CN116331248A - 具有集成高斯过程的道路建模 - Google Patents
具有集成高斯过程的道路建模 Download PDFInfo
- Publication number
- CN116331248A CN116331248A CN202211657484.8A CN202211657484A CN116331248A CN 116331248 A CN116331248 A CN 116331248A CN 202211657484 A CN202211657484 A CN 202211657484A CN 116331248 A CN116331248 A CN 116331248A
- Authority
- CN
- China
- Prior art keywords
- longitudinal position
- road
- gpr
- detection
- determining
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 169
- 230000008569 process Effects 0.000 title claims abstract description 88
- 238000001514 detection method Methods 0.000 claims description 283
- 230000002776 aggregation Effects 0.000 claims description 25
- 238000004220 aggregation Methods 0.000 claims description 25
- 230000000007 visual effect Effects 0.000 claims description 25
- 230000004931 aggregating effect Effects 0.000 claims description 13
- 238000003556 assay Methods 0.000 claims description 10
- 238000013507 mapping Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 59
- 238000012549 training Methods 0.000 description 19
- 238000005259 measurement Methods 0.000 description 17
- 230000008447 perception Effects 0.000 description 16
- 238000012360 testing method Methods 0.000 description 15
- 238000005192 partition Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 7
- 230000011218 segmentation Effects 0.000 description 7
- 238000000638 solvent extraction Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000006399 behavior Effects 0.000 description 4
- 238000011179 visual inspection Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000007619 statistical method Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013213 extrapolation Methods 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006116 polymerization reaction Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
- G06N20/20—Ensemble learning
-
- 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
- G06V20/588—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
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
-
- 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
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/253—Fusion techniques of extracted features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/27—Regression, e.g. linear or logistic regression
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/29—Graphical models, e.g. Bayesian networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/62—Extraction of image or video features relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/766—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using regression, e.g. by projecting features on hyperplanes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
- G06V10/806—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of extracted features
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/20—Lateral distance
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Software Systems (AREA)
- Life Sciences & Earth Sciences (AREA)
- Evolutionary Biology (AREA)
- Bioinformatics & Computational Biology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Mathematical Physics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Computing Systems (AREA)
- Medical Informatics (AREA)
- Databases & Information Systems (AREA)
- Human Computer Interaction (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Operations Research (AREA)
- Probability & Statistics with Applications (AREA)
- Algebra (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (30)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/645,931 US20230206136A1 (en) | 2021-12-23 | 2021-12-23 | Road Modeling with Ensemble Gaussian Processes |
US17/645,931 | 2021-12-23 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN116331248A true CN116331248A (zh) | 2023-06-27 |
Family
ID=83505753
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202211657484.8A Pending CN116331248A (zh) | 2021-12-23 | 2022-12-22 | 具有集成高斯过程的道路建模 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20230206136A1 (zh) |
EP (1) | EP4202862A1 (zh) |
CN (1) | CN116331248A (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20200361452A1 (en) * | 2019-05-13 | 2020-11-19 | Toyota Research Institute, Inc. | Vehicles and methods for performing tasks based on confidence in accuracy of module output |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2530628A1 (en) * | 2011-06-01 | 2012-12-05 | BAE Systems Plc. | Heterogeneous data fusion using Gaussian processes |
-
2021
- 2021-12-23 US US17/645,931 patent/US20230206136A1/en active Pending
-
2022
- 2022-09-28 EP EP22198268.9A patent/EP4202862A1/en active Pending
- 2022-12-22 CN CN202211657484.8A patent/CN116331248A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
EP4202862A1 (en) | 2023-06-28 |
US20230206136A1 (en) | 2023-06-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3875985A1 (en) | Method, apparatus, computing device and computer-readable storage medium for positioning | |
RU2767955C1 (ru) | Способы и системы для определения компьютером наличия динамических объектов | |
EP3875907A1 (en) | Method, apparatus, computing device and computer-readable storage medium for positioning | |
CN112154455B (zh) | 数据处理方法、设备和可移动平台 | |
CN110867132B (zh) | 环境感知的方法、装置、电子设备和计算机可读存储介质 | |
US10449956B2 (en) | Object tracking by unsupervised learning | |
CN105022397A (zh) | 用于使用多个传感器进行物体检测的方法和系统 | |
US20160049078A1 (en) | Provision of an Efficient Environmental Map for a Vehicle | |
US20210197809A1 (en) | Method of and system for predicting future event in self driving car (sdc) | |
RU2757234C2 (ru) | Способ и система для вычисления данных для управления работой беспилотного автомобиля | |
CN116872921A (zh) | 一种车辆规避风险方法、系统、车辆及存储介质 | |
CN116331248A (zh) | 具有集成高斯过程的道路建模 | |
US20220171975A1 (en) | Method for Determining a Semantic Free Space | |
CN113155143A (zh) | 用于评估自动驾驶用的地图的方法、设备和车辆 | |
US11983918B2 (en) | Platform for perception system development for automated driving system | |
US20230314599A1 (en) | Multi-Scan Sensor Fusion for Object Tracking | |
US20220333933A1 (en) | Enhanced vehicle and trailer operation | |
CN112710316A (zh) | 专注于构造和本地化技术领域的动态地图生成 | |
US20230202497A1 (en) | Hypothesis inference for vehicles | |
RU2789921C2 (ru) | Способ и устройство для управления беспилотным автомобилем | |
US20220388531A1 (en) | Method and device for operating a self-driving car | |
JP7452374B2 (ja) | 物体検知装置および物体検知プログラム | |
US20220402522A1 (en) | Tree based behavior predictor | |
EP4336467A1 (en) | Method and apparatus for modeling object, storage medium, and vehicle control method | |
US20230342954A1 (en) | Method for Estimating an Ego Motion of a Vehicle on the Basis of Measurements of a Lidar Sensor and Computing Device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
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 |
Effective date of registration: 20240401 Address after: Jiraum, Luxembourg, Luxembourg J. 12C Kroll Street Applicant after: Anbofu Manufacturing Management Services Co.,Ltd. Country or region after: Luxembourg Address before: Babado J San Michaele Applicant before: Delphi Technologies, Inc. Country or region before: Barbados |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20240425 Address after: 2 Pestaroz Street, Schaffhausen, Switzerland Applicant after: Anbofu Technology Co.,Ltd. Country or region after: Switzerland Address before: Jiraum, Luxembourg, Luxembourg J. 12C Kroll Street Applicant before: Anbofu Manufacturing Management Services Co.,Ltd. Country or region before: Luxembourg |
|
TA01 | Transfer of patent application right |