DE112021003371T8 - Fahrzeugpositionsschätzvorrichtung und Fahrpositionsschätzverfahren - Google Patents

Fahrzeugpositionsschätzvorrichtung und Fahrpositionsschätzverfahren Download PDF

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Publication number
DE112021003371T8
DE112021003371T8 DE112021003371.9T DE112021003371T DE112021003371T8 DE 112021003371 T8 DE112021003371 T8 DE 112021003371T8 DE 112021003371 T DE112021003371 T DE 112021003371T DE 112021003371 T8 DE112021003371 T8 DE 112021003371T8
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DE
Germany
Prior art keywords
position estimating
vehicle position
driving
driving position
estimating device
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.)
Active
Application number
DE112021003371.9T
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German (de)
English (en)
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DE112021003371T5 (de
Inventor
Kazuhisa Ishimaru
Shunya Kumano
Yuusuke MATSUMOTO
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.)
Denso Corp
Original Assignee
Denso Corp
Soken 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.)
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Publication date
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Publication of DE112021003371T5 publication Critical patent/DE112021003371T5/de
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    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/761—Proximity, similarity or dissimilarity measures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Geometry (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
DE112021003371.9T 2020-06-23 2021-06-14 Fahrzeugpositionsschätzvorrichtung und Fahrpositionsschätzverfahren Active DE112021003371T8 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020107959 2020-06-23
JP2020-107959 2020-06-23
PCT/JP2021/022461 WO2021261304A1 (ja) 2020-06-23 2021-06-14 自車位置推定装置、走行位置推定方法

Publications (2)

Publication Number Publication Date
DE112021003371T5 DE112021003371T5 (de) 2023-05-25
DE112021003371T8 true DE112021003371T8 (de) 2023-06-07

Family

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Application Number Title Priority Date Filing Date
DE112021003371.9T Active DE112021003371T8 (de) 2020-06-23 2021-06-14 Fahrzeugpositionsschätzvorrichtung und Fahrpositionsschätzverfahren

Country Status (5)

Country Link
US (1) US11928871B2 (https=)
JP (1) JP7260064B2 (https=)
CN (1) CN115702450B (https=)
DE (1) DE112021003371T8 (https=)
WO (1) WO2021261304A1 (https=)

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JP7216699B2 (ja) * 2020-12-28 2023-02-01 本田技研工業株式会社 車両制御システム及び自車線特定方法
JP2022132882A (ja) * 2021-03-01 2022-09-13 キヤノン株式会社 ナビゲーションシステム、ナビゲーション方法およびプログラム
JP7737275B2 (ja) * 2021-09-22 2025-09-10 株式会社Subaru 車両の運転支援装置
JP7748040B2 (ja) * 2021-09-27 2025-10-02 オーモヴィオ・オートノモス・モビリティー・ジャーマニー・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング 自律走行車両のレーン追跡のための方法及びシステム
WO2023175889A1 (ja) * 2022-03-18 2023-09-21 本田技研工業株式会社 運転支援装置、運転支援方法、およびプログラム
KR20240026401A (ko) * 2022-08-19 2024-02-28 현대모비스 주식회사 차량 및 이의 제어 방법
CN115410171A (zh) * 2022-09-13 2022-11-29 合肥四维图新科技有限公司 车辆行驶道路的识别方法、装置、设备及存储介质
CN115534992A (zh) * 2022-09-20 2022-12-30 中国通信建设第四工程局有限公司 基于车路协同的自动驾驶辅助方法
JP7425143B1 (ja) * 2022-09-20 2024-01-30 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
US20240104939A1 (en) * 2022-09-23 2024-03-28 Torc Robotics, Inc. Systems and methods for using image data to identify lane width
US20240101146A1 (en) 2022-09-23 2024-03-28 Torc Robotics, Inc. Systems and methods for using image data to analyze an image
JP7584488B2 (ja) * 2022-12-20 2024-11-15 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
CN115775382A (zh) * 2022-12-20 2023-03-10 上海安亭地平线智能交通技术有限公司 车位重建方法、装置、电子设备和存储介质
US20240391456A1 (en) * 2023-05-22 2024-11-28 Magna Electronics Inc. Vehicular sensing system with potential impact determination
CN116695623A (zh) * 2023-06-21 2023-09-05 广州文远知行科技有限公司 一种自动驾驶环卫车作业调整方法、装置、设备和介质
CN116844012B (zh) * 2023-07-06 2025-12-05 重庆长安汽车股份有限公司 目标融合方法、装置、电子设备及存储介质
CN116740680B (zh) * 2023-07-12 2026-03-24 蘑菇车联信息科技有限公司 一种车辆定位方法、装置及电子设备
CN117007052B (zh) * 2023-08-03 2025-08-08 中国民用航空总局第二研究所 机场无人驾驶车辆安全运行检测方法、电子设备及存储介质
KR102714686B1 (ko) * 2023-08-30 2024-10-11 (주)오토노머스에이투지 특정 자율주행 차량의 측위를 수행하기 위한 방법 및 이를 이용한 컴퓨팅 장치
JP2025097571A (ja) * 2023-12-19 2025-07-01 トヨタ自動車株式会社 交差道路検出装置、交差道路検出方法及びプログラム
DE112023006703T5 (de) * 2023-12-20 2026-05-07 Astemo, Ltd. Fahrzeugsteuervorrichtung
WO2025182067A1 (ja) * 2024-03-01 2025-09-04 日本電気株式会社 劣化診断システム、劣化診断方法及び記録媒体

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JP4650079B2 (ja) * 2004-11-30 2011-03-16 日産自動車株式会社 物体検出装置、および方法
JP6017180B2 (ja) 2012-05-18 2016-10-26 クラリオン株式会社 車載用環境認識装置
KR101405193B1 (ko) * 2012-10-26 2014-06-27 현대자동차 주식회사 차로 인식 방법 및 시스템
WO2017013692A1 (ja) * 2015-07-21 2017-01-26 日産自動車株式会社 走行車線判定装置及び走行車線判定方法
US10503983B2 (en) * 2015-08-19 2019-12-10 Mitsubishi Electric Corporation Lane recognition apparatus and lane recognition method
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JP6693496B2 (ja) 2017-03-16 2020-05-13 株式会社デンソー 自己位置推定装置
CN107169464B (zh) * 2017-05-25 2019-04-09 中国农业科学院农业资源与农业区划研究所 一种基于激光点云的道路边界检测方法
KR102421855B1 (ko) * 2017-09-28 2022-07-18 삼성전자주식회사 주행 차로를 식별하는 방법 및 장치
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CN113631454B (zh) * 2019-03-27 2022-12-13 日产自动车株式会社 驾驶辅助方法及驾驶辅助装置
JP7360269B2 (ja) * 2019-08-01 2023-10-12 株式会社Subaru 車両の走行制御装置
CN110422168B (zh) * 2019-08-08 2020-06-16 智邮开源通信研究院(北京)有限公司 车道识别系统、方法及自动驾驶汽车

Also Published As

Publication number Publication date
JPWO2021261304A1 (https=) 2021-12-30
JP7260064B2 (ja) 2023-04-18
US11928871B2 (en) 2024-03-12
CN115702450B (zh) 2025-08-26
DE112021003371T5 (de) 2023-05-25
US20230122011A1 (en) 2023-04-20
WO2021261304A1 (ja) 2021-12-30
CN115702450A (zh) 2023-02-14

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Legal Events

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R012 Request for examination validly filed
R081 Change of applicant/patentee

Owner name: DENSO CORPORATION, KARIYA-CITY, JP

Free format text: FORMER OWNERS: DENSO CORPORATION, KARIYA-CITY, AICHI-PREF., JP; SOKEN, INC., NISHIO-CITY, AICHI-PREF., JP

R081 Change of applicant/patentee

Owner name: DENSO CORPORATION, KARIYA-CITY, JP

Free format text: FORMER OWNERS: DENSO CORPORATION, KARIYA-CITY, AICHI-PREF., JP; SOKEN, INC., NISSHIN-CITY, AICHI-PREF., JP