EP3612424A4 - Automatische wahrnehmung von fahrsignalen - Google Patents

Automatische wahrnehmung von fahrsignalen Download PDF

Info

Publication number
EP3612424A4
EP3612424A4 EP18788068.7A EP18788068A EP3612424A4 EP 3612424 A4 EP3612424 A4 EP 3612424A4 EP 18788068 A EP18788068 A EP 18788068A EP 3612424 A4 EP3612424 A4 EP 3612424A4
Authority
EP
European Patent Office
Prior art keywords
travel signals
perceiving
automatically
automatically perceiving
travel
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
EP18788068.7A
Other languages
English (en)
French (fr)
Other versions
EP3612424A1 (de
Inventor
Baoxing Qin
Aravindkumar Vijayalingam
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.)
Motional AD LLC
Original Assignee
Nutonomy 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
Priority claimed from US15/490,682 external-priority patent/US10650256B2/en
Priority claimed from US15/490,616 external-priority patent/US10643084B2/en
Priority claimed from US15/490,599 external-priority patent/US20180299893A1/en
Priority claimed from US15/490,694 external-priority patent/US20180300566A1/en
Application filed by Nutonomy Inc filed Critical Nutonomy Inc
Publication of EP3612424A1 publication Critical patent/EP3612424A1/de
Publication of EP3612424A4 publication Critical patent/EP3612424A4/de
Pending legal-status Critical Current

Links

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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on 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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • 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
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • 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
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • 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
    • G06V20/58—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
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Evolutionary Computation (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Evolutionary Biology (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Navigation (AREA)
EP18788068.7A 2017-04-18 2018-04-18 Automatische wahrnehmung von fahrsignalen Pending EP3612424A4 (de)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US15/490,682 US10650256B2 (en) 2017-04-18 2017-04-18 Automatically perceiving travel signals
US15/490,616 US10643084B2 (en) 2017-04-18 2017-04-18 Automatically perceiving travel signals
US15/490,599 US20180299893A1 (en) 2017-04-18 2017-04-18 Automatically perceiving travel signals
US15/490,694 US20180300566A1 (en) 2017-04-18 2017-04-18 Automatically perceiving travel signals
PCT/US2018/028083 WO2018195150A1 (en) 2017-04-18 2018-04-18 Automatically perceiving travel signals

Publications (2)

Publication Number Publication Date
EP3612424A1 EP3612424A1 (de) 2020-02-26
EP3612424A4 true EP3612424A4 (de) 2020-09-16

Family

ID=63856852

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18788068.7A Pending EP3612424A4 (de) 2017-04-18 2018-04-18 Automatische wahrnehmung von fahrsignalen

Country Status (3)

Country Link
EP (1) EP3612424A4 (de)
CN (2) CN111094095B (de)
WO (1) WO2018195150A1 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110126817B (zh) * 2018-12-16 2023-01-06 魔门塔(苏州)科技有限公司 一种自适应任意点与固定点间泊车或召回的方法及系统
DE102019119084A1 (de) * 2019-07-15 2021-01-21 Valeo Schalter Und Sensoren Gmbh Bestimmen eines Signalstatus einer Lichtsignalanlage
KR20210071456A (ko) * 2019-12-06 2021-06-16 현대자동차주식회사 교차로 신호 예측 시스템 및 그 방법
CN111968391B (zh) * 2020-08-07 2021-08-17 武汉中海庭数据技术有限公司 一种基于贝叶斯分类的交通灯和道路关联方法
CN112026756B (zh) * 2020-08-31 2021-08-06 重庆长安汽车股份有限公司 基于跟踪目标的危险目标选择方法、系统及车辆
DE102020126675A1 (de) * 2020-10-12 2022-04-14 Bayerische Motoren Werke Aktiengesellschaft Fahrzeugführungssystem und Verfahren zum Betreiben einer Fahrfunktion im Anschluss an einem Anfahrvorgang
CN115223148B (zh) * 2022-09-20 2023-04-18 毫末智行科技有限公司 一种车辆的自动控制方法、装置、车辆、设备及存储介质
DE102023203279A1 (de) 2023-04-11 2024-10-17 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zur Unfallvermeidung an einer Straßenkreuzungsanlage

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130211682A1 (en) * 2012-02-13 2013-08-15 Toyota Motor Engin. & Manufact. N.A.(TEMA) System and method for traffic signal recognition
US20140277901A1 (en) * 2012-04-09 2014-09-18 Google Inc. Use of Uncertainty Regarding Observations of Traffic Intersections to Modify Behavior of a Vehicle

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EP1779295A4 (de) * 2004-07-26 2012-07-04 Automotive Systems Lab Schutzsystem für gefährdete strassenbenutzer
DE102008036681A1 (de) * 2008-01-11 2009-07-23 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zum Bestimmen einer Übereinstimmung einer Position mit einer Referenzposition
US8411966B2 (en) * 2009-03-10 2013-04-02 Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of Industry, Through The Communications Research Centre Canada Estimation of image relations from point correspondences between images
US9070305B1 (en) * 2010-01-22 2015-06-30 Google Inc. Traffic light detecting system and method
JP2011192177A (ja) * 2010-03-16 2011-09-29 Toyota Motor Corp 前方状況予測装置
CN102765365B (zh) * 2011-05-06 2014-07-30 香港生产力促进局 基于机器视觉的行人检测方法及行人防撞预警系统
US8793046B2 (en) * 2012-06-01 2014-07-29 Google Inc. Inferring state of traffic signal and other aspects of a vehicle's environment based on surrogate data
KR101499520B1 (ko) * 2013-05-02 2015-03-18 현대오트론 주식회사 사용자 경험 데이터의 학습을 통한 신호등의 신호 변경 예측 시스템 및 방법
CN103770733B (zh) * 2014-01-15 2017-01-11 中国人民解放军国防科学技术大学 一种驾驶员安全驾驶状态检测方法及装置
US9550498B2 (en) * 2014-05-13 2017-01-24 Ford Global Technologies, Llc Traffic light anticipation
WO2016020718A1 (en) * 2014-08-07 2016-02-11 Hitachi Automotive Systems, Ltd. Method and apparatus for determining the dynamic state of a vehicle
CN105976402A (zh) * 2016-05-26 2016-09-28 同济大学 一种单目视觉里程计的真实尺度获取方法
CN106251664A (zh) * 2016-09-19 2016-12-21 重庆邮电大学 一种基于dsrc的交通灯编码与状态识别系统及方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130211682A1 (en) * 2012-02-13 2013-08-15 Toyota Motor Engin. & Manufact. N.A.(TEMA) System and method for traffic signal recognition
US20140277901A1 (en) * 2012-04-09 2014-09-18 Google Inc. Use of Uncertainty Regarding Observations of Traffic Intersections to Modify Behavior of a Vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2018195150A1 *

Also Published As

Publication number Publication date
WO2018195150A1 (en) 2018-10-25
CN113665570A (zh) 2021-11-19
CN111094095B (zh) 2021-09-07
EP3612424A1 (de) 2020-02-26
CN111094095A (zh) 2020-05-01

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