JP6726926B2 - 予測的運転者支援システムのための、妥当性規則に基づく信頼度推定 - Google Patents
予測的運転者支援システムのための、妥当性規則に基づく信頼度推定 Download PDFInfo
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Description
図1は、車両の運転支援システム100の実施形態を、上位レベルにおける概観(high level overview)として示している。システム100は、少なくとも一つの当該車両の電子制御ユニット(ECU、electronic control unit)と、そのユニットの機能を実現するプログラムされたソフトウェア/ファームウェアと、により実現されているものとすることができる。ただし、以下の説明では、簡潔のため機能的な側面に議論を集中し、ハードウェア/ソフトウェアの実現形態の詳細については、そのほとんどを省略する。さらに、図面は、それらのコンポーネントのうち、現時点において本発明の一つ又は複数の側面に関連すると考えられるコンポーネントのみを示している。
Claims (15)
- 車両の運転支援システムにおける予測サブシステムについての方法であって、
前記車両の環境において一つ又は複数のセンサ(102)により検出された少なくとも一つの実在物を表す環境表現を受け取るステップ(302)と、
予め定義され記憶された複数の妥当性規則(122)の中から、前記環境表現に適用可能な一つ又は複数の妥当性規則を選択するステップと、
前記選択された一つ又は複数の妥当性規則を前記環境表現に適用すること(304)に基づいて、前記環境表現に関連する信頼度推定を算出するステップ(306)と、
前記信頼度推定を、前記環境表現に基づく予測についての評価のための入力として出力するステップ(308)と、
を有し、
前記妥当性規則は、前記少なくとも一つの実在物についての検出と少なくとも一つの他の実在物についての検出との関係が妥当なものであるか否か、及び又は前記少なくとも一つの実在物についての現在の検出と以前の検出との関係が妥当なものであるか否か、を評価するものである、
方法。 - 前記実在物は、道路を走行する移動体であり、
妥当性規則は、道路を走行する一の移動体は、当該道路を走行する他の移動体と共に当該道路の形状又は当該道路のレーンの形状をかたどる、というものである、
請求項1に記載の方法。 - 妥当性規則は、前記環境表現に適用されたときに真又は偽を表す2進値を返す条件(402、406、410、416)により構成される、
請求項1または2に記載の方法。 - 妥当性規則は、前記環境表現に適用されたときに数値を返す数式により構成される、
請求項1ないし3のいずれか一項に記載の方法。 - 前記信頼度推定には、関連付けられた環境表現の信頼度を表す数値が割り当てられる、
請求項1ないし4のいずれか一項に記載の方法。 - 前記信頼度は、確率値で表される、
請求項5に記載の方法。 - 妥当性規則の一つを適用すること(304)には、
−前記実在物がセンサ視界の境界において最初に検出されたときに、前記環境表現の検出が妥当なものであることを示す第1の予め定義された値(c_start)を信頼度推定に設定すること(402、406、408)、または、
−前記実在物が前記センサ視界の境界でない場所において最初に検出されたものであって、他の物体又は車両が前記車両の前記環境に存在していると評価されないときに、前記環境表現の検出が妥当なものでないことを示す第2の予め定義された値(c_low)を前記信頼度推定に設定すること(402、406、410、412)、
が含まれる、
請求項1ないし6のいずれか一項に記載の方法。 - 前記信頼度推定を算出すること(306)には、複数の妥当性規則を適用した結果として得られる複数の信頼度推定の、和、重み付き和、積、重み付き積、及び最小値又は最大値の選択、の少なくとも一つに基づく結合を算出することが含まれる、
請求項1ないし7のいずれか一項に記載の方法。 - 前記評価は、前記信頼度推定の数値を、予め定められた閾値及び一つ又は複数の他の信頼度推定の数値の、少なくとも一つの数値と比較することにより、前記環境表現を予測に用いるか否かの決定を行うことを含む、
請求項1ないし8のいずれか一項に記載の方法。 - 前記運転支援システム(100)は、クルーズコントロール機能を実行するよう適合されている、請求項1ないし9のいずれか一項に記載の方法。
- 前記運転支援システム(100)は、前記予測に基づいて、アクティブ制御及びパッシブ制御の少なくとも一つを実行するよう適合されている、
請求項1ないし10のいずれか一項に記載の方法。 - コンピューティングデバイス上で実行されたときに請求項1ないし11のいずれか一項に記載の方法を実行するプログラムコード部分を備える、コンピュータプログラム製品。
- 予測サブシステムを備える、車両用の運転支援システムであって、
前記車両の環境において一つ又は複数のセンサにより検出された少なくとも一つの実在物を表す環境表現を受け取るよう適合されたコンポーネント(202)と、
予め定義され記憶された複数の妥当性規則(122)の中から前記環境表現に適用可能な一つ又は複数の妥当性規則を選択して、前記選択した一つ又は複数の妥当性規則を前記環境表現に適用することに基づいて、前記環境表現に関連する信頼度推定を算出するよう適合されたコンポーネント(204)と、
前記信頼度推定を、前記環境表現に基づく予測についての評価のための入力として出力するよう構成されたコンポーネント(204)と、
を有し、
前記妥当性規則は、前記少なくとも一つの実在物についての検出と少なくとも一つの他の実在物についての検出との関係が妥当なものであるか否か、及び又は前記少なくとも一つの実在物についての現在の検出と以前の検出との関係が妥当なものであるか否か、を評価するものである、
システム。 - 前記予測サブシステムは、コンテキストベース予測(132)及び物理的予測(130)を実行するよう適合されている、
請求項13に記載のシステム。 - 請求項13又は14に記載のシステムを備える乗り物。
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EP13189690.4 | 2013-10-22 | ||
EP13189690.4A EP2865575B1 (en) | 2013-10-22 | 2013-10-22 | Confidence estimation for predictive driver assistance systems based on plausibility rules |
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JP6065106B2 (ja) * | 2013-04-10 | 2017-01-25 | トヨタ自動車株式会社 | 車両運転支援装置 |
JP5991332B2 (ja) * | 2014-02-05 | 2016-09-14 | トヨタ自動車株式会社 | 衝突回避制御装置 |
US9685007B2 (en) * | 2014-06-05 | 2017-06-20 | International Business Machines Corporation | Managing a vehicle incident |
US10310068B2 (en) * | 2014-12-08 | 2019-06-04 | Northrop Grumman Systems Corporation | Variational track management |
JP6058072B2 (ja) * | 2015-05-29 | 2017-01-11 | 三菱電機株式会社 | 物体識別装置 |
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