EP3612424A4 - Automatically perceiving travel signals - Google Patents

Automatically perceiving travel signals 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
German (de)
French (fr)
Other versions
EP3612424A1 (en
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/en
Publication of EP3612424A4 publication Critical patent/EP3612424A4/en
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 Automatically perceiving travel signals Pending EP3612424A4 (en)

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 (en) 2020-02-26
EP3612424A4 true EP3612424A4 (en) 2020-09-16

Family

ID=63856852

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18788068.7A Pending EP3612424A4 (en) 2017-04-18 2018-04-18 Automatically perceiving travel signals

Country Status (3)

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

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110126817B (en) * 2018-12-16 2023-01-06 魔门塔(苏州)科技有限公司 Method and system for self-adapting to parking or recalling between any point and fixed point
DE102019119084A1 (en) * 2019-07-15 2021-01-21 Valeo Schalter Und Sensoren Gmbh Determining a signal status of a traffic light system
KR20210071456A (en) * 2019-12-06 2021-06-16 현대자동차주식회사 Intersection traffic signal prediction system and method thereof
CN111968391B (en) * 2020-08-07 2021-08-17 武汉中海庭数据技术有限公司 Traffic light and road association method based on Bayesian classification
CN112026756B (en) * 2020-08-31 2021-08-06 重庆长安汽车股份有限公司 Dangerous target selection method and system based on tracking target and vehicle
DE102020126675A1 (en) * 2020-10-12 2022-04-14 Bayerische Motoren Werke Aktiengesellschaft Vehicle guidance system and method for operating a driving function following a start-up process
CN115223148B (en) * 2022-09-20 2023-04-18 毫末智行科技有限公司 Automatic control method and device for vehicle, equipment and storage medium
DE102023203279A1 (en) 2023-04-11 2024-10-17 Robert Bosch Gesellschaft mit beschränkter Haftung Method and device for accident prevention at a road crossing

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

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1779295A4 (en) * 2004-07-26 2012-07-04 Automotive Systems Lab Vulnerable road user protection system
DE102008036681A1 (en) * 2008-01-11 2009-07-23 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Apparatus and method for determining a match of a position with a reference position
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 (en) * 2010-03-16 2011-09-29 Toyota Motor Corp Forward situation prediction device
CN102765365B (en) * 2011-05-06 2014-07-30 香港生产力促进局 Pedestrian detection method based on machine vision and pedestrian anti-collision warning system based on machine vision
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 (en) * 2013-05-02 2015-03-18 현대오트론 주식회사 Signal change prediction system and method of traffic light using learning experience data of a driver
CN103770733B (en) * 2014-01-15 2017-01-11 中国人民解放军国防科学技术大学 Method and device for detecting safety driving states of driver
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 (en) * 2016-05-26 2016-09-28 同济大学 Real scale obtaining method of monocular vision odometer
CN106251664A (en) * 2016-09-19 2016-12-21 重庆邮电大学 A kind of traffic lights based on DSRC coding and state recognition system and method

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 (en) 2021-11-19
CN111094095B (en) 2021-09-07
EP3612424A1 (en) 2020-02-26
CN111094095A (en) 2020-05-01

Similar Documents

Publication Publication Date Title
EP3655836A4 (en) Autonomous vehicle repositioning
EP3565349A4 (en) Reference signal transmission technology
EP3615539A4 (en) 2-amino-quinoline derivatives
EP3531899A4 (en) Techniques for neuromodulation
EP3612424A4 (en) Automatically perceiving travel signals
EP3458342A4 (en) Track system
EP3646649A4 (en) Demodulation reference signal configuration
EP3661513A4 (en) Organophosphate derivatives
EP3270790A4 (en) Synthetic aperture ultrasound system
EP3471313A4 (en) Reference signal having variable structure
EP3529914A4 (en) Uplink reference signal
EP3707858A4 (en) Blockchain system
EP3695118A4 (en) Micro-propulsion system
EP3695880B8 (en) System for neuromodulation
EP3646547A4 (en) Demodulation reference signal configuration
EP3711407A4 (en) Reference signal configuration
EP3604758A4 (en) Tractor
EP3707684A4 (en) Limited scope blockchain system
EP3604752A4 (en) Tractor
EP3581920A4 (en) Cleaning-performance evaluation system
EP3539315A4 (en) Reference signal purpose indication
EP3861820A4 (en) Segment based reference signal
EP3418079A4 (en) Receiver
EP3583815A4 (en) Pilot signals
EP3498000A4 (en) Two-level mobility reference signal configuration

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20191118

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20200813

RIC1 Information provided on ipc code assigned before grant

Ipc: G06K 9/62 20060101ALI20200807BHEP

Ipc: G06K 9/46 20060101ALI20200807BHEP

Ipc: G06K 9/00 20060101ALI20200807BHEP

Ipc: G08G 1/16 20060101ALI20200807BHEP

Ipc: B60W 30/08 20120101AFI20200807BHEP

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: MOTIONAL AD LLC

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20221102