JP6989418B2 - 車載システム - Google Patents
車載システム Download PDFInfo
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- JP6989418B2 JP6989418B2 JP2018043903A JP2018043903A JP6989418B2 JP 6989418 B2 JP6989418 B2 JP 6989418B2 JP 2018043903 A JP2018043903 A JP 2018043903A JP 2018043903 A JP2018043903 A JP 2018043903A JP 6989418 B2 JP6989418 B2 JP 6989418B2
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Classifications
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
- B60Q1/5035—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/545—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other traffic conditions, e.g. fog, heavy traffic
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
-
- 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/18—Eye characteristics, e.g. of the iris
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4045—Intention, e.g. lane change or imminent movement
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4047—Attentiveness, e.g. distracted by mobile phone
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4048—Field of view, e.g. obstructed view or direction of gaze
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Ophthalmology & Optometry (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Description
図1に示す本実施形態の車載システム1は、車両Vに適用されたシステムである。車載システム1が適用される車両Vは、電気車両(EV(Electric Vehicle))、ハイブリッド車両(HEV(Hybrid Electric Vehicle))、プラグインハイブリッド車両(PHEV(Plug−in Hybrid Electric Vehicle))、ガソリン車両、ディーゼル車両など、駆動源としてモータ又はエンジンを用いるいずれの車両であってもよい。また、当該車両Vの運転は、運転者による手動運転、半自動運転、完全自動運転等、いずれであってもよい。また、当該車両Vは、いわゆる個人が所有する自家用車、レンタカー、シェアリングカー、バス、タクシー、ライドシェアカーのいずれであってもよい。
12 検出装置
12a 車両状態検出部
12b 通信モジュール
12c GPS受信器
12d 外部カメラ
12e 外部レーダ/ソナー
13 表示装置
14 外部表示装置
15 制御装置
150 行動情報
15A インターフェース部
15B 記憶部
15C 処理部
15C1 取得部
15C2 第1検出部
15C3 第2検出部(検出部)
15C4 決定部
15C5 走行制御部(動作部)
15C6 出力制御部(動作部)
15C7 第1判定部
15C8 第2判定部
V 車両
Claims (4)
- 車両の前方を撮像した画像に基づいて通行人の視線情報を検出する検出部と、
前記検出部が検出した前記通行人の視線情報に基づいて、前記車両の動作を決定する決定部と、
前記決定部が決定した前記車両の動作に応じた処理を行う動作部と、
を備え、
前記決定部は、前記通行人の視線情報が前記車両に向かっている場合、前記通行人に道を譲る前記車両の動作を決定し、
前記動作部は、前記通行人に道を譲ることを示す第1情報を前記通行人に対して出力する処理を行うものであり、
前記通行人を撮像した画像に基づいて、前記動作部が出力させた前記第1情報を前記通行人が理解しているか否かを判定する第1判定部をさらに備え、
前記決定部は、前記第1判定部によって前記通行人が前記第1情報を理解していると判定された場合、前記車両を停止させる動作を決定し、
前記動作部は、前記車両を停止させる動作に応じた処理を行う
ことを特徴とする車載システム。 - 前記通行人は、前記車両の前方を横断する可能性がある人物である
請求項1に記載の車載システム。 - 前記通行人の視線が前記車両に向かっていない場合、前記通行人を撮像した画像に基づいて、前記通行人が道を譲る行動を行っているか否かを判定する第2判定部をさらに備え、
前記決定部は、前記第2判定部によって前記通行人が道を譲る行動を行っていると判定された場合、前記車両を走行させる動作を決定し、
前記動作部は、前記車両を走行させる動作に応じた処理を行う
請求項1または2に記載の車載システム。 - 前記決定部は、前記第2判定部によって前記通行人が道を譲る行動を行っていないと判定された場合、前記車両を停止または徐行する動作を決定し、
前記動作部は、前記車両を停止または徐行する動作に応じた処理を行う
請求項3に記載の車載システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018043903A JP6989418B2 (ja) | 2018-03-12 | 2018-03-12 | 車載システム |
CN201980012914.0A CN111712865B (zh) | 2018-03-12 | 2019-01-23 | 车载*** |
PCT/JP2019/002101 WO2019176310A1 (ja) | 2018-03-12 | 2019-01-23 | 車載システム |
DE112019001268.1T DE112019001268T5 (de) | 2018-03-12 | 2019-01-23 | Fahrzeuginternes system |
US16/988,803 US20200372266A1 (en) | 2018-03-12 | 2020-08-10 | In-vehicle system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018043903A JP6989418B2 (ja) | 2018-03-12 | 2018-03-12 | 車載システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019156087A JP2019156087A (ja) | 2019-09-19 |
JP6989418B2 true JP6989418B2 (ja) | 2022-01-05 |
Family
ID=67907637
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018043903A Active JP6989418B2 (ja) | 2018-03-12 | 2018-03-12 | 車載システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20200372266A1 (ja) |
JP (1) | JP6989418B2 (ja) |
CN (1) | CN111712865B (ja) |
DE (1) | DE112019001268T5 (ja) |
WO (1) | WO2019176310A1 (ja) |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001052293A (ja) * | 1999-08-11 | 2001-02-23 | Hiisuto Kk | 車両走行時の情報案内システム |
JP4134891B2 (ja) * | 2003-11-28 | 2008-08-20 | 株式会社デンソー | 衝突可能性判定装置 |
JP2005322297A (ja) * | 2004-05-07 | 2005-11-17 | Pioneer Electronic Corp | 情報記録装置及び方法、情報再生装置及び方法、並びにコンピュータプログラム |
JP4443327B2 (ja) * | 2004-07-01 | 2010-03-31 | パイオニア株式会社 | 情報表示装置 |
US7924146B2 (en) * | 2009-04-02 | 2011-04-12 | GM Global Technology Operations LLC | Daytime pedestrian detection on full-windscreen head-up display |
US9158979B2 (en) * | 2011-10-18 | 2015-10-13 | Honda Motor Co., Ltd. | Vehicle vicinity monitoring device |
DE102013207223A1 (de) * | 2013-04-22 | 2014-10-23 | Ford Global Technologies, Llc | Verfahren zur Erkennung von nicht motorisierten Verkehrsteilnehmern |
KR101901962B1 (ko) * | 2013-11-08 | 2018-11-07 | 한국전자통신연구원 | 내비게이션을 이용한 자율 주행 제어 장치 및 그 방법 |
JP6206668B2 (ja) * | 2013-11-14 | 2017-10-04 | マツダ株式会社 | 車両用歩行者検出装置 |
US9586585B2 (en) * | 2014-11-20 | 2017-03-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | Autonomous vehicle detection of and response to traffic officer presence |
JP6397934B2 (ja) * | 2014-12-19 | 2018-09-26 | 株式会社日立製作所 | 走行制御装置 |
CN107924195B (zh) * | 2015-09-08 | 2020-11-10 | 苹果公司 | 意图识别 |
JP6261837B2 (ja) * | 2016-01-18 | 2018-01-17 | 三菱電機株式会社 | 運転支援装置、運転支援方法及び運転支援プログラム |
US9969326B2 (en) * | 2016-02-22 | 2018-05-15 | Uber Technologies, Inc. | Intention signaling for an autonomous vehicle |
JP6313355B2 (ja) * | 2016-03-31 | 2018-04-18 | 株式会社Subaru | 車両周囲監視装置 |
JP2017207859A (ja) * | 2016-05-17 | 2017-11-24 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP6617651B2 (ja) * | 2016-07-07 | 2019-12-11 | 株式会社デンソー | 歩行者検出装置、歩行者検出方法 |
JP6680136B2 (ja) * | 2016-08-08 | 2020-04-15 | 株式会社デンソー | 車外表示処理装置及び車外表示システム |
DE112016007376T5 (de) * | 2016-10-25 | 2019-07-25 | Mitsubishi Electric Corporation | Vorrichtung zur Bestimmung von Peripherie-Informationen und Verfahren zur Bestimmung von Peripherie-Informationen |
CN106627149B (zh) * | 2016-11-25 | 2023-09-26 | 未来汽车科技(深圳)有限公司 | 一种汽车仪表盘及控制方法 |
KR102648812B1 (ko) * | 2016-12-15 | 2024-03-19 | 현대자동차주식회사 | 차량 및 그의 보행자 감지 알림 방법 |
CN206287926U (zh) * | 2016-12-27 | 2017-06-30 | 广州市联奥信息科技有限公司 | 具备情绪表达能力的交互行车装置 |
-
2018
- 2018-03-12 JP JP2018043903A patent/JP6989418B2/ja active Active
-
2019
- 2019-01-23 CN CN201980012914.0A patent/CN111712865B/zh active Active
- 2019-01-23 DE DE112019001268.1T patent/DE112019001268T5/de active Pending
- 2019-01-23 WO PCT/JP2019/002101 patent/WO2019176310A1/ja active Application Filing
-
2020
- 2020-08-10 US US16/988,803 patent/US20200372266A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
DE112019001268T5 (de) | 2020-12-03 |
CN111712865B (zh) | 2022-05-03 |
US20200372266A1 (en) | 2020-11-26 |
JP2019156087A (ja) | 2019-09-19 |
WO2019176310A1 (ja) | 2019-09-19 |
CN111712865A (zh) | 2020-09-25 |
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