GB0910730D0 - Terrain sensing - Google Patents

Terrain sensing

Info

Publication number
GB0910730D0
GB0910730D0 GBGB0910730.1A GB0910730A GB0910730D0 GB 0910730 D0 GB0910730 D0 GB 0910730D0 GB 0910730 A GB0910730 A GB 0910730A GB 0910730 D0 GB0910730 D0 GB 0910730D0
Authority
GB
United Kingdom
Prior art keywords
vehicle
sensor
gradient
spline
terrain
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Withdrawn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
GBGB0910730.1A
Other versions
GB2471276A (en
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.)
BAE Systems PLC
Original Assignee
BAE Systems PLC
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 BAE Systems PLC filed Critical BAE Systems PLC
Priority to GB0910730A priority Critical patent/GB2471276A/en
Publication of GB0910730D0 publication Critical patent/GB0910730D0/en
Publication of GB2471276A publication Critical patent/GB2471276A/en
Withdrawn legal-status Critical Current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
    • 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
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • 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
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • 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
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Feedback Control In General (AREA)
  • Traffic Control Systems (AREA)

Abstract

A method and apparatus for terrain sensing is disclosed that obtains data from at least one sensor onboard a vehicle. The sensor data is used to generate data representing a surface defined by a set of control points. Gradient information is then generated by computing a gradient of the surface for at least one query point, and the gradient information is converted into a local frame coordinate system for the vehicle. A Kalman filter process may be used to generate a B-spline representation of the surface, wherein the B-spline may be a NURBS (Non Uniform Rational Basis Spline). The at least one sensor may comprise a LIDAR, RADAR, or an image based sensor. The vehicle may by an autonomous vehicle, and the terrain sensing means may assist with guidance of the vehicle, for example, to help avoid areas of terrain that have a gradient where there is a rollover risk.
GB0910730A 2009-06-22 2009-06-22 Terrain sensing apparatus for an autonomous vehicle Withdrawn GB2471276A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB0910730A GB2471276A (en) 2009-06-22 2009-06-22 Terrain sensing apparatus for an autonomous vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB0910730A GB2471276A (en) 2009-06-22 2009-06-22 Terrain sensing apparatus for an autonomous vehicle

Publications (2)

Publication Number Publication Date
GB0910730D0 true GB0910730D0 (en) 2009-08-05
GB2471276A GB2471276A (en) 2010-12-29

Family

ID=40972555

Family Applications (1)

Application Number Title Priority Date Filing Date
GB0910730A Withdrawn GB2471276A (en) 2009-06-22 2009-06-22 Terrain sensing apparatus for an autonomous vehicle

Country Status (1)

Country Link
GB (1) GB2471276A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9440652B1 (en) * 2013-08-01 2016-09-13 Google Inc. Filtering noisy/high-intensity regions in laser-based lane marker detection
CN110161513A (en) * 2018-09-28 2019-08-23 腾讯科技（北京）有限公司 Estimate method, apparatus, storage medium and the computer equipment of road grade
CN112946625A (en) * 2021-02-04 2021-06-11 江南大学 B-spline-shape-driven multi-extension target track tracking and classifying method
CN117433491A (en) * 2023-12-20 2024-01-23 青岛亿联建设集团股份有限公司 Foundation pit engineering safety monitoring method based on unmanned aerial vehicle image

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9041589B2 (en) 2012-04-04 2015-05-26 Caterpillar Inc. Systems and methods for determining a radar device coverage region
GB2549106B (en) * 2016-04-05 2019-11-20 Jaguar Land Rover Ltd Improvements in vehicle speed control
GB2549105B (en) 2016-04-05 2019-12-25 Jaguar Land Rover Ltd Improvements in vehicle speed control
DE102016110461A1 (en) * 2016-06-07 2017-12-07 Connaught Electronics Ltd. Method for detecting an inclination in a roadway for a motor vehicle, driver assistance system and motor vehicle
CN107560599B (en) * 2017-09-04 2020-05-12 清华大学 Road gradient data processing method based on feature point sampling and curve fitting
EP3734390B1 (en) * 2019-05-03 2022-03-23 Ningbo Geely Automobile Research & Development Co. Ltd. Automatic onboarding for service ramp
GB202311795D0 (en) 2019-12-19 2023-09-13 Motional Ad Llc Foreground extraction using surface fitting
US11792644B2 (en) 2021-06-21 2023-10-17 Motional Ad Llc Session key generation for autonomous vehicle operation

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09210682A (en) * 1996-02-06 1997-08-12 Ishikawajima Harima Heavy Ind Co Ltd Device for detecting inclination of road surface by laser
JP3995846B2 (en) * 1999-09-24 2007-10-24 本田技研工業株式会社 Object recognition device
JP2003065740A (en) * 2001-08-27 2003-03-05 Nissan Motor Co Ltd Device for determining slope of forward road
WO2006123438A1 (en) * 2005-05-20 2006-11-23 The Circle For The Promotion Of Science And Engineering Method of detecting planar road region and obstruction using stereoscopic image
JP4796676B2 (en) * 2006-05-26 2011-10-19 アルパイン株式会社 Vehicle upper viewpoint image display device
JP2008033781A (en) * 2006-07-31 2008-02-14 Toyota Motor Corp Road surface gradient detection device and image display device
JP2009041972A (en) * 2007-08-07 2009-02-26 Toshiba Corp Image processing device and method therefor

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9440652B1 (en) * 2013-08-01 2016-09-13 Google Inc. Filtering noisy/high-intensity regions in laser-based lane marker detection
CN110161513A (en) * 2018-09-28 2019-08-23 腾讯科技（北京）有限公司 Estimate method, apparatus, storage medium and the computer equipment of road grade
CN110161513B (en) * 2018-09-28 2023-11-14 腾讯科技（北京）有限公司 Method, apparatus, storage medium and computer device for estimating road gradient
CN112946625A (en) * 2021-02-04 2021-06-11 江南大学 B-spline-shape-driven multi-extension target track tracking and classifying method
CN117433491A (en) * 2023-12-20 2024-01-23 青岛亿联建设集团股份有限公司 Foundation pit engineering safety monitoring method based on unmanned aerial vehicle image
CN117433491B (en) * 2023-12-20 2024-03-26 青岛亿联建设集团股份有限公司 Foundation pit engineering safety monitoring method based on unmanned aerial vehicle image

Also Published As

Publication number Publication date
GB2471276A (en) 2010-12-29

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Legal Events

Date Code Title Description
WAP Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1)