BR112016002163A2 - dispositivo para estimativa de ângulo de atitude de posição de veículo e método de estimativa de ângulo de atitude de posição de veículo - Google Patents
dispositivo para estimativa de ângulo de atitude de posição de veículo e método de estimativa de ângulo de atitude de posição de veículoInfo
- Publication number
- BR112016002163A2 BR112016002163A2 BR112016002163A BR112016002163A BR112016002163A2 BR 112016002163 A2 BR112016002163 A2 BR 112016002163A2 BR 112016002163 A BR112016002163 A BR 112016002163A BR 112016002163 A BR112016002163 A BR 112016002163A BR 112016002163 A2 BR112016002163 A2 BR 112016002163A2
- Authority
- BR
- Brazil
- Prior art keywords
- attitude angle
- vehicle position
- position attitude
- vehicle
- angle estimation
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 2
- 239000002245 particle Substances 0.000 abstract 3
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
- 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
- B60W40/10—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 vehicle motion
- B60W40/114—Yaw 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
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
-
- 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
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Multimedia (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
resumo dispositivo para estimativa de ângulo de atitude de posição de veículo e método de estimativa de ângulo de atitude de posição de veículo trata-se de um dispositivo para estimativa de ângulo de atitude de posição de veículo da presente invenção que define uma faixa de distribuição existente de partícula em uma faixa predeterminada pelo uso de um filtro de partículas e dispersa partículas dentro da faixa de distribuição existente definida para estimar a posição e o ângulo de atitude de um veículo a partir de uma imagem que captura os arredores do veículo. o dispositivo para estimativa de ângulo de atitude de posição de veículo amplia a faixa de distribuição existente definida na direção da largura do veículo quando a velocidade do veículo se torna alta.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013160074 | 2013-08-01 | ||
PCT/JP2014/066311 WO2015015939A1 (ja) | 2013-08-01 | 2014-06-19 | 車両位置姿勢角推定装置及び車両位置姿勢角推定方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112016002163A2 true BR112016002163A2 (pt) | 2017-08-01 |
Family
ID=52431481
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112016002163A BR112016002163A2 (pt) | 2013-08-01 | 2014-06-19 | dispositivo para estimativa de ângulo de atitude de posição de veículo e método de estimativa de ângulo de atitude de posição de veículo |
Country Status (8)
Country | Link |
---|---|
US (1) | US10363940B2 (pt) |
EP (1) | EP3029538B1 (pt) |
JP (1) | JP6020729B2 (pt) |
CN (1) | CN105593776B (pt) |
BR (1) | BR112016002163A2 (pt) |
MX (1) | MX345393B (pt) |
RU (1) | RU2626424C1 (pt) |
WO (1) | WO2015015939A1 (pt) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160259034A1 (en) * | 2015-03-04 | 2016-09-08 | Panasonic Intellectual Property Management Co., Ltd. | Position estimation device and position estimation method |
JP6511406B2 (ja) * | 2016-02-10 | 2019-05-15 | クラリオン株式会社 | キャリブレーションシステム、キャリブレーション装置 |
CN110709302B (zh) * | 2017-06-13 | 2022-11-25 | 日立安斯泰莫株式会社 | 车辆控制装置 |
WO2019111702A1 (ja) * | 2017-12-05 | 2019-06-13 | ソニー株式会社 | 情報処理装置、情報処理方法、およびプログラム |
WO2019187750A1 (ja) * | 2018-03-28 | 2019-10-03 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
CN109061703B (zh) | 2018-06-11 | 2021-12-28 | 阿波罗智能技术(北京)有限公司 | 用于定位的方法、装置、设备和计算机可读存储介质 |
CN109109861B (zh) * | 2018-09-24 | 2020-02-14 | 合肥工业大学 | 车道保持横向控制决策方法及车道保持横向控制决策装置 |
EP3983756A4 (en) * | 2019-06-14 | 2023-02-08 | Bayerische Motoren Werke Aktiengesellschaft | ROAD MODEL FOR 2D ROUTE PLANNER |
WO2022141240A1 (en) * | 2020-12-30 | 2022-07-07 | SZ DJI Technology Co., Ltd. | Determining vehicle positions for autonomous driving based on monocular vision and semantic map |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2889882B1 (fr) * | 2005-08-19 | 2009-09-25 | Renault Sas | Procede et systeme de prediction de choc entre un vehicule et un pieton. |
DE102006019216A1 (de) * | 2006-04-21 | 2007-10-25 | Claas Selbstfahrende Erntemaschinen Gmbh | Verfahren zur Steuerung eines landwirtschaftlichen Maschinensystems |
IE20100162A1 (en) * | 2009-03-19 | 2010-09-29 | Cork Inst Technology | A location and tracking system |
JP2010224755A (ja) * | 2009-03-23 | 2010-10-07 | Toyota Motor Corp | 移動体及び移動体の位置推定方法 |
JP2011040993A (ja) | 2009-08-11 | 2011-02-24 | Nikon Corp | 被写体追尾プログラム、およびカメラ |
CN102087109A (zh) * | 2009-12-04 | 2011-06-08 | 财团法人资讯工业策进会 | 位置估测系统、装置及其估测方法 |
CN101800890B (zh) * | 2010-04-08 | 2013-04-24 | 北京航空航天大学 | 一种高速公路监控场景下多车辆视频跟踪方法 |
JP5687035B2 (ja) * | 2010-11-18 | 2015-03-18 | セコム株式会社 | 人物追跡装置 |
US8452535B2 (en) * | 2010-12-13 | 2013-05-28 | GM Global Technology Operations LLC | Systems and methods for precise sub-lane vehicle positioning |
JP5909486B2 (ja) | 2011-06-29 | 2016-04-26 | 株式会社日立産機システム | 自己位置姿勢推定システム |
JP5807518B2 (ja) * | 2011-11-09 | 2015-11-10 | 富士通株式会社 | 推定装置、推定方法、および推定プログラム |
CN102768361A (zh) * | 2012-07-09 | 2012-11-07 | 东南大学 | 基于遗传粒子滤波与模糊神经网络的gps/ins组合定位方法 |
US9250324B2 (en) * | 2013-05-23 | 2016-02-02 | GM Global Technology Operations LLC | Probabilistic target selection and threat assessment method and application to intersection collision alert system |
-
2014
- 2014-06-19 CN CN201480054274.7A patent/CN105593776B/zh not_active Expired - Fee Related
- 2014-06-19 MX MX2016001351A patent/MX345393B/es active IP Right Grant
- 2014-06-19 EP EP14831869.4A patent/EP3029538B1/en not_active Not-in-force
- 2014-06-19 RU RU2016107125A patent/RU2626424C1/ru active
- 2014-06-19 WO PCT/JP2014/066311 patent/WO2015015939A1/ja active Application Filing
- 2014-06-19 BR BR112016002163A patent/BR112016002163A2/pt not_active IP Right Cessation
- 2014-06-19 JP JP2015529451A patent/JP6020729B2/ja not_active Expired - Fee Related
- 2014-06-19 US US14/908,407 patent/US10363940B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
MX345393B (es) | 2017-01-30 |
EP3029538B1 (en) | 2018-04-04 |
WO2015015939A1 (ja) | 2015-02-05 |
EP3029538A4 (en) | 2016-11-16 |
US20160185355A1 (en) | 2016-06-30 |
JP6020729B2 (ja) | 2016-11-02 |
JPWO2015015939A1 (ja) | 2017-03-02 |
CN105593776B (zh) | 2018-01-23 |
US10363940B2 (en) | 2019-07-30 |
EP3029538A1 (en) | 2016-06-08 |
RU2626424C1 (ru) | 2017-07-27 |
CN105593776A (zh) | 2016-05-18 |
MX2016001351A (es) | 2016-04-07 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
B06F | Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette] | ||
B06U | Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette] | ||
B06A | Patent application procedure suspended [chapter 6.1 patent gazette] | ||
B08F | Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette] |
Free format text: REFERENTE A 8A ANUIDADE. |
|
B08K | Patent lapsed as no evidence of payment of the annual fee has been furnished to inpi [chapter 8.11 patent gazette] |
Free format text: EM VIRTUDE DO ARQUIVAMENTO PUBLICADO NA RPI 2675 DE 12-04-2022 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDO O ARQUIVAMENTO DO PEDIDO DE PATENTE, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013. |