CN117681883A - 封闭车道检测 - Google Patents

封闭车道检测 Download PDF

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Publication number
CN117681883A
CN117681883A CN202311654951.6A CN202311654951A CN117681883A CN 117681883 A CN117681883 A CN 117681883A CN 202311654951 A CN202311654951 A CN 202311654951A CN 117681883 A CN117681883 A CN 117681883A
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CN
China
Prior art keywords
object detection
detection result
lane
determining
vehicle
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
Application number
CN202311654951.6A
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English (en)
Chinese (zh)
Inventor
D·X·马
Z·郑
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.)
Zoox Inc
Original Assignee
Zoox Inc
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 Zoox Inc filed Critical Zoox Inc
Publication of CN117681883A publication Critical patent/CN117681883A/zh
Pending legal-status Critical Current

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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
    • G06V20/588—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
    • 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
    • B60W40/04—Traffic 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • 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
    • 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
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • 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
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Mathematical Physics (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Atmospheric Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
CN202311654951.6A 2019-05-20 2020-05-20 封闭车道检测 Pending CN117681883A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US16/417,441 2019-05-20
US16/417,441 US11100339B2 (en) 2019-05-20 2019-05-20 Closed lane detection
PCT/US2020/033799 WO2020236932A1 (en) 2019-05-20 2020-05-20 Closed lane detection
CN202080051044.0A CN114127655B (zh) 2019-05-20 2020-05-20 封闭车道检测

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN202080051044.0A Division CN114127655B (zh) 2019-05-20 2020-05-20 封闭车道检测

Publications (1)

Publication Number Publication Date
CN117681883A true CN117681883A (zh) 2024-03-12

Family

ID=73456797

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202311654951.6A Pending CN117681883A (zh) 2019-05-20 2020-05-20 封闭车道检测
CN202080051044.0A Active CN114127655B (zh) 2019-05-20 2020-05-20 封闭车道检测

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202080051044.0A Active CN114127655B (zh) 2019-05-20 2020-05-20 封闭车道检测

Country Status (5)

Country Link
US (2) US11100339B2 (https=)
EP (1) EP3973365A4 (https=)
JP (1) JP7636349B2 (https=)
CN (2) CN117681883A (https=)
WO (1) WO2020236932A1 (https=)

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US11988518B2 (en) * 2019-06-17 2024-05-21 Nvidia Corporation Updating high definition maps based on lane closure and lane opening
JP7505443B2 (ja) * 2021-05-07 2024-06-25 トヨタ自動車株式会社 遠隔監視装置、遠隔監視システム、遠隔監視方法、及び遠隔監視プログラム
JP7723521B2 (ja) * 2021-07-28 2025-08-14 株式会社Subaru 運転支援装置
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US11938928B2 (en) * 2021-11-03 2024-03-26 Honda Motor Co., Ltd. Systems and methods for vehicular navigation of narrow gaps
US12555385B2 (en) * 2021-12-02 2026-02-17 Nvidia Corporation Deep learning based operational domain verification using camera-based inputs for autonomous systems and applications
US20230177955A1 (en) * 2021-12-06 2023-06-08 Here Global B.V. Method, apparatus and computer program product for identifying road work speed funnels within a road network
CN114155508B (zh) * 2021-12-08 2024-04-05 北京百度网讯科技有限公司 一种道路变化检测方法、装置、设备以及存储介质
US12482352B2 (en) * 2021-12-20 2025-11-25 Here Global B.V. Method, apparatus, and computer program product for determining lane closures along a road
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DE102022124470B3 (de) * 2022-09-23 2023-07-27 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Steuerung einer Diagnosesession eines Fahrzeugs, Computerprogram, Vorrichtung und Fahrzeug
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Also Published As

Publication number Publication date
CN114127655A (zh) 2022-03-01
JP2022532921A (ja) 2022-07-20
US20200372262A1 (en) 2020-11-26
JP7636349B2 (ja) 2025-02-26
US11100339B2 (en) 2021-08-24
US11694447B2 (en) 2023-07-04
EP3973365A4 (en) 2023-05-03
US20210383138A1 (en) 2021-12-09
WO2020236932A1 (en) 2020-11-26
CN114127655B (zh) 2023-12-22
EP3973365A1 (en) 2022-03-30

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