JP7462738B2 - 車載クラスタ追跡システム - Google Patents
車載クラスタ追跡システム Download PDFInfo
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- JP7462738B2 JP7462738B2 JP2022514999A JP2022514999A JP7462738B2 JP 7462738 B2 JP7462738 B2 JP 7462738B2 JP 2022514999 A JP2022514999 A JP 2022514999A JP 2022514999 A JP2022514999 A JP 2022514999A JP 7462738 B2 JP7462738 B2 JP 7462738B2
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Classifications
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- Engineering & Computer Science (AREA)
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Description
本出願は、2019年10月25日に出願された米国特許出願第16/664,203号の優先権を主張し、その継続出願であり、その開示全体が参照により本明細書に組み込まれる。
図1Aに示されるように、本開示の一態様による車両100は、様々な構成要素を含む。本開示のいくつかの態様は特定のタイプの車両と関連して特に有用であるが、その車両は、これらに限定されないが、自動車、トラックおよび他の貨物車両、オートバイ、バス、レクリエーション用車両などを含む、任意のタイプの車両であり得る。車両は、コンピューティングデバイス110などの1つ以上のコンピューティングデバイスを有し得、このコンピューティングデバイス110は、1つ以上のプロセッサ120、メモリ130、および汎用コンピューティングデバイスに典型的に存在する他の構成要素を収容している。
上述し、図に示した動作に加えて、様々な動作を、ここで説明する。以下の動作は、以下に説明するとおりの順序で実施される必要がないことを理解されたい。むしろ、様々なステップが、異なる順序で、または同時に処理され得、ステップもまた、追加または省略され得る。
Claims (11)
- 自律車両によって物体を追跡するための方法であって、
前記自律車両の1つ以上のコンピューティングデバイスによって、第1の回転および第2の回転を含む、軸を中心とした前記自律車両のセンサの複数の回転の間に前記センサによって収集されたセンサデータを受信することであって、前記センサデータが、前記自律車両の周囲の環境内で検出された1つ以上の物体に対応する1つ以上のクラスタを含むことと、
前記1つ以上のコンピューティングデバイスによって、前記第1の回転からの所与のクラスタを、前記環境における前記1つ以上の検出された物体のうちの所与の検出された物体に対応するものとして、前記第2の回転からの所与のクラスタに関連付けることと、
前記1つ以上のコンピューティングデバイスによって、前記所与の検出された物体の現在の推定される運動特性を、初期に推定された値に設定することと、
前記現在の推定される運動特性に基づいて、前記1つ以上のコンピューティングデバイスによって、前記第2の回転からの前記所与のクラスタ内の1つ以上の点および前記第1の回転からの前記所与のクラスタ内の1つ以上の点を移動して、調整されたクラスタを取得することと、
点群の位置あわせのためのアルゴリズムを使用して前記1つ以上のコンピューティングデバイスによって、前記調整されたクラスタに基づいて、調整された運動特性を判定することと、
前記1つ以上のコンピューティングデバイスによって、前記所与の検出された物体の前記調整された運動特性に基づいて、前記自律車両を制御することと、を含む、方法。 - 前記1つ以上のコンピューティングデバイスによって、前記現在の推定される運動特性を前記調整された運動特性と比較することと、
前記1つ以上のコンピューティングデバイスによって、前記現在の推定される運動特性が、前記調整された運動特性についての所定の許容誤差内にあると判定することと、
前記現在の推定される運動特性が前記所定の許容誤差内にあるとの判定に基づいて前記1つ以上のコンピューティングデバイスによって、1つ以上の点調整された点および現在の推定される速度を有するクラスタが正確であると判定することであって、前記自律車両を制御することが、前記調整されたクラスタおよび前記現在の推定される速度が正確であるとの判定にさらに基づいていることと、をさらに含む、請求項1に記載の方法。 - 前記現在の推定される運動特性を前記調整された運動特性と比較することと、
前記現在の推定される運動特性が、前記調整された運動特性についての所定の許容誤差内にないと判定することと、をさらに含む、請求項1に記載の方法。 - 前記現在の推定される運動特性が前記調整された運動特性についての前記所定の許容誤差内にないと判定されると、前記1つ以上のコンピューティングデバイスによって、前記現在の推定される運動特性を更新することと、
前記1つ以上のコンピューティングデバイスによって、前記更新された現在の推定される運動特性を前記調整された運動特性と比較することと、をさらに含む、請求項3に記載の方法。 - 前記現在の推定される運動特性が、前記所定の許容誤差内にないと判定すると、
前記現在の推定される運動特性を前記調整された運動特性と等しくなるように設定することと、
前記現在の推定される運動特性に基づいて、前記第2の回転からの前記所与のクラスタ内の1つ以上の点および前記第1の回転からの前記所与のクラスタ内の1つ以上の点を調整することと、
前記アルゴリズムを使用して、前記調整されたクラスタに基づいて、第2の調整された運動特性を判定することと、
前記現在の推定される運動特性を前記第2の調整された運動特性と比較することと、を行い、
前記自律車両を制御することが、前記現在の推定される運動特性を前記第2の調整された運動特性と比較することにさらに基づいている、請求項3に記載の方法。 - 前記第1の回転が、前記センサの現在の回転であり、前記第2の回転が、前記第1の回転より時間的に前の直近の回転である、請求項1に記載の方法。
- 前記調整することが、検出された物体の歪んだ表現を考慮するために、前記第2の回転からの前記所与のクラスタ内の前記1つ以上の点、または前記第1の回転からの前記所与のクラスタ内の前記1つ以上の点のうちの少なくとも一方を移動させることを含む、請求項1に記載の方法。
- 前記アルゴリズムが、Iterative Closest Pointアルゴリズムである、請求項1に記載の方法。
- 前記調整された運動特性が、速度特性である、請求項1に記載の方法。
- 自律運転モードで車両を動作させるためのシステムであって、
前記自律運転モードである間に、前記車両に運転動作を実行させるように構成された運転システムと、
前記車両の周囲の環境内で物体を検出するように構成された知覚システムと、
1つ以上のプロセッサおよびメモリを有するコンピューティングシステムであって、前記コンピューティングシステムが、前記運転システムおよび前記知覚システムに動作可能に結合されており、前記コンピューティングシステムが、
軸を中心とした前記知覚システムのセンサの複数の回転中に前記センサによって収集されたセンサデータを受信することであって、前記複数の回転が、第1の回転および第2の回転を含み、前記センサデータが、前記車両の周囲の前記環境内で検出された1つ以上の物体に対応する1つ以上のクラスタを含むことと、
前記第1の回転からの所与のクラスタを、前記環境における前記1つ以上の検出された物体のうちの所定の検出された物体に対応するものとして、前記第2の回転からの所与のクラスタに関連付けることと、
前記所与の検出された物体についての現在の推定される運動特性を初期の推定された値に設定することと、
前記現在の推定される運動特性に基づいて、前記第2の回転からの前記所与のクラスタ内の1つ以上の点、および前記第1の回転からの前記所与のクラスタ内の1つ以上の点を移動して、調整されたクラスタを取得することと、
点群の位置合わせのためのアルゴリズムを使用して、前記調整されたクラスタに基づいて、調整された運動特性を判定することと、
前記所与の検出された物体の前記調整された運動特性に基づいて、前記運転システムの作動を介して前記車両を制御することと、を行うように構成されている、コンピューティングシステムと、を備える、システム。 - 前記車両をさらに備える、請求項10に記載のシステム。
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JP2011192141A (ja) | 2010-03-16 | 2011-09-29 | Sony Corp | 動体検出装置と動体検出方法およびプログラム |
US8989944B1 (en) | 2013-11-26 | 2015-03-24 | Google Inc. | Methods and devices for determining movements of an object in an environment |
JP2017537484A (ja) | 2015-09-11 | 2017-12-14 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 可動物体を検出し、追跡するシステム及び方法 |
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US8989944B1 (en) | 2013-11-26 | 2015-03-24 | Google Inc. | Methods and devices for determining movements of an object in an environment |
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