CN109219536A - 用于自动化车辆的v2x物体位置验证系统 - Google Patents
用于自动化车辆的v2x物体位置验证系统 Download PDFInfo
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- CN109219536A CN109219536A CN201780033052.0A CN201780033052A CN109219536A CN 109219536 A CN109219536 A CN 109219536A CN 201780033052 A CN201780033052 A CN 201780033052A CN 109219536 A CN109219536 A CN 109219536A
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- 238000012790 confirmation Methods 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000209202 Bromus secalinus Species 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. 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
- 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
-
- 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
-
- 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
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/005—Moving wireless networks
-
- 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
-
- 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
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/20—Data confidence level
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Optics & Photonics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims (6)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/083,538 US9671785B1 (en) | 2016-03-29 | 2016-03-29 | V2X object-location verification system for automated vehicles |
US15/083,538 | 2016-03-29 | ||
PCT/US2017/016157 WO2017172034A1 (en) | 2016-03-29 | 2017-02-02 | V2x object-location verification system for automated vehicles |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109219536A true CN109219536A (zh) | 2019-01-15 |
CN109219536B CN109219536B (zh) | 2020-06-16 |
Family
ID=58778652
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201780033052.0A Active CN109219536B (zh) | 2016-03-29 | 2017-02-02 | 用于自动化车辆的v2x物体位置验证系统 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9671785B1 (zh) |
EP (1) | EP3436312B1 (zh) |
JP (1) | JP2019516955A (zh) |
KR (1) | KR20180118812A (zh) |
CN (1) | CN109219536B (zh) |
WO (1) | WO2017172034A1 (zh) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11092446B2 (en) | 2016-06-14 | 2021-08-17 | Motional Ad Llc | Route planning for an autonomous vehicle |
US10126136B2 (en) | 2016-06-14 | 2018-11-13 | nuTonomy Inc. | Route planning for an autonomous vehicle |
US10309792B2 (en) | 2016-06-14 | 2019-06-04 | nuTonomy Inc. | Route planning for an autonomous vehicle |
US10857994B2 (en) | 2016-10-20 | 2020-12-08 | Motional Ad Llc | Identifying a stopping place for an autonomous vehicle |
US10473470B2 (en) | 2016-10-20 | 2019-11-12 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
US10331129B2 (en) | 2016-10-20 | 2019-06-25 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
US10681513B2 (en) | 2016-10-20 | 2020-06-09 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
US11143760B2 (en) | 2018-02-19 | 2021-10-12 | Motional Ad Llc | Object-detector configuration based on human-override of automated vehicle control |
CN109774705B (zh) * | 2018-02-19 | 2022-03-29 | 动态Ad有限责任公司 | 基于自动化车辆控制的人类超控的物体检测器配置 |
US10878701B2 (en) | 2018-10-09 | 2020-12-29 | Ford Global Technologies, Llc | Detection of attacks on vehicle networks |
JP7166211B2 (ja) * | 2019-03-28 | 2022-11-07 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
US10938487B2 (en) | 2019-05-14 | 2021-03-02 | Aptiv Technologies Limited | Monitoring a vehicle-to-everything communication system |
KR102551283B1 (ko) * | 2020-09-08 | 2023-07-06 | 한국전자통신연구원 | 메타인지 기반 자율주행 보정 장치 및 방법 |
Citations (5)
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JP2010086269A (ja) * | 2008-09-30 | 2010-04-15 | Mazda Motor Corp | 車両同定装置及びそれを用いた運転支援装置 |
CN101799992A (zh) * | 2009-02-03 | 2010-08-11 | 通用汽车环球科技运作公司 | 组合的车辆到车辆通信和目标检测感测 |
EP2461303A1 (en) * | 2009-07-28 | 2012-06-06 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device, vehicle control method, and vehicle control system |
JP2013242737A (ja) * | 2012-05-22 | 2013-12-05 | Furukawa Electric Co Ltd:The | 車載装置および車載装置の判断方法 |
US8935094B2 (en) * | 2012-04-24 | 2015-01-13 | Zetta Research and Development LLC—ForC Series | Generating a location in a vehicle-to-vehicle communication system |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
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EP2615596A4 (en) * | 2010-09-08 | 2017-12-06 | Toyota Jidosha Kabushiki Kaisha | Moving-object prediction device, virtual-mobile-object prediction device, program, mobile-object prediction method, and virtual-mobile-object prediction method |
WO2013163218A1 (en) * | 2012-04-24 | 2013-10-31 | Rubin Kim | V2v safety system with a hybrid physical layer |
DE102012020297B4 (de) * | 2012-10-17 | 2017-08-31 | Audi Ag | Verfahren zur Zuordnung eines Senders zu einem detektierten Objekt in der Kraftfahrzeug-zu-Kraftfahrzeug-Kommunikation und Kraftfahrzeug |
US9314924B1 (en) * | 2013-06-14 | 2016-04-19 | Brain Corporation | Predictive robotic controller apparatus and methods |
JP6348785B2 (ja) * | 2014-06-27 | 2018-06-27 | 株式会社Subaru | 車両の運転支援装置 |
US9440351B2 (en) * | 2014-10-30 | 2016-09-13 | International Business Machines Corporation | Controlling the operations of a robotic device |
US10024965B2 (en) * | 2015-04-01 | 2018-07-17 | Vayavision, Ltd. | Generating 3-dimensional maps of a scene using passive and active measurements |
US9663128B2 (en) * | 2015-04-28 | 2017-05-30 | Alstom Transport Technologies | Location and/or direction of travel detection system and method |
US10909464B2 (en) * | 2015-04-29 | 2021-02-02 | Microsoft Technology Licensing, Llc | Semantic locations prediction |
KR102375411B1 (ko) * | 2015-05-11 | 2022-03-18 | 삼성전자주식회사 | 차량 주변 영상 제공 방법 및 장치 |
-
2016
- 2016-03-29 US US15/083,538 patent/US9671785B1/en active Active
-
2017
- 2017-02-02 EP EP17776079.0A patent/EP3436312B1/en active Active
- 2017-02-02 JP JP2018551794A patent/JP2019516955A/ja active Pending
- 2017-02-02 CN CN201780033052.0A patent/CN109219536B/zh active Active
- 2017-02-02 KR KR1020187030726A patent/KR20180118812A/ko not_active Application Discontinuation
- 2017-02-02 WO PCT/US2017/016157 patent/WO2017172034A1/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010086269A (ja) * | 2008-09-30 | 2010-04-15 | Mazda Motor Corp | 車両同定装置及びそれを用いた運転支援装置 |
CN101799992A (zh) * | 2009-02-03 | 2010-08-11 | 通用汽车环球科技运作公司 | 组合的车辆到车辆通信和目标检测感测 |
EP2461303A1 (en) * | 2009-07-28 | 2012-06-06 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device, vehicle control method, and vehicle control system |
US8935094B2 (en) * | 2012-04-24 | 2015-01-13 | Zetta Research and Development LLC—ForC Series | Generating a location in a vehicle-to-vehicle communication system |
JP2013242737A (ja) * | 2012-05-22 | 2013-12-05 | Furukawa Electric Co Ltd:The | 車載装置および車載装置の判断方法 |
Also Published As
Publication number | Publication date |
---|---|
WO2017172034A1 (en) | 2017-10-05 |
EP3436312A1 (en) | 2019-02-06 |
JP2019516955A (ja) | 2019-06-20 |
CN109219536B (zh) | 2020-06-16 |
KR20180118812A (ko) | 2018-10-31 |
US9671785B1 (en) | 2017-06-06 |
EP3436312B1 (en) | 2020-08-26 |
EP3436312A4 (en) | 2019-03-20 |
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Legal Events
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20190315 Address after: Babado J San Michaele Applicant after: Amberford Technology Co., Ltd. Address before: michigan Applicant before: Delphi Automotive Systems LLC (US) |
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GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201208 Address after: Massachusetts, USA Patentee after: Dynamic ad Co., Ltd Address before: Babado J San Michaele Patentee before: Delphi Technologies, Inc. |