JP7123167B2 - 外界認識装置 - Google Patents
外界認識装置 Download PDFInfo
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- JP7123167B2 JP7123167B2 JP2020559137A JP2020559137A JP7123167B2 JP 7123167 B2 JP7123167 B2 JP 7123167B2 JP 2020559137 A JP2020559137 A JP 2020559137A JP 2020559137 A JP2020559137 A JP 2020559137A JP 7123167 B2 JP7123167 B2 JP 7123167B2
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- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0881—Seat occupation; Driver or passenger presence
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Description
Claims (9)
- 車両に設置された測距センサから照射されるレーザ光によって、前記車両周辺の外界を認識する外界認識装置であって、
3次元の既定座標系における前記測距センサの設置姿勢の姿勢情報を記憶した記憶部と、
前記既定座標系において前記測距センサから得られた複数の観測点を前記姿勢情報に基づいて複数の3次元座標信号に変換する座標信号変換部と、
各3次元座標信号の高さ成分に基づいて前記複数の3次元座標信号から路面を示す複数の路面候補点を抽出する路面候補点抽出部と、
前記複数の路面候補点に基づいて路面平面を推定する路面平面推定部と、
前記既定座標系に基づいて設定された基準平面と前記路面平面に基づいて前記姿勢情報の較正量を算出する較正量算出部とを備え、
前記路面候補点抽出部は、3次元座標信号の高さ成分が前記基準平面を基準にした所定の高さ範囲に含まれる3次元座標信号を前記複数の路面候補点として抽出することを特徴とする外界認識装置。 - 前記較正量に基づいて前記姿勢情報を較正することで、前記記憶部に記憶された前記姿勢情報を更新する姿勢情報更新部を備えたことを特徴とする請求項1に記載の外界認識装置。
- 前記姿勢情報は、前記路面から前記測距センサまでの設置高さと、前記車両の幅方向を回転軸とするピッチ角と、前記車両の走行方向を回転軸とするロール角とのうち少なくとも1つを含むことを特徴とする請求項1に記載の外界認識装置。
- 前記路面平面推定部は、前記路面平面から各路面候補点までの距離の総和が最も小さくなるような当該路面平面を推定することを特徴とする請求項1に記載の外界認識装置。
- 前記記憶部は、走行中に較正された姿勢情報と、停車中又は徐行中に較正された姿勢情報とを別々に記憶することを特徴とする請求項1に記載の外界認識装置。
- 前記車両の着座シートに搭乗者の着座位置を検出する着座センサが設置され、
前記記憶部は、搭乗者の着座位置と前記姿勢情報とを関連付けて記憶することを特徴とする請求項1に記載の外界認識装置。 - 前記姿勢情報のパラメータの少なくとも1つが予め定めた許容範囲外になった際に、運転者に前記測距センサの設置姿勢の異常を報知する設置姿勢報知部を備えたことを特徴とする請求項1に記載の外界認識装置。
- 前記姿勢情報のパラメータの少なくとも1つが予め定めた許容範囲外になった際に、運転支援システムに外界認識を利用した運転支援を停止させる停止信号を出力する停止信号出力部を備えたことを特徴とする請求項1に記載の外界認識装置。
- 前記測距センサは、前記車両の複数箇所に設置された複数の測距センサであることを特徴とする請求項1から請求項8のいずれか一項に記載の外界認識装置。
Applications Claiming Priority (3)
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JP2018232731 | 2018-12-12 | ||
JP2018232731 | 2018-12-12 | ||
PCT/JP2019/046722 WO2020121838A1 (ja) | 2018-12-12 | 2019-11-29 | 外界認識装置 |
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JPWO2020121838A1 JPWO2020121838A1 (ja) | 2021-10-14 |
JP7123167B2 true JP7123167B2 (ja) | 2022-08-22 |
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US (1) | US20210389469A1 (ja) |
JP (1) | JP7123167B2 (ja) |
CN (1) | CN113167903B (ja) |
WO (1) | WO2020121838A1 (ja) |
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DE102020007645A1 (de) * | 2020-04-03 | 2021-10-07 | Daimler Ag | Verfahren zur Kalibrierung eines Lidarsensors |
JP2022150929A (ja) * | 2021-03-26 | 2022-10-07 | 本田技研工業株式会社 | 軸ずれ推定装置 |
DE102021107904A1 (de) * | 2021-03-29 | 2022-09-29 | Conti Temic Microelectronic Gmbh | Verfahren und System zur Bestimmung der Bodenebene mit einem künstlichen neuronalen Netz |
US20230384434A1 (en) * | 2022-05-26 | 2023-11-30 | Guangzhou Xiaopeng Autopilot Technology Co., Ltd. | System and method for performing lidar self-calibration and application of same |
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- 2019-11-29 US US17/295,706 patent/US20210389469A1/en active Pending
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JPWO2020121838A1 (ja) | 2021-10-14 |
CN113167903B (zh) | 2024-05-17 |
WO2020121838A1 (ja) | 2020-06-18 |
CN113167903A (zh) | 2021-07-23 |
US20210389469A1 (en) | 2021-12-16 |
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