JP2018025898A - 表示内容認識装置、および車両制御装置 - Google Patents
表示内容認識装置、および車両制御装置 Download PDFInfo
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- JP2018025898A JP2018025898A JP2016156076A JP2016156076A JP2018025898A JP 2018025898 A JP2018025898 A JP 2018025898A JP 2016156076 A JP2016156076 A JP 2016156076A JP 2016156076 A JP2016156076 A JP 2016156076A JP 2018025898 A JP2018025898 A JP 2018025898A
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- 238000000605 extraction Methods 0.000 claims abstract description 76
- 239000000284 extract Substances 0.000 claims abstract description 23
- 238000013459 approach Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 3
- 238000013179 statistical model Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 206010013647 Drowning Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
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- 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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- 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
-
- 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
- B60W30/143—Speed 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
- B60W40/04—Traffic 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
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
-
- 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
- B60W2050/146—Display means
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Image Processing (AREA)
Abstract
Description
そのため、道路標識・路面標示が遠距離に存在していた場合や、車両や木等の立体物による遮蔽等が発生していた場合等、画像認識の認識結果が誤りを含む場合において正確に路面標示を認識できない。
102、202 走行環境取得部
103 表示内容判定部
203 車両制御内容決定部
Claims (14)
- 車両に搭載されるカメラによって取得されるカメラ画像に基づいて表示物の表示内容に関する候補を抽出する表示内容候補抽出部と、
前記車両の走行環境を取得する走行環境取得部と、
前記表示内容の候補が複数存在する場合、前記走行環境を用いて表示内容を判定する表示内容判定部と、を備える表示内容認識装置。 - 前記表示内容判定部は、前記表示内容候補抽出部において複数の候補が抽出された場合、前記複数の候補の中から前記走行環境に適合するものを選択する、請求項1に記載の表示内容認識装置。
- 前記表示内容候補抽出部が前記表示内容に関する候補を抽出した後に、前記走行環境取得部が走行環境を取得し、前記表示内容判定部が前記走行環境を用いて前記表示内容を判定する、請求項1に記載の表示内容認識装置。
- 前記走行環境取得部が予め前記走行環境を取得しておき、前記表示内容候補抽出部が前記表示内容に関する候補を抽出した場合、前記表示内容判定部が前記走行環境を用いて前記表示内容を判定する、請求項1に記載の表示内容認識装置。
- 前記表示内容判定部は、前記複数の候補が最高速度規制に該当する場合、前記走行環境として道路種別、車線数、中央分離帯有無、歩行者数、曲線半径、車線幅員、路肩幅員のうち少なくともいずれか1つを利用することを特徴とする請求項1に記載の表示内容認識装置。
- 前記表示内容判定部は、所定の優先度に基づいて前記表示内容を判定することを特徴とする請求項1に記載の表示内容認識装置。
- 前記所定の優先度は、最高速度規制に基づいて設定され、制限速度が低いものほど前記優先度が高く設定されることを特徴とする請求項6に記載の表示内容認識装置。
- 前記表示内容判定部は、前記表示内容候補抽出部において抽出される候補が1つの場合、抽出された候補を判定結果として出力することを特徴とする請求項1に記載の表示内容認識装置。
- 車両に搭載されるカメラによって取得されるカメラ画像に基づいて表示物の表示内容に関する候補を抽出する表示内容候補抽出部と、
前記車両の走行環境を取得する走行環境取得部と、
前記表示内容の候補が複数存在する場合、前記走行環境を用いて判定される表示内容に基づいて、前記車両の制御内容を決定する車両制御内容決定部と、を備える車両制御装置。 - 前記車両制御内容決定部は、前記複数の候補が最高速度規制に該当する場合、前記走行環境として道路種別、車線数、中央分離帯有無、歩行者数、曲線半径、車線幅員、路肩幅員のうち少なくともいずれか1つを利用することを特徴とする請求項9に記載の車両制御装置。
- 前記車両制御内容決定部は、所定の優先度に基づいて車両制御内容を決定することを特徴とする請求項9に記載の車両制御装置。
- 前記所定の優先度は、最高速度規制に基づいて設定され、制限速度が低いものほど前記優先度が高く設定されることを特徴とする請求項11に記載の車両制御装置。
- 前記車両制御内容決定部は、前記表示内容候補抽出部において候補が1つ抽出された場合、抽出された候補に基づき車両制御内容を決定することを特徴とする請求項9のいずれか一項に記載の車両制御装置。
- 前記車両制御内容決定部は、前記走行環境に応じ自車速に関する仮想的な目標値を設定し、前記目標値に自車速が近付くように車両制御内容を決定することを特徴とする請求項9のいずれか一項に記載の車両制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016156076A JP7214329B2 (ja) | 2016-08-09 | 2016-08-09 | 表示内容認識装置、および車両制御装置 |
PCT/JP2017/026236 WO2018030103A1 (ja) | 2016-08-09 | 2017-07-20 | 表示内容認識装置、および車両制御装置 |
EP17839176.9A EP3499480A4 (en) | 2016-08-09 | 2017-07-20 | DEVICE FOR DETECTING DISPLAYED CONTENT AND VEHICLE CONTROL DEVICE |
Applications Claiming Priority (1)
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JP2016156076A JP7214329B2 (ja) | 2016-08-09 | 2016-08-09 | 表示内容認識装置、および車両制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2018025898A true JP2018025898A (ja) | 2018-02-15 |
JP7214329B2 JP7214329B2 (ja) | 2023-01-30 |
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JP2016156076A Active JP7214329B2 (ja) | 2016-08-09 | 2016-08-09 | 表示内容認識装置、および車両制御装置 |
Country Status (3)
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EP (1) | EP3499480A4 (ja) |
JP (1) | JP7214329B2 (ja) |
WO (1) | WO2018030103A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021056575A (ja) * | 2019-09-27 | 2021-04-08 | スズキ株式会社 | 車両用運転支援システム |
JP7435638B2 (ja) | 2018-07-31 | 2024-02-21 | 日本電信電話株式会社 | 学習装置、方法、およびプログラム |
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JP2004171159A (ja) * | 2002-11-18 | 2004-06-17 | Nec Corp | 道路環境情報通知装置、車載報知装置、情報センタ内装置、及び道路環境情報通知プログラム |
JP2006264524A (ja) * | 2005-03-24 | 2006-10-05 | Aisin Aw Co Ltd | 車両周辺視認装置 |
JP2009110394A (ja) * | 2007-10-31 | 2009-05-21 | Equos Research Co Ltd | 道路標識表示装置 |
JP2012189511A (ja) * | 2011-03-11 | 2012-10-04 | Denso Corp | 地域識別装置、および地域識別プログラム |
JP2015170113A (ja) * | 2014-03-06 | 2015-09-28 | 株式会社デンソー | 表示物情報表示装置 |
WO2015152304A1 (ja) * | 2014-03-31 | 2015-10-08 | エイディシーテクノロジー株式会社 | 運転支援装置、及び運転支援システム |
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2016
- 2016-08-09 JP JP2016156076A patent/JP7214329B2/ja active Active
-
2017
- 2017-07-20 EP EP17839176.9A patent/EP3499480A4/en active Pending
- 2017-07-20 WO PCT/JP2017/026236 patent/WO2018030103A1/ja unknown
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JP2004171159A (ja) * | 2002-11-18 | 2004-06-17 | Nec Corp | 道路環境情報通知装置、車載報知装置、情報センタ内装置、及び道路環境情報通知プログラム |
JP2006264524A (ja) * | 2005-03-24 | 2006-10-05 | Aisin Aw Co Ltd | 車両周辺視認装置 |
JP2009110394A (ja) * | 2007-10-31 | 2009-05-21 | Equos Research Co Ltd | 道路標識表示装置 |
JP2012189511A (ja) * | 2011-03-11 | 2012-10-04 | Denso Corp | 地域識別装置、および地域識別プログラム |
JP2015170113A (ja) * | 2014-03-06 | 2015-09-28 | 株式会社デンソー | 表示物情報表示装置 |
WO2015152304A1 (ja) * | 2014-03-31 | 2015-10-08 | エイディシーテクノロジー株式会社 | 運転支援装置、及び運転支援システム |
JP2015199439A (ja) * | 2014-04-09 | 2015-11-12 | 日立オートモティブシステムズ株式会社 | 走行制御装置、車載用表示装置、及び走行制御システム |
JP2016130971A (ja) * | 2015-01-14 | 2016-07-21 | 日立オートモティブシステムズ株式会社 | 車載用制御装置、自車位置姿勢特定装置、車載用表示装置 |
JP2017062696A (ja) * | 2015-09-25 | 2017-03-30 | トヨタ自動車株式会社 | 運転支援装置 |
JP2017194948A (ja) * | 2016-04-15 | 2017-10-26 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカPanasonic Intellectual Property Corporation of America | 情報提示制御装置、自動運転車、及び自動運転車運転支援システム |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7435638B2 (ja) | 2018-07-31 | 2024-02-21 | 日本電信電話株式会社 | 学習装置、方法、およびプログラム |
JP2021056575A (ja) * | 2019-09-27 | 2021-04-08 | スズキ株式会社 | 車両用運転支援システム |
JP7327047B2 (ja) | 2019-09-27 | 2023-08-16 | スズキ株式会社 | 車両用運転支援システム |
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Publication number | Publication date |
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EP3499480A4 (en) | 2020-04-01 |
JP7214329B2 (ja) | 2023-01-30 |
EP3499480A1 (en) | 2019-06-19 |
WO2018030103A1 (ja) | 2018-02-15 |
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