JP6677521B2 - 乗り物のドライバ支援システムにおける予測のためのシステムおよび方法 - Google Patents
乗り物のドライバ支援システムにおける予測のためのシステムおよび方法 Download PDFInfo
- Publication number
- JP6677521B2 JP6677521B2 JP2016024763A JP2016024763A JP6677521B2 JP 6677521 B2 JP6677521 B2 JP 6677521B2 JP 2016024763 A JP2016024763 A JP 2016024763A JP 2016024763 A JP2016024763 A JP 2016024763A JP 6677521 B2 JP6677521 B2 JP 6677521B2
- Authority
- JP
- Japan
- Prior art keywords
- sensing means
- vehicle
- output
- map
- information
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 35
- 238000013178 mathematical model Methods 0.000 claims description 38
- 238000012545 processing Methods 0.000 claims description 11
- 239000000284 extract Substances 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 238000005457 optimization Methods 0.000 description 4
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 3
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000009877 rendering Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- 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
-
- 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
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- 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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- 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
- G01S17/89—Lidar 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather 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
- 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
- G01S2013/9323—Alternative operation using light waves
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Data Mining & Analysis (AREA)
- Mathematical Physics (AREA)
- General Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Mathematical Analysis (AREA)
- Databases & Information Systems (AREA)
- Algebra (AREA)
- Mechanical Engineering (AREA)
- Mathematical Optimization (AREA)
- Transportation (AREA)
- Pure & Applied Mathematics (AREA)
- Computational Mathematics (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- Computer Hardware Design (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Description
たとえば、マップデータは公共のサービスまたは商業サービスから入手することができる。しかしこれらのマップデータはルーティング(経路制御)機能だけのために最適化されており、シーンの正確な幾何学的配置を再構成するに十分な情報は提供されない。このようなマップデータは通常粗い幾何学的な経路についての情報および車線の数、車線の方向、道路タイプについての情報を含んでいる。しかしルーティングタスクにとってはマップにおける道路の絶対位置が正しいかどうかは重要でない。
2 感知手段(センサ)
3 道路
4 第1モジュール(数学的モデル、乗り物パラメータ)
5 第2モジュール(センサパラメータ)
6 GPSセンサ(測位センサ)
7 マップデータ取得手段
8 マップ処理ユニット
9 仮想センサ描画モジュール
10 比較モジュール
Claims (9)
- 乗り物のドライバ支援システムにより実行される方法であって、
前記乗り物の近辺の少なくとも道路の幾何学的配置についての情報を含むマップのデータを取得するステップと、
前記乗り物に搭載され、該乗り物の周辺を感知するための感知手段に前記マップにおける位置および方位を割り当てるステップであって、割り当ては、前記マップにおける前記乗り物の位置と方位を検出することと、前記感知手段の前記乗り物との相対的な位置と方位とを示すパラメータを含む前記感知手段の数学的モデルを用いることであるステップと、
前記感知手段が前記割り当てられた位置および前記割り当てられた方位から前記マップのデータに含まれる情報によって規定されるシーンを感知したときの該感知手段の出力に相当する仮想出力を、該感知手段の前記数学的モデルに基づいて生成するステップであって、前記数学的モデルが更に前記感知手段の特徴を含むステップと、
前記乗り物の周辺を感知し感知手段出力を生成するステップと、
前記感知手段出力と前記仮想出力とを比較するステップと、
修正したパラメータに基づく前記仮想出力と、前記感知手段出力との間に、予め定められた整合度が達成されるまで、前記数学的モデルのパラメータを繰り返し修正するステップと、
前記修正したパラメータを用いて、前記感知手段出力から導出された情報と前記マップのデータとを結合して前記乗り物の周辺についての結合情報を生成するステップと、
前記結合情報をさらなる処理のために出力するステップと、
を含む方法。 - 前記感知手段が画像センサを備え、前記仮想出力として3D描画画像が生成される、請求項1に記載の方法。
- 前記感知手段出力がレーザスキャナ、LIDARセンサまたはレーダセンサによって生成される、請求項1に記載の方法。
- 前記マップにおける向上された前記乗り物の位置は、前記予め定めた整合度が達成された修正済みのパラメータをもつ前記数学的モデルを考慮に入れて判定される、請求項1から3のいずれか1項に記載の方法。
- 次に掲げるステップ、すなわち、
前記乗り物に搭載され、該乗り物の周辺を感知するための感知手段に前記マップにおける位置および方位を割り当てるステップであって、割り当ては、前記マップにおける前記乗り物の位置と方位を検出することと、前記感知手段の前記乗り物との相対的な位置と方位とを示すパラメータを含む前記感知手段の数学的モデルを用いることであるステップ、
前記感知手段が前記割り当てられた位置および前記割り当てられた方位から前記マップのデータに含まれる情報によって規定されるシーンを感知したときの該感知手段の出力に相当する仮想出力を、該感知手段の前記数学的モデルに基づいて生成するステップであって、前記数学的モデルが更に前記感知手段の特徴を含むステップ、
前記乗り物の周辺を感知して感知手段出力を生成するステップ、前記感知手段出力と前記仮想出力とを比較するステップ、予め定めた整合度が達成されるまで、前記数学的モデルのパラメータを修正し、前記仮想出力を生成して前記感知手段出力と比較するステップ、および前記感知手段出力から導出された情報と前記マップのデータを結合して前記乗り物の周辺についての結合情報を生成するステップ、が
複数の前記感知手段のそれぞれについて実行される、請求項1から4のいずれか1項に記載の方法。 - 前記マップにおける向上された前記乗り物の位置が、前記感知手段のそれぞれについて予め定めた整合度が達成された修正済みのパラメータをもつ前記数学的モデルを考慮に入れて判定される、請求項5に記載の方法。
- インフラストラクチャ要素が感知手段出力から判定され、前記感知手段出力から導出された情報と前記マップのデータを結合するステップにおいてそれぞれの情報が前記マップのデータに加えられる、請求項1から6のいずれか1項に記載の方法。
- 前記仮想出力と前記感知手段出力との間の予め定めた整合度が達成された後、前記感知手段出力のどの領域が前記マップのデータから推定される道路構造に対応するかを判定することにより、感知されたシーンにありうる遮蔽物の位置を前記感知手段出力から抽出する、請求項1から7のいずれか1項に記載の方法。
- 感知手段、先進のドライバ支援システム、およびデータ処理ユニットを備え、
前記感知手段、及び、前記データ処理ユニットは、請求項1から8のいずれか1項に記載の方法を実施するよう構成された、乗り物。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15154924.3 | 2015-02-12 | ||
EP15154924 | 2015-02-12 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016149132A JP2016149132A (ja) | 2016-08-18 |
JP6677521B2 true JP6677521B2 (ja) | 2020-04-08 |
Family
ID=52472211
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016024763A Active JP6677521B2 (ja) | 2015-02-12 | 2016-02-12 | 乗り物のドライバ支援システムにおける予測のためのシステムおよび方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11370422B2 (ja) |
EP (1) | EP3056861B1 (ja) |
JP (1) | JP6677521B2 (ja) |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6274036B2 (ja) * | 2014-07-01 | 2018-02-07 | 株式会社デンソー | 制御装置 |
US10114618B2 (en) * | 2015-06-08 | 2018-10-30 | Cisco Technology, Inc. | Autonomous mobile sensor movement path simulation with an integrated developer environment |
CN110383340B (zh) | 2016-08-19 | 2023-07-04 | 莫维迪厄斯有限公司 | 使用稀疏体积数据进行路径规划 |
US10585409B2 (en) * | 2016-09-08 | 2020-03-10 | Mentor Graphics Corporation | Vehicle localization with map-matched sensor measurements |
US11067996B2 (en) | 2016-09-08 | 2021-07-20 | Siemens Industry Software Inc. | Event-driven region of interest management |
CN106882184A (zh) * | 2017-01-04 | 2017-06-23 | 江西沃可视发展有限公司 | 基于adas纯图像处理的驾驶安全*** |
US10436595B2 (en) * | 2017-02-02 | 2019-10-08 | Baidu Usa Llc | Method and system for updating localization maps of autonomous driving vehicles |
US11735035B2 (en) * | 2017-05-17 | 2023-08-22 | Cavh Llc | Autonomous vehicle and cloud control (AVCC) system with roadside unit (RSU) network |
US10692365B2 (en) * | 2017-06-20 | 2020-06-23 | Cavh Llc | Intelligent road infrastructure system (IRIS): systems and methods |
CN109429518B (zh) * | 2017-06-22 | 2022-10-28 | 百度时代网络技术(北京)有限公司 | 基于地图图像的自动驾驶交通预测 |
DE102017213214A1 (de) | 2017-08-01 | 2019-02-07 | Ford Global Technologies, Llc | Verfahren zum Modellieren eines Kraftfahrzeug-Sensors in einer virtuellen Testumgebung |
US10558217B2 (en) * | 2017-08-28 | 2020-02-11 | GM Global Technology Operations LLC | Method and apparatus for monitoring of an autonomous vehicle |
EP3477259A1 (en) * | 2017-10-25 | 2019-05-01 | Honda Research Institute Europe GmbH | Method and system for estimating quality of measuring results of one of more sensors mounted on a mobile platform |
CN109955850B (zh) * | 2017-12-14 | 2022-04-15 | 比亚迪股份有限公司 | 车辆及其自适应巡航轨迹的记录方法、*** |
US10404261B1 (en) * | 2018-06-01 | 2019-09-03 | Yekutiel Josefsberg | Radar target detection system for autonomous vehicles with ultra low phase noise frequency synthesizer |
US10832093B1 (en) * | 2018-08-09 | 2020-11-10 | Zoox, Inc. | Tuning simulated data for optimized neural network activation |
KR102675522B1 (ko) * | 2018-09-07 | 2024-06-14 | 삼성전자주식회사 | 센서들에 대한 정렬 모델 조정 방법 및 그 방법을 수행하는 전자 장치 |
KR102682524B1 (ko) * | 2018-09-11 | 2024-07-08 | 삼성전자주식회사 | 증강 현실에서 가상 객체를 표시하기 위한 측위 방법 및 장치 |
CN110134024A (zh) * | 2018-11-12 | 2019-08-16 | 初速度(苏州)科技有限公司 | 车辆自动驾驶虚拟环境中特殊标志物的构建方法 |
US20190138848A1 (en) | 2018-12-29 | 2019-05-09 | Intel Corporation | Realistic sensor simulation and probabilistic measurement correction |
JP7316128B2 (ja) * | 2019-07-12 | 2023-07-27 | 株式会社日立製作所 | 映像生成装置 |
DE102019120778A1 (de) * | 2019-08-01 | 2021-02-04 | Valeo Schalter Und Sensoren Gmbh | Verfahren und Vorrichtung zur Lokalisierung eines Fahrzeugs in einer Umgebung |
EP4011764A4 (en) * | 2019-10-25 | 2022-09-28 | Sony Group Corporation | INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, PROGRAM AND FLYING BODY |
EP3828583A1 (en) | 2019-11-27 | 2021-06-02 | Honda Research Institute Europe GmbH | Analysis of localization errors in a mobile object |
CN110884502B (zh) * | 2019-12-06 | 2021-02-26 | 北京京东乾石科技有限公司 | 自动驾驶路径规划质量测评方法、装置和*** |
DE102019220223A1 (de) * | 2019-12-19 | 2021-06-24 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Sensors eines Kraftfahrzeugs |
CN113498011B (zh) * | 2020-03-19 | 2023-08-15 | 中移(上海)信息通信科技有限公司 | 车联网方法、装置、设备、存储介质及*** |
CN111832098B (zh) * | 2020-04-21 | 2023-07-18 | 中冶南方城市建设工程技术有限公司 | 一种市政道路施工期交通组织方案评价方法 |
CN116097128A (zh) * | 2020-09-10 | 2023-05-09 | 拓普康定位***公司 | 用于对车辆位置进行确定的方法和设备 |
US11948454B2 (en) | 2020-10-30 | 2024-04-02 | Honda Research Institute Europe Gmbh | Method and system for enhancing traffic estimation using top view sensor data |
DE102020134119B3 (de) * | 2020-12-18 | 2021-12-23 | Audi Aktiengesellschaft | Verfahren zur Lokalisierung eines Kraftfahrzeugs in einer Assistenzkarte, Kraftfahrzeug, Computerprogramm und elektronisch lesbarer Datenträger |
EP4068153A1 (en) * | 2021-03-31 | 2022-10-05 | Honda Research Institute Europe GmbH | Advanced driver assistance system for assisting a driver of a vehicle |
US20230035780A1 (en) * | 2021-07-29 | 2023-02-02 | Zoox, Inc. | Systematic fault detection in vehicle control systems |
Family Cites Families (56)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5801970A (en) * | 1995-12-06 | 1998-09-01 | Martin Marietta Corporation | Model-based feature tracking system |
JPH11351888A (ja) * | 1998-06-08 | 1999-12-24 | Mitsubishi Electric Corp | ナビゲーション装置 |
JP2001331787A (ja) * | 2000-05-19 | 2001-11-30 | Toyota Central Res & Dev Lab Inc | 道路形状推定装置 |
DE10114932B4 (de) * | 2001-03-26 | 2005-09-15 | Daimlerchrysler Ag | Dreidimensionale Umfelderfassung |
JP4696248B2 (ja) * | 2004-09-28 | 2011-06-08 | 国立大学法人 熊本大学 | 移動体ナビゲート情報表示方法および移動体ナビゲート情報表示装置 |
JP4695933B2 (ja) * | 2005-07-08 | 2011-06-08 | クラリオン株式会社 | ナビゲーション装置 |
EP1906339B1 (en) * | 2006-09-01 | 2016-01-13 | Harman Becker Automotive Systems GmbH | Method for recognizing an object in an image and image recognition device |
WO2009030520A1 (de) * | 2007-08-29 | 2009-03-12 | Continental Teves Ag & Co. Ohg | Dynamische aktualisierung von digitalen karten |
CN101952688A (zh) * | 2008-02-04 | 2011-01-19 | 电子地图北美公司 | 用于与传感器检测到的对象进行地图匹配的方法 |
US8547298B2 (en) * | 2009-04-02 | 2013-10-01 | GM Global Technology Operations LLC | Continuation of exterior view on interior pillars and surfaces |
US8301374B2 (en) * | 2009-08-25 | 2012-10-30 | Southwest Research Institute | Position estimation for ground vehicle navigation based on landmark identification/yaw rate and perception of landmarks |
TWI391874B (zh) * | 2009-11-24 | 2013-04-01 | Ind Tech Res Inst | 地圖建置方法與裝置以及利用該地圖的定位方法 |
JP5471626B2 (ja) * | 2010-03-09 | 2014-04-16 | ソニー株式会社 | 情報処理装置、マップ更新方法、プログラム及び情報処理システム |
EP2583217A1 (en) | 2010-06-21 | 2013-04-24 | Centre De Visió Per Computador | Method for obtaining drivable road area |
JP4909451B1 (ja) * | 2011-03-28 | 2012-04-04 | パイオニア株式会社 | 情報表示装置及び制御方法 |
KR101311100B1 (ko) * | 2011-08-27 | 2013-09-25 | 고려대학교 산학협력단 | 천장 임의 형상 특성 활용 이동 로봇 위치 인식 방법 |
US9062980B2 (en) | 2011-11-22 | 2015-06-23 | Hitachi, Ltd. | Autonomous mobile system |
GB2506338A (en) * | 2012-07-30 | 2014-04-02 | Sony Comp Entertainment Europe | A method of localisation and mapping |
DE102013208735A1 (de) * | 2013-05-13 | 2014-11-13 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Ermitteln und Kompensieren eines Dejustagewinkels eines Radarsensors eines Fahrzeugs |
US9563951B2 (en) * | 2013-05-21 | 2017-02-07 | Magna Electronics Inc. | Vehicle vision system with targetless camera calibration |
US20150115571A1 (en) * | 2013-10-24 | 2015-04-30 | GM Global Technology Operations LLC | Smart tow |
US9384394B2 (en) * | 2013-10-31 | 2016-07-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method for generating accurate lane level maps |
US10520389B2 (en) * | 2013-11-27 | 2019-12-31 | United States Of America As Represented By The Administrator Of Nasa | Aerodynamic modeling using flight data |
JP6252316B2 (ja) * | 2014-03-31 | 2017-12-27 | 株式会社デンソー | 車両用表示制御装置 |
US9619894B2 (en) * | 2014-05-16 | 2017-04-11 | GM Global Technology Operations LLC | System and method for estimating vehicle dynamics using feature points in images from multiple cameras |
US9386302B2 (en) * | 2014-05-21 | 2016-07-05 | GM Global Technology Operations LLC | Automatic calibration of extrinsic and intrinsic camera parameters for surround-view camera system |
JP2016057108A (ja) * | 2014-09-08 | 2016-04-21 | 株式会社トプコン | 演算装置、演算システム、演算方法およびプログラム |
US10373116B2 (en) * | 2014-10-24 | 2019-08-06 | Fellow, Inc. | Intelligent inventory management and related systems and methods |
EP3248029A4 (en) * | 2015-01-19 | 2018-10-03 | The Regents of the University of Michigan | Visual localization within lidar maps |
US20160223649A1 (en) * | 2015-01-30 | 2016-08-04 | Robert Bosch Gmbh | Systems and methods for radar vertical misalignment detection |
EP3086284A1 (en) * | 2015-04-23 | 2016-10-26 | Application Solutions (Electronics and Vision) Limited | Camera extrinsic parameters estimation from image lines |
CA2986698C (en) * | 2015-05-26 | 2023-08-01 | Crown Equipment Corporation | Systems and methods for image capture device calibration for a materials handling vehicle |
CN107667274B (zh) * | 2015-05-26 | 2021-09-21 | 克朗设备公司 | 用于材料搬运车辆里程计校准的***和方法 |
WO2017023309A1 (en) * | 2015-08-05 | 2017-02-09 | Halliburton Energy Services, Inc. | Time-lapsed seismic wavefield monitoring of downhole formations |
WO2017027638A1 (en) * | 2015-08-10 | 2017-02-16 | The Board Of Trustees Of The Leland Stanford Junior University | 3d reconstruction and registration of endoscopic data |
US9754490B2 (en) * | 2015-11-04 | 2017-09-05 | Zoox, Inc. | Software application to request and control an autonomous vehicle service |
DE102015119660A1 (de) * | 2015-11-13 | 2017-05-18 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Kalibrieren eines Sensors eines Kraftfahrzeugs zur Winkelmessung, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102015122997A1 (de) * | 2015-12-30 | 2017-07-06 | Huf Hülsbeck & Fürst Gmbh & Co. Kg | Verfahren zur Darstellung eines rückwärtigen Außenbereiches eines Fahrzeuges |
US10281923B2 (en) * | 2016-03-03 | 2019-05-07 | Uber Technologies, Inc. | Planar-beam, light detection and ranging system |
JP6320664B2 (ja) * | 2016-03-07 | 2018-05-09 | 三菱電機株式会社 | 地図作成装置および地図作成方法 |
GB2552648B (en) * | 2016-07-22 | 2020-09-16 | Imperial College Sci Tech & Medicine | Estimating dimensions for an enclosed space using a multi-directional camera |
US20180067494A1 (en) * | 2016-09-02 | 2018-03-08 | Delphi Technologies, Inc. | Automated-vehicle 3d road-model and lane-marking definition system |
JP2018059783A (ja) * | 2016-10-04 | 2018-04-12 | 株式会社デンソー | 物体検出センサの軸ずれ判定方法 |
DE102016223422B4 (de) * | 2016-11-25 | 2024-05-08 | Continental Autonomous Mobility Germany GmbH | Verfahren zur automatischen Ermittlung extrinsischer Parameter einer Kamera eines Fahrzeugs |
DE102016226312A1 (de) * | 2016-12-29 | 2018-07-05 | Robert Bosch Gmbh | Verfahren zum Betrieb eines Fahrerassistenzsystems für Kraftfahrzeuge |
US10839547B2 (en) * | 2017-09-28 | 2020-11-17 | Samsung Electronics Co., Ltd. | Camera pose determination and tracking |
US10854011B2 (en) * | 2018-04-09 | 2020-12-01 | Direct Current Capital LLC | Method for rendering 2D and 3D data within a 3D virtual environment |
US11055875B2 (en) * | 2018-12-20 | 2021-07-06 | The Boeing Company | Computer-vision-based autonomous or supervised- autonomous landing of aircraft |
IT201900001167A1 (it) * | 2019-01-25 | 2020-07-25 | Nexion Spa | Apparato per calibrare un sensore di un sistema di assistenza avanzata alla guida di un veicolo |
US10984543B1 (en) * | 2019-05-09 | 2021-04-20 | Zoox, Inc. | Image-based depth data and relative depth data |
US10937178B1 (en) * | 2019-05-09 | 2021-03-02 | Zoox, Inc. | Image-based depth data and bounding boxes |
US11367208B2 (en) * | 2019-06-25 | 2022-06-21 | Nvidia Corporation | Image-based keypoint generation |
US10742969B1 (en) * | 2019-06-28 | 2020-08-11 | GM Cruise Holdings, LLC | Control of dynamic scene motion by vehicle based on vehicle sensor capture |
US10818036B1 (en) * | 2019-06-28 | 2020-10-27 | GM Cruise Holdings, LLC | Compensation in vehicle sensor calibration for sloped vehicle calibration environment |
US10997740B2 (en) * | 2019-07-15 | 2021-05-04 | Here Global B.V. | Method, apparatus, and system for providing real-world distance information from a monocular image |
US11741704B2 (en) * | 2019-08-30 | 2023-08-29 | Qualcomm Incorporated | Techniques for augmented reality assistance |
-
2016
- 2016-02-10 US US15/040,276 patent/US11370422B2/en active Active
- 2016-02-11 EP EP16155195.7A patent/EP3056861B1/en active Active
- 2016-02-12 JP JP2016024763A patent/JP6677521B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
EP3056861A1 (en) | 2016-08-17 |
EP3056861B1 (en) | 2020-04-08 |
US20160236683A1 (en) | 2016-08-18 |
JP2016149132A (ja) | 2016-08-18 |
US11370422B2 (en) | 2022-06-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6677521B2 (ja) | 乗り物のドライバ支援システムにおける予測のためのシステムおよび方法 | |
US11632536B2 (en) | Method and apparatus for generating three-dimensional (3D) road model | |
JP7210165B2 (ja) | 仮想経路を表示する方法、装置及びディスプレイ装置 | |
CN107167826B (zh) | 一种自动驾驶中基于可变网格的图像特征检测的车辆纵向定位***及方法 | |
US20180154901A1 (en) | Method and system for localizing a vehicle | |
KR20220033477A (ko) | 자동 발렛 파킹 시스템의 위치 추정 장치 및 방법 | |
US12033400B2 (en) | Overhead-view image generation device, overhead-view image generation system, and automatic parking device | |
US11281228B2 (en) | Method and device for determining a position of a transportation vehicle | |
US11282164B2 (en) | Depth-guided video inpainting for autonomous driving | |
JP2015148601A (ja) | マッピング、位置特定、及び姿勢補正のためのシステム及び方法 | |
JP2016157197A (ja) | 自己位置推定装置、自己位置推定方法およびプログラム | |
CN111105695B (zh) | 地图制作方法、装置、电子设备及计算机可读存储介质 | |
US11604078B2 (en) | Method and device for generating digital map models | |
US20190094883A1 (en) | Position determination apparatus and method for vehicle | |
US20230138487A1 (en) | An Environment Model Using Cross-Sensor Feature Point Referencing | |
US20190285418A1 (en) | Method and device for the robust localization of a vehicle | |
KR20220068710A (ko) | 차량 측위 방법 및 장치 | |
CN113261007A (zh) | 用于自动和自主车辆的多传感器数据融合的方法和装置 | |
CN113390422B (zh) | 汽车的定位方法、装置及计算机存储介质 | |
CN111486837B (zh) | 基于图结构的交通工具位置估计方法和使用其的交通工具 | |
WO2023175988A1 (ja) | 画像処理装置、画像処理方法、及び画像処理プログラム | |
WO2024057439A1 (ja) | 情報処理装置、情報処理方法、及び情報処理プログラム | |
WO2022034815A1 (en) | Vehicle surroundings recognition device | |
US20230245362A1 (en) | Image processing device, image processing method, and computer-readable medium | |
Tahir | Development of an Autonomous Vehicle Platform |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20170802 |
|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20170804 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20181024 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20191023 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20191029 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200128 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20200303 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200313 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6677521 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |