JP2016149132A - 乗り物のドライバ支援システムにおける予測のためのシステムおよび方法 - Google Patents
乗り物のドライバ支援システムにおける予測のためのシステムおよび方法 Download PDFInfo
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- 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
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- 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
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- G01S2013/9327—Sensor installation details
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Abstract
Description
たとえば、マップデータは公共のサービスまたは商業サービスから入手することができる。しかしこれらのマップデータはルーティング(経路制御)機能だけのために最適化されており、シーンの正確な幾何学的配置を再構成するに十分な情報は提供されない。このようなマップデータは通常粗い幾何学的な経路についての情報および車線の数、車線の方向、道路タイプについての情報を含んでいる。しかしルーティングタスクにとってはマップにおける道路の絶対位置が正しいかどうかは重要でない。
2 感知手段(センサ)
3 道路
4 第1モジュール(数学的モデル、乗り物パラメータ)
5 第2モジュール(センサパラメータ)
6 GPSセンサ(測位センサ)
7 マップデータ取得手段
8 マップ処理ユニット
9 仮想センサ描画モジュール
10 比較モジュール
Claims (10)
- 乗り物のドライバ支援システムにより実行される方法であって、
前記乗り物の近辺の少なくとも道路の幾何学的配置についての情報を含むマップのデータを取得するステップと、
前記乗り物に搭載され外乗り物の周辺を感知するための感知手段に前記マップにおける位置および方位を割り当てるステップと、
前記感知手段が前記割り当てられた位置および方位から前記マップのデータに含まれる情報によって規定されるシーンを感知したときの該感知手段の出力に相当する仮想出力を、該感知手段の数学的モデルに基づいて生成するステップと、
前記乗り物の周辺を感知し感知手段出力を生成するステップと、
前記感知手段出力と前記仮想出力とを比較するステップと、
予め定めた整合度が達成されるまで、前記数学的モデルのパラメータを修正し、前記仮想出力を生成して前記感知手段出力と比較するステップと、
前記感知手段出力から導出された情報と前記マップのデータを結合して前記乗り物の周辺についての結合情報を生成するステップと、
前記結合情報をさらなる処理のために出力するステップと、
を含む前記方法。 - 前記感知手段が画像センサを備え、前記仮想出力として3D描画画像が生成される、請求項1に記載の方法。
- 前記感知手段出力がレーザスキャナ、LIDARセンサまたはレーダセンサによって生成される、請求項1に記載の方法。
- 前記感知手段への前記マップにおける位置および方位を割り当てる前記ステップは、前記マップにおける前記乗り物の位置および方位を判定すること、および前記感知手段と前記乗り物との相対的位置および方位を表現するパラメータを含む、前記感知手段の前記数学的モデルを使うこと、により実行される、請求項1から3のいずれか1項に記載の方法。
- 前記マップにおける前記乗り物の位置は、前記予め定めた整合度が達成された修正済みのパラメータをもつ前記数学的モデルを考慮に入れて判定される、請求項1から4のいずれか1項に記載の方法。
- 次に掲げるステップ、すなわち、前記乗り物の周辺を感知して感知手段出力を生成するステップ、前記感知手段出力と前記仮想出力とを比較するステップ、予め定めた整合度が達成されるまで、前記数学的モデルのパラメータを修正し、前記仮想出力を生成して前記感知手段出力と比較するステップ、および前記感知手段出力から導出された情報と前記マップのデータを結合して前記乗り物の周辺についての結合情報を生成するステップ、が複数のセンサデバイスのそれぞれについて実行される、請求項1から5のいずれか1項に記載の方法。
- 前記マップにおける前記乗り物の位置が、前記センサデバイスのそれぞれについて予め定めた整合度が達成された修正済みのパラメータをもつ前記数学的モデルを考慮に入れて判定される、請求項6に記載の方法。
- インフラストラクチャ要素が感知手段出力から判定され、それぞれの情報が前記マップのデータに加えられる、請求項1から7のいずれか1項に記載の方法。
- 前記仮想出力と前記感知手段出力との間の予め定めた整合度が達成された後、感知手段出力のどの領域が前記マップのデータから推定される道路構造に対応するかを判定することにより、感知されたシーンにありうる遮蔽物の位置を抽出する、請求項1から8のいずれか1項に記載の方法。
- 請求項1から9のいいずれか1項に記載の方法を実施するよう構成された、感知手段、ドライバ支援システムおよびデータ処理ユニットを備えた乗り物。
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