CN113227831A - 基于多传感器数据融合的护栏估计方法和车载设备 - Google Patents
基于多传感器数据融合的护栏估计方法和车载设备 Download PDFInfo
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- CN113227831A CN113227831A CN201980002607.4A CN201980002607A CN113227831A CN 113227831 A CN113227831 A CN 113227831A CN 201980002607 A CN201980002607 A CN 201980002607A CN 113227831 A CN113227831 A CN 113227831A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
一种基于多传感器数据融合的护栏估计方法、车载设备和存储介质，该方法包括：获取多传感器数据和整车信息(501)；基于整车信息，确定车辆的行驶轨迹(502)；基于多传感器数据和行驶轨迹，确定多个护栏样本点(503)；基于多个护栏样本点，估计护栏信息(504)。当横向控制车辆时，护栏信息对质量较差的车道线进行修正；车道线无法检测时，护栏信息用于横向控制降级处理，同时护栏信息有利于辅助实现快速准确的高速公路车道级定位，实现更高等级的辅助驾驶功能。
Description
PCT国内申请，说明书已公开。
Claims (16)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/120407 WO2021097844A1 (zh) | 2019-11-22 | 2019-11-22 | 基于多传感器数据融合的护栏估计方法和车载设备 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113227831A true CN113227831A (zh) | 2021-08-06 |
| CN113227831B CN113227831B (zh) | 2023-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201980002607.4A Active CN113227831B (zh) | 2019-11-22 | 2019-11-22 | 基于多传感器数据融合的护栏估计方法和车载设备 |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US20230168368A1 (zh) |
| CN (1) | CN113227831B (zh) |
| WO (1) | WO2021097844A1 (zh) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114353817B (zh) * | 2021-12-28 | 2023-08-15 | 重庆长安汽车股份有限公司 | 多源传感器车道线确定方法、系统、车辆及计算机可读存储介质 |
| CN114763996A (zh) * | 2022-04-27 | 2022-07-19 | 重庆长安汽车股份有限公司 | 一种基于多传感器融合的复杂场景路径规划方法 |
| CN115184891B (zh) * | 2022-06-14 | 2024-04-19 | 北京理工大学重庆创新中心 | 一种毫米波雷达道路栅栏检测识别方法 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150293216A1 (en) * | 2014-04-15 | 2015-10-15 | GM Global Technology Operations LLC | Method and system for detecting, tracking and estimating stationary roadside objects |
| CN108344997A (zh) * | 2018-01-16 | 2018-07-31 | 华域汽车系统股份有限公司 | 一种基于点迹特征的道路护栏快速检测方法 |
| CN109254289A (zh) * | 2018-11-01 | 2019-01-22 | 百度在线网络技术（北京）有限公司 | 道路护栏的检测方法和检测设备 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101405193B1 (ko) * | 2012-10-26 | 2014-06-27 | 현대자동차 주식회사 | 차로 인식 방법 및 시스템 |
| DE102015001386A1 (de) * | 2015-02-04 | 2016-08-04 | Audi Ag | Verfahren zur Ermittlung einer Querpositionsinformantion eines Kraftfahrzeugs auf einer Fahrbahn und Kraftfahrzeug |
| DE102015108759A1 (de) * | 2015-06-03 | 2016-12-08 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Klassifizieren eines länglich ausgedehnten stationären Objektes in einem seitlichen Umgebungsbereich eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug |
| US10222803B2 (en) * | 2017-06-02 | 2019-03-05 | Aptiv Technologies Limited | Determining objects of interest for active cruise control |
| KR102355671B1 (ko) * | 2017-07-13 | 2022-01-26 | 현대자동차주식회사 | 차량 및 그 제어방법 |
| CN108297795A (zh) * | 2018-01-31 | 2018-07-20 | 成都华远科技有限公司 | 一种电动车的车道识别系统 |
-
2019
- 2019-11-22 WO PCT/CN2019/120407 patent/WO2021097844A1/zh active Application Filing
- 2019-11-22 US US17/916,038 patent/US20230168368A1/en active Pending
- 2019-11-22 CN CN201980002607.4A patent/CN113227831B/zh active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150293216A1 (en) * | 2014-04-15 | 2015-10-15 | GM Global Technology Operations LLC | Method and system for detecting, tracking and estimating stationary roadside objects |
| CN108344997A (zh) * | 2018-01-16 | 2018-07-31 | 华域汽车系统股份有限公司 | 一种基于点迹特征的道路护栏快速检测方法 |
| CN109254289A (zh) * | 2018-11-01 | 2019-01-22 | 百度在线网络技术（北京）有限公司 | 道路护栏的检测方法和检测设备 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113227831B (zh) | 2023-01-20 |
| WO2021097844A1 (zh) | 2021-05-27 |
| US20230168368A1 (en) | 2023-06-01 |
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