と
を具備する衝突回避システム。
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US15/686,193 US10559206B2 (en) | 2017-03-15 | 2017-08-25 | Mobile body spatial information calculation apparatus and collision avoidance system |
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