CN103153743B - 用于车辆的障碍物识别系统和方法 - Google Patents

用于车辆的障碍物识别系统和方法 Download PDF

Info

Publication number
CN103153743B
CN103153743B CN201180047371.XA CN201180047371A CN103153743B CN 103153743 B CN103153743 B CN 103153743B CN 201180047371 A CN201180047371 A CN 201180047371A CN 103153743 B CN103153743 B CN 103153743B
Authority
CN
China
Prior art keywords
vehicle
magnification
amount
recognition system
driver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201180047371.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN103153743A (zh
Inventor
五十岚信之
秋山知范
吉浜勇树
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of CN103153743A publication Critical patent/CN103153743A/zh
Application granted granted Critical
Publication of CN103153743B publication Critical patent/CN103153743B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201180047371.XA 2010-10-01 2011-09-29 用于车辆的障碍物识别系统和方法 Expired - Fee Related CN103153743B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2010-224156 2010-10-01
JP2010224156A JP5716343B2 (ja) 2010-10-01 2010-10-01 車両の物体認識システム
PCT/IB2011/002267 WO2012042355A1 (en) 2010-10-01 2011-09-29 Obstacle recognition system and method for a vehicle

Publications (2)

Publication Number Publication Date
CN103153743A CN103153743A (zh) 2013-06-12
CN103153743B true CN103153743B (zh) 2016-08-03

Family

ID=44913354

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201180047371.XA Expired - Fee Related CN103153743B (zh) 2010-10-01 2011-09-29 用于车辆的障碍物识别系统和方法

Country Status (4)

Country Link
US (1) US8941479B2 (enExample)
JP (1) JP5716343B2 (enExample)
CN (1) CN103153743B (enExample)
WO (1) WO2012042355A1 (enExample)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9493114B2 (en) * 2011-08-22 2016-11-15 Toyota Jidosha Kabushiki Kaisha Warning device for vehicle
JP5757900B2 (ja) * 2012-03-07 2015-08-05 日立オートモティブシステムズ株式会社 車両走行制御装置
JP2014109958A (ja) * 2012-12-03 2014-06-12 Denso Corp 撮影画像表示装置、および撮影画像表示方法
EP2897014B1 (en) * 2014-01-16 2023-11-29 Volvo Car Corporation A vehicle adapted for autonomous driving and a method for detecting obstructing objects
JP6496982B2 (ja) * 2014-04-11 2019-04-10 株式会社デンソー 認知支援システム
JP6330160B2 (ja) * 2014-05-09 2018-05-30 本田技研工業株式会社 物体認識装置
SE538252C2 (sv) 2014-08-13 2016-04-19 Scania Cv Ab Förfarande och system för säkerhetsförbättring vid framförande av ett motorfordon
DE102015006612B4 (de) 2015-05-21 2020-01-23 Audi Ag Verfahren zum Betreiben einer Datenbrille in einem Kraftfahrzeug und System mit einer Datenbrille
KR102286174B1 (ko) * 2015-09-01 2021-08-06 주식회사 만도 운전 지원 장치 및 운전 지원 방법
US9881219B2 (en) * 2015-10-07 2018-01-30 Ford Global Technologies, Llc Self-recognition of autonomous vehicles in mirrored or reflective surfaces
CN105467392A (zh) * 2015-11-20 2016-04-06 江苏中利电子信息科技有限公司 一种用于道路作业的雷达预警防护方法
JP6661213B2 (ja) * 2015-12-07 2020-03-11 株式会社Ｓｕｂａｒｕ 車両の運転支援制御装置
JP2017109560A (ja) * 2015-12-15 2017-06-22 株式会社Ｓｕｂａｒｕ 車両の運転支援制御装置
JP6661214B2 (ja) * 2015-12-21 2020-03-11 株式会社Ｓｕｂａｒｕ 車両の運転支援制御装置
US11066073B2 (en) * 2016-03-15 2021-07-20 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, and vehicle control program
JP6512164B2 (ja) * 2016-04-22 2019-05-15 株式会社デンソー 物体検出装置、物体検出方法
CN106218611B (zh) * 2016-07-21 2019-01-22 浙江吉利汽车研究院有限公司 一种自动紧急制动系统的稳定性控制装置及方法
US20180225554A1 (en) * 2017-02-06 2018-08-09 Honda Motor Co., Ltd. Systems and methods of a computational framework for a driver's visual attention using a fully convolutional architecture
JP6658674B2 (ja) * 2017-06-08 2020-03-04 トヨタ自動車株式会社 運転支援システム
CN107608392A (zh) * 2017-09-19 2018-01-19 浙江大华技术股份有限公司 一种目标跟随的方法及设备
GB2580671B (en) 2019-01-22 2022-05-04 Toshiba Kk A computer vision system and method
CN111198385A (zh) * 2019-12-26 2020-05-26 北京旷视机器人技术有限公司 障碍物检测方法、装置、计算机设备和存储介质
CN113126640B (zh) * 2019-12-31 2022-06-28 北京三快在线科技有限公司 用于无人机的障碍物探测方法、装置、无人机和存储介质
CN111543908B (zh) * 2020-05-15 2021-09-07 汇智机器人科技(深圳)有限公司 一种行进路径、智能设备行进路径规划方法和装置
CN112519680A (zh) * 2020-12-25 2021-03-19 冉从伟 一种汽车启动、倒退和低速行驶时周围视野盲区检测系统
DE102021203809B4 (de) * 2021-03-16 2023-05-04 Continental Autonomous Mobility Germany GmbH Fahrverlaufsschätzung in einem Umfeldmodel

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000242898A (ja) * 1999-02-22 2000-09-08 Equos Research Co Ltd 周辺車両報知装置
CN1572597A (zh) * 2003-05-30 2005-02-02 丰田自动车株式会社 冲撞预测装置
CN1704719A (zh) * 2004-06-02 2005-12-07 丰田自动车株式会社 障碍物识别装置以及障碍物识别方法
JP2007249463A (ja) * 2006-03-15 2007-09-27 Tokyo Metropolitan Univ 車両情報取得システム
EP1912157A1 (en) * 2006-10-09 2008-04-16 MAGNETI MARELLI SISTEMI ELETTRONICI S.p.A. Digital image processing system for automatically representing surrounding scenes to the driver of a vehicle for driving assistance, and corresponding operating method
EP1334008B1 (en) * 2000-10-26 2008-07-30 Autoliv Development Aktiebolag A night vision device for a vehicle

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3153839B2 (ja) * 1993-08-23 2001-04-09 三菱電機株式会社 車両用予防安全装置
JPH1031799A (ja) 1996-07-15 1998-02-03 Toyota Motor Corp 自動走行制御装置
JP3990836B2 (ja) * 1999-03-01 2007-10-17 矢崎総業株式会社 車両用周辺監視装置
DE10218010A1 (de) * 2002-04-23 2003-11-06 Bosch Gmbh Robert Verfahren und Vorrichtung zur Querführungsunterstützung bei Kraftfahrzeugen
JP2006268097A (ja) * 2005-03-22 2006-10-05 Nissan Motor Co Ltd 車載物体検出装置、および物体検出方法
US7734418B2 (en) 2005-06-28 2010-06-08 Honda Motor Co., Ltd. Vehicle operation assisting system
JP4711758B2 (ja) 2005-07-04 2011-06-29 本田技研工業株式会社 車両操作支援装置
JP5016889B2 (ja) * 2006-10-11 2012-09-05 日立オートモティブシステムズ株式会社 予防安全装置
JP4654208B2 (ja) * 2007-02-13 2011-03-16 日立オートモティブシステムズ株式会社 車載用走行環境認識装置
JP4706654B2 (ja) * 2007-03-27 2011-06-22 トヨタ自動車株式会社 衝突回避装置
JP5094658B2 (ja) 2008-09-19 2012-12-12 日立オートモティブシステムズ株式会社 走行環境認識装置
DE102009034105A1 (de) * 2009-07-21 2010-03-25 Daimler Ag Vorrichtung und Verfahren zur Lenkunterstützung eines Fahrers eines Fahrzeugs

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000242898A (ja) * 1999-02-22 2000-09-08 Equos Research Co Ltd 周辺車両報知装置
EP1334008B1 (en) * 2000-10-26 2008-07-30 Autoliv Development Aktiebolag A night vision device for a vehicle
CN1572597A (zh) * 2003-05-30 2005-02-02 丰田自动车株式会社 冲撞预测装置
CN1704719A (zh) * 2004-06-02 2005-12-07 丰田自动车株式会社 障碍物识别装置以及障碍物识别方法
JP2007249463A (ja) * 2006-03-15 2007-09-27 Tokyo Metropolitan Univ 車両情報取得システム
EP1912157A1 (en) * 2006-10-09 2008-04-16 MAGNETI MARELLI SISTEMI ELETTRONICI S.p.A. Digital image processing system for automatically representing surrounding scenes to the driver of a vehicle for driving assistance, and corresponding operating method

Also Published As

Publication number Publication date
JP2012079117A (ja) 2012-04-19
US8941479B2 (en) 2015-01-27
US20130194086A1 (en) 2013-08-01
CN103153743A (zh) 2013-06-12
JP5716343B2 (ja) 2015-05-13
WO2012042355A1 (en) 2012-04-05

Similar Documents

Publication Publication Date Title
CN103153743B (zh) 用于车辆的障碍物识别系统和方法
US9208128B2 (en) Course determination system and driving assist system of vehicle
CN103403778B (zh) 行驶支援装置及方法
EP2621791B1 (en) Driving support apparatus and driving support method
US9180911B2 (en) Vehicle operating condition determining system, driving assist system, and operating condition determining method
US20130184976A1 (en) Driving support apparatus and driving support method
JP5672310B2 (ja) 走行支援装置、走行支援方法、及び車輌
JP2010030513A (ja) 車両の運転支援装置
JP7546504B2 (ja) 運転支援装置、運転支援方法、およびプログラム
JP2012084038A (ja) 車両の運転支援システム
US20240317275A1 (en) Vehicle control device for vehicle capable of autonomous driving and manual driving
WO2012124111A1 (ja) 走行支援装置及び方法
JP2012088756A (ja) 走行支援装置及び方法
JP2012232639A (ja) 走行支援装置及び方法

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160803

Termination date: 20210929

CF01 Termination of patent right due to non-payment of annual fee