GB2571589B - Terrain inference method and apparatus - Google Patents

Terrain inference method and apparatus Download PDF

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Publication number
GB2571589B
GB2571589B GB1806629.0A GB201806629A GB2571589B GB 2571589 B GB2571589 B GB 2571589B GB 201806629 A GB201806629 A GB 201806629A GB 2571589 B GB2571589 B GB 2571589B
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United Kingdom
Prior art keywords
terrain
inference method
inference
terrain inference
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Application number
GB1806629.0A
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GB201806629D0 (en
GB2571589A (en
Inventor
Shamshiri Navid
Boyd Robin
Raveendran Arun
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Jaguar Land Rover Ltd
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Jaguar Land Rover Ltd
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Publication date
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Publication of GB201806629D0 publication Critical patent/GB201806629D0/en
Priority to US16/977,065 priority Critical patent/US20210012119A1/en
Priority to PCT/EP2019/050389 priority patent/WO2019166142A1/en
Priority to DE112019001080.8T priority patent/DE112019001080T5/en
Publication of GB2571589A publication Critical patent/GB2571589A/en
Application granted granted Critical
Publication of GB2571589B publication Critical patent/GB2571589B/en
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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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension 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
    • 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
    • B60W30/14—Adaptive cruise control
    • 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
    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/25—Road altitude
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. potholes
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
GB1806629.0A 2018-03-01 2018-04-24 Terrain inference method and apparatus Active GB2571589B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US16/977,065 US20210012119A1 (en) 2018-03-01 2019-01-09 Methods and apparatus for acquisition and tracking, object classification and terrain inference
PCT/EP2019/050389 WO2019166142A1 (en) 2018-03-01 2019-01-09 Methods and apparatus for acquisition and tracking, object classification and terrain inference
DE112019001080.8T DE112019001080T5 (en) 2018-03-01 2019-01-09 METHOD AND DEVICE FOR DETECTION AND TRACKING, OBJECT CLASSIFICATION AND TERRAIN INFERENCE

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IN201811007660 2018-03-01

Publications (3)

Publication Number Publication Date
GB201806629D0 GB201806629D0 (en) 2018-06-06
GB2571589A GB2571589A (en) 2019-09-04
GB2571589B true GB2571589B (en) 2020-09-16

Family

ID=62236139

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1806629.0A Active GB2571589B (en) 2018-03-01 2018-04-24 Terrain inference method and apparatus

Country Status (1)

Country Link
GB (1) GB2571589B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11958485B2 (en) * 2018-03-01 2024-04-16 Jaguar Land Rover Limited Vehicle control method and apparatus
WO2020087345A1 (en) * 2018-10-31 2020-05-07 深圳市大疆创新科技有限公司 Method for controlling ground-based telerobot and ground-based telerobot
KR20210106807A (en) * 2020-02-21 2021-08-31 현대자동차주식회사 Apparatus for classifying road surface and terrain mode control system of vehicle using the same
US20230089897A1 (en) * 2021-09-23 2023-03-23 Motional Ad Llc Spatially and temporally consistent ground modelling with information fusion
CN114643824B (en) * 2022-04-15 2023-10-13 安徽博泰微电子有限公司 Electronic control suspension system

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005178530A (en) * 2003-12-18 2005-07-07 Nissan Motor Co Ltd Road surface shape detecting device and method
DE102005051141A1 (en) * 2005-10-26 2007-05-03 GM Global Technology Operations, Inc., Detroit Control method for electronically adjustable damping system in motor vehicle, involves detection of vertically directed motion of preceding vehicle by means of motion detection sensor and determination and transmission of control variable
DE102011007608A1 (en) * 2011-04-18 2012-10-18 Robert Bosch Gmbh Method for active chassis controlling of vehicle i.e. car, involves determining gear control information for regulating wheel suspension system, and performing active controlling of suspension system based on regulated control information
DE102012022367A1 (en) * 2012-11-15 2014-05-15 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Method for regulating and controlling damping- and stabilizing device of motor vehicle, involves determining vertical movement of section of preceding vehicle and determiningfuture surrounding situation of vehicle based on vertical movement
US20170197630A1 (en) * 2016-01-11 2017-07-13 Trw Automotive Gmbh Control system and method for determining an irregularity of a road surface
US20180057003A1 (en) * 2016-09-01 2018-03-01 Samsung Electronics Co., Ltd. Autonomous driving method and apparatus
EP3312029A1 (en) * 2016-10-13 2018-04-25 MAN Truck & Bus AG Method for operating a vehicle and vehicle
WO2018141340A1 (en) * 2017-02-06 2018-08-09 Continental Automotive Gmbh Detection of road unevenness based on a situational analysis
RO132761A2 (en) * 2017-02-06 2018-08-30 Continental Automotive Gmbh System for identification of road bumps based on a case analysis

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005178530A (en) * 2003-12-18 2005-07-07 Nissan Motor Co Ltd Road surface shape detecting device and method
DE102005051141A1 (en) * 2005-10-26 2007-05-03 GM Global Technology Operations, Inc., Detroit Control method for electronically adjustable damping system in motor vehicle, involves detection of vertically directed motion of preceding vehicle by means of motion detection sensor and determination and transmission of control variable
DE102011007608A1 (en) * 2011-04-18 2012-10-18 Robert Bosch Gmbh Method for active chassis controlling of vehicle i.e. car, involves determining gear control information for regulating wheel suspension system, and performing active controlling of suspension system based on regulated control information
DE102012022367A1 (en) * 2012-11-15 2014-05-15 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Method for regulating and controlling damping- and stabilizing device of motor vehicle, involves determining vertical movement of section of preceding vehicle and determiningfuture surrounding situation of vehicle based on vertical movement
US20170197630A1 (en) * 2016-01-11 2017-07-13 Trw Automotive Gmbh Control system and method for determining an irregularity of a road surface
US20180057003A1 (en) * 2016-09-01 2018-03-01 Samsung Electronics Co., Ltd. Autonomous driving method and apparatus
EP3312029A1 (en) * 2016-10-13 2018-04-25 MAN Truck & Bus AG Method for operating a vehicle and vehicle
WO2018141340A1 (en) * 2017-02-06 2018-08-09 Continental Automotive Gmbh Detection of road unevenness based on a situational analysis
RO132761A2 (en) * 2017-02-06 2018-08-30 Continental Automotive Gmbh System for identification of road bumps based on a case analysis

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GB201806629D0 (en) 2018-06-06
GB2571589A (en) 2019-09-04

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