EP1714108A4 - Systeme d'estimation de courbure de route - Google Patents

Systeme d'estimation de courbure de route

Info

Publication number
EP1714108A4
EP1714108A4 EP04815709A EP04815709A EP1714108A4 EP 1714108 A4 EP1714108 A4 EP 1714108A4 EP 04815709 A EP04815709 A EP 04815709A EP 04815709 A EP04815709 A EP 04815709A EP 1714108 A4 EP1714108 A4 EP 1714108A4
Authority
EP
European Patent Office
Prior art keywords
estimation system
road curvature
curvature estimation
road
estimation
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.)
Withdrawn
Application number
EP04815709A
Other languages
German (de)
English (en)
Other versions
EP1714108A2 (fr
Inventor
Shan Cong
Shi Shen
Lang Hong
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.)
Automotive Systems Laboratory Inc
Original Assignee
Automotive Systems Laboratory 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 Automotive Systems Laboratory Inc filed Critical Automotive Systems Laboratory Inc
Publication of EP1714108A2 publication Critical patent/EP1714108A2/fr
Publication of EP1714108A4 publication Critical patent/EP1714108A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination 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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP04815709A 2003-12-24 2004-12-24 Systeme d'estimation de courbure de route Withdrawn EP1714108A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US53234403P 2003-12-24 2003-12-24
PCT/US2004/043695 WO2005062984A2 (fr) 2003-12-24 2004-12-24 Systeme d'estimation de courbure de route

Publications (2)

Publication Number Publication Date
EP1714108A2 EP1714108A2 (fr) 2006-10-25
EP1714108A4 true EP1714108A4 (fr) 2010-01-13

Family

ID=34738789

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04815709A Withdrawn EP1714108A4 (fr) 2003-12-24 2004-12-24 Systeme d'estimation de courbure de route

Country Status (3)

Country Link
EP (1) EP1714108A4 (fr)
JP (3) JP4990629B2 (fr)
WO (1) WO2005062984A2 (fr)

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US7860651B2 (en) 2005-08-30 2010-12-28 Honeywell International Inc. Enhanced inertial system performance
JP4229141B2 (ja) 2006-06-19 2009-02-25 トヨタ自動車株式会社 車両状態量推定装置及びその装置を用いた車両操舵制御装置
JP5056220B2 (ja) * 2006-09-29 2012-10-24 日産自動車株式会社 走行制御装置
DE102008020410B4 (de) 2008-04-24 2016-02-11 Ford Global Technologies, Llc (N.D.Ges.D. Staates Delaware) Verfahren zum gezielten Abbremsen eines angetriebenen Rades einer Antriebsachse eines Kraftfahrzeuges
JP5136657B2 (ja) * 2009-01-22 2013-02-06 トヨタ自動車株式会社 カーブ半径推定装置
JP5291610B2 (ja) * 2009-12-21 2013-09-18 日本電信電話株式会社 方位角推定装置、方法及びプログラム
JP5821288B2 (ja) * 2011-05-31 2015-11-24 日産自動車株式会社 道路形状予測装置
KR101789073B1 (ko) 2011-08-24 2017-10-23 현대모비스 주식회사 차량의 곡률 반경 추정 방법 및 그 장치
WO2013037855A1 (fr) * 2011-09-12 2013-03-21 Continental Teves Ag & Co. Ohg Système capteur comportant une unité de modèle de véhicule
RU2499278C1 (ru) * 2012-07-19 2013-11-20 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования Владивостокский государственный университет экономики и сервиса (ВГУЭС) Способ сопровождения траектории движущегося судна
US9255989B2 (en) * 2012-07-24 2016-02-09 Toyota Motor Engineering & Manufacturing North America, Inc. Tracking on-road vehicles with sensors of different modalities
KR101839978B1 (ko) * 2013-03-18 2018-04-26 주식회사 만도 차량의 주행 상태를 판단하기 위한 장치 및 방법
JP6105509B2 (ja) * 2014-04-08 2017-03-29 株式会社日本自動車部品総合研究所 走路推定装置及び走路推定プログラム
US9463804B2 (en) * 2014-11-11 2016-10-11 Ford Global Tehnologies, LLC Vehicle cornering modes
JP6313198B2 (ja) * 2014-11-28 2018-04-18 株式会社デンソー 車両制御装置
KR102277479B1 (ko) * 2015-02-25 2021-07-14 현대모비스 주식회사 차량의 곡률 반경 추정장치 및 그 방법
DE102016221171B4 (de) * 2015-11-06 2022-10-06 Ford Global Technologies, Llc Verfahren und Vorrichtung zur Ermittlung von Fahrspurverlaufsdaten
RU2661889C1 (ru) * 2015-12-18 2018-07-20 Акционерное общество "Федеральный научно-производственный центр "Нижегородский научно-исследовательский институт радиотехники" Способ радиолокационного сопровождения объектов и рлс для его реализации
JP6428671B2 (ja) 2016-02-17 2018-11-28 株式会社デンソー 推定装置
CN106114511B (zh) * 2016-07-21 2018-03-06 辽宁工业大学 一种汽车巡航系统关键目标识别方法
JP6293213B2 (ja) 2016-08-01 2018-03-14 三菱電機株式会社 車線区画線検知補正装置、車線区画線検知補正方法、及び自動運転システム
JP6770393B2 (ja) * 2016-10-04 2020-10-14 株式会社豊田中央研究所 トラッキング装置及びプログラム
KR102375149B1 (ko) * 2017-10-18 2022-03-16 현대자동차주식회사 차량 곡률 반경 추정 장치 및 방법
CN110525442B (zh) * 2018-05-23 2021-10-26 长城汽车股份有限公司 坡度检测方法、系统及车辆
CN111047908B (zh) * 2018-10-12 2021-11-02 富士通株式会社 跨线车辆的检测装置、方法及视频监控设备
EP3680877A1 (fr) * 2019-01-08 2020-07-15 Visteon Global Technologies, Inc. Procédé pour déterminer l'emplacement d'un véhicule autonome
EP3925919B1 (fr) * 2019-02-14 2024-01-24 Tadano Ltd. Dispositif de commande de levage et grue mobile
CN113382946B (zh) * 2019-02-14 2023-11-03 株式会社多田野 吊离地面控制装置及起重机
EP3726184A1 (fr) * 2019-04-16 2020-10-21 PSA Automobiles SA Procédé et dispositif de détermination de la courbe d'une route
US11131776B2 (en) * 2019-08-19 2021-09-28 Gm Global Technology Operations, Llc Method and apparatus for Kalman filter parameter selection using map data
CN112441012B (zh) * 2019-09-05 2023-05-12 北京地平线机器人技术研发有限公司 车辆行驶轨迹预测方法和装置
CN111400931B (zh) * 2020-04-09 2022-09-27 北京理工大学 一种车辆横摆角速度的确定方法及系统
CN111737633B (zh) * 2020-06-23 2024-07-16 上海汽车集团股份有限公司 一种车辆前方道路曲率半径的计算方法和装置
CN114643983A (zh) 2020-12-17 2022-06-21 华为技术有限公司 控制方法和装置
EP4067191A1 (fr) 2021-03-29 2022-10-05 Siemens Industry Software NV Procédé et système permettant de déterminer les paramètres de performance de fonctionnement d'un dispositif
CN113391287B (zh) * 2021-06-10 2023-09-01 哈尔滨工业大学 基于时间序列的高频地波雷达海态数据融合方法
CN114001976B (zh) * 2021-10-19 2024-03-12 杭州飞步科技有限公司 控制误差的确定方法、装置、设备及存储介质
CN114578401B (zh) * 2022-04-29 2022-08-30 泽景(西安)汽车电子有限责任公司 一种车道航迹点的生成方法、装置、电子设备及存储介质
CN116946148B (zh) * 2023-09-20 2023-12-12 广汽埃安新能源汽车股份有限公司 一种车辆状态信息和路面信息估计方法及装置
CN117584982B (zh) * 2023-12-28 2024-04-23 上海保隆汽车科技股份有限公司 弯道半径估算方法、系统、介质、电子设备及车机、车辆
CN117852156B (zh) * 2024-03-08 2024-05-17 江苏狄诺尼信息技术有限责任公司 一种基于贝叶斯的道路平面线位智能重构的方法及系统

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US5467283A (en) * 1992-10-21 1995-11-14 Mazda Motor Corporation Obstacle sensing apparatus for vehicles
US6265991B1 (en) * 1999-12-10 2001-07-24 Mitsubshi Denki Kabushiki Kaisha Vehicular front monitoring apparatus
US20030154011A1 (en) * 2002-02-13 2003-08-14 Ford Global Technologies, Inc. Method for operating a pre-crash sensing system in a vehicle having a countermeasure system using stereo cameras

Also Published As

Publication number Publication date
JP5848137B2 (ja) 2016-01-27
JP5265787B2 (ja) 2013-08-14
EP1714108A2 (fr) 2006-10-25
JP2007516906A (ja) 2007-06-28
JP2012131495A (ja) 2012-07-12
JP4990629B2 (ja) 2012-08-01
JP2012131496A (ja) 2012-07-12
WO2005062984A2 (fr) 2005-07-14
WO2005062984A3 (fr) 2007-02-22

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