JP2012131496A5 - - Google Patents
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- JP2012131496A5 JP2012131496A5 JP2012004376A JP2012004376A JP2012131496A5 JP 2012131496 A5 JP2012131496 A5 JP 2012131496A5 JP 2012004376 A JP2012004376 A JP 2012004376A JP 2012004376 A JP2012004376 A JP 2012004376A JP 2012131496 A5 JP2012131496 A5 JP 2012131496A5
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- JP
- Japan
- Prior art keywords
- curvature
- road
- parameter
- estimate
- response
- 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.)
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Claims (1)
ｂ．前記第１の組の少なくとも１つの第１の曲率パラメータ、前記第２の組の少なくとも１つの第２の曲率パラメータ、および前記第３の組の少なくとも１つの第３の曲率パラメータの内の、少なくとも２つを融合して、第４の組の少なくとも１つの第４の曲率パラメータを、前記道路の曲率の推定値として、生成するように適合されたプロセッサ、
を含む道路曲率推定システムであって、
前記第４の道路曲率推定サブシステムは：
ａ．前記道路の前記画像を生成するように適合された視覚センサー；および
ｂ．前記道路の画像に応答して前記第４の組の少なくとも１つの第４の前記推定を生成するように適合された、曲率推定器
を含む、前記道路曲率推定システム。 a. A first road adapted to estimate a first set of at least one first curvature parameter in response to a measure of a host vehicle's longitudinal velocity on the road and a measure of the host vehicle's yaw rate; In response to a measure of a second set of at least one second curvature parameter from a map database responsive to a measure of the position of the host vehicle, a curvature estimation subsystem, the second set of at least one second A second road curvature estimation subsystem adapted to estimate a curvature parameter of a third set of at least one third curvature parameter in response to radar measurements of a target vehicle traveling on the road was adapted to estimate, the third road curvature estimation subsystem, and, at least one fourth curvature parameters of the fourth set in response to the image of the road Adapted to the constant, the fourth road curvature estimation subsystem is selected from a plurality of road curvature estimation subsystem; and b. At least one of at least one first curvature parameter of the first set, at least one second curvature parameter of the second set, and at least one third curvature parameter of the third set. A processor adapted to merge the two to generate a fourth set of at least one fourth curvature parameter as an estimate of the curvature of the road;
A road curvature estimation system including,
The fourth road curvature estimation subsystem is:
a. A visual sensor adapted to generate the image of the road; and
b. A curvature estimator adapted to generate at least one fourth estimate of the fourth set in response to the image of the road
Including the road curvature estimation system.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US53234403P | 2003-12-24 | 2003-12-24 | |
| US60/532,344 | 2003-12-24 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2006547495A Division JP4990629B2 (en) | 2003-12-24 | 2004-12-24 | Road curvature estimation system |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2012131496A JP2012131496A (en) | 2012-07-12 |
| JP2012131496A5 true JP2012131496A5 (en) | 2013-04-04 |
| JP5848137B2 JP5848137B2 (en) | 2016-01-27 |
Family
ID=34738789
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2006547495A Expired - Fee Related JP4990629B2 (en) | 2003-12-24 | 2004-12-24 | Road curvature estimation system |
| JP2012004375A Expired - Fee Related JP5265787B2 (en) | 2003-12-24 | 2012-01-12 | Road curvature estimation system |
| JP2012004376A Expired - Fee Related JP5848137B2 (en) | 2003-12-24 | 2012-01-12 | Road curvature estimation system |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2006547495A Expired - Fee Related JP4990629B2 (en) | 2003-12-24 | 2004-12-24 | Road curvature estimation system |
| JP2012004375A Expired - Fee Related JP5265787B2 (en) | 2003-12-24 | 2012-01-12 | Road curvature estimation system |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1714108A4 (en) |
| JP (3) | JP4990629B2 (en) |
| WO (1) | WO2005062984A2 (en) |
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| JP6313198B2 (en) * | 2014-11-28 | 2018-04-18 | 株式会社デンソー | Vehicle control device |
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| JP6428671B2 (en) | 2016-02-17 | 2018-11-28 | 株式会社デンソー | Estimator |
| CN106114511B (en) * | 2016-07-21 | 2018-03-06 | 辽宁工业大学 | A kind of automobile cruise system core target identification method |
| JP6293213B2 (en) | 2016-08-01 | 2018-03-14 | 三菱電機株式会社 | Lane marking detection correction device, lane marking detection correction method, and automatic driving system |
| JP6770393B2 (en) * | 2016-10-04 | 2020-10-14 | 株式会社豊田中央研究所 | Tracking device and program |
| KR102375149B1 (en) * | 2017-10-18 | 2022-03-16 | 현대자동차주식회사 | Apparatus and method for estimating redius of curvature of vehicle |
| CN110525442B (en) * | 2018-05-23 | 2021-10-26 | 长城汽车股份有限公司 | Gradient detection method and system and vehicle |
| CN111047908B (en) * | 2018-10-12 | 2021-11-02 | 富士通株式会社 | Detection device and method for cross-line vehicle and video monitoring equipment |
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| WO2020166690A1 (en) * | 2019-02-14 | 2020-08-20 | 株式会社タダノ | Lifting control device and mobile crane |
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-
2004
- 2004-12-24 EP EP04815709A patent/EP1714108A4/en not_active Withdrawn
- 2004-12-24 WO PCT/US2004/043695 patent/WO2005062984A2/en not_active Application Discontinuation
- 2004-12-24 JP JP2006547495A patent/JP4990629B2/en not_active Expired - Fee Related
-
2012
- 2012-01-12 JP JP2012004375A patent/JP5265787B2/en not_active Expired - Fee Related
- 2012-01-12 JP JP2012004376A patent/JP5848137B2/en not_active Expired - Fee Related
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