CN112368756A - 计算对象和车辆碰撞时间的方法、计算设备及车辆 - Google Patents

计算对象和车辆碰撞时间的方法、计算设备及车辆 Download PDF

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CN112368756A
CN112368756A CN201880094555.3A CN201880094555A CN112368756A CN 112368756 A CN112368756 A CN 112368756A CN 201880094555 A CN201880094555 A CN 201880094555A CN 112368756 A CN112368756 A CN 112368756A
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event
subset
time
vehicle
matrix
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CN112368756B (zh
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何启盛
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Shanghai Xinlun Optoelectronics Technology Co ltd
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Shanghai Xinlun Optoelectronics Technology Co ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • 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
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4043—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

本发明公开了一种计算对象和车辆碰撞时间的方法，适于在计算设备中执行，包括步骤：利用来自耦接到车辆的动态视觉传感器的一系列事件数据生成时间戳矩阵；按照预定的扫描方向对时间戳矩阵中的事件进行扫描，以计算各个事件沿扫描方向的时间梯度；利用时间梯度为正且沿扫描方向连续的第一数目个事件构建至少一个子集；根据动态视觉传感器的内外参数矩阵计算各子集中事件的空间位置；根据子集中事件的空间位置和时间戳计算出与子集相对应的对象和车辆的碰撞时间。本发明一并公开了用于执行上述方法的计算设备和相应的车辆。

Description

PCT国内申请，说明书已公开。

Claims (21)

  1. PCT国内申请，权利要求书已公开。
CN201880094555.3A 2018-07-16 2018-07-16 计算对象和车辆碰撞时间的方法、计算设备及车辆 Active CN112368756B (zh)

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CN112949440A (zh) * 2021-02-22 2021-06-11 豪威芯仑传感器(上海)有限公司 一种提取行人的步态特征的方法、步态识别方法及系统
CN113954867A (zh) * 2021-09-29 2022-01-21 广州文远知行科技有限公司 一种对象至碰时间快速计算方法、装置、设备及存储介质
CN114005271A (zh) * 2021-08-05 2022-02-01 北京航空航天大学 一种智能网联环境下交叉口碰撞风险量化方法

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CN112068603A (zh) * 2020-08-10 2020-12-11 上海交通大学 一种基于事件相机的无人驾驶跟车系统及方法
CN112863193B (zh) * 2021-01-06 2022-11-01 厦门大学 一种隧道内行驶车辆的监控系统及方法
US11516419B2 (en) 2021-01-22 2022-11-29 Omnivision Technologies, Inc. Digital time stamping design for event driven pixel
SE2150289A1 (en) * 2021-03-12 2022-09-13 Anders Åström Provision of measure indicative of impact time between image sensor and object
US11632823B1 (en) 2021-03-23 2023-04-18 Waymo Llc Estimating sensor timestamps by oversampling
CN115412687B (zh) * 2022-10-31 2023-03-24 深圳时识科技有限公司 主被动结合的降噪装置、方法、视觉传感器和芯片

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EP1298012A2 (de) * 2001-09-28 2003-04-02 IBEO Automobile Sensor GmbH Verfahren zur Erkennung und Verfolgung von Objekten
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CN112949440A (zh) * 2021-02-22 2021-06-11 豪威芯仑传感器(上海)有限公司 一种提取行人的步态特征的方法、步态识别方法及系统
CN114005271A (zh) * 2021-08-05 2022-02-01 北京航空航天大学 一种智能网联环境下交叉口碰撞风险量化方法
CN113954867A (zh) * 2021-09-29 2022-01-21 广州文远知行科技有限公司 一种对象至碰时间快速计算方法、装置、设备及存储介质
CN113954867B (zh) * 2021-09-29 2023-10-20 广州文远知行科技有限公司 一种对象至碰时间快速计算方法、装置、设备及存储介质

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EP3825980A1 (en) 2021-05-26
CN112368756B (zh) 2022-11-11
US11893891B2 (en) 2024-02-06
WO2020014813A1 (zh) 2020-01-23
US20210142677A1 (en) 2021-05-13
EP3825980A4 (en) 2022-03-02

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