JP2018077828A - 画像処理アルゴリズム - Google Patents
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- 238000012545 processing Methods 0.000 title abstract description 27
- 238000004422 calculation algorithm Methods 0.000 title abstract description 23
- 238000004364 calculation method Methods 0.000 claims abstract description 41
- 238000000034 method Methods 0.000 claims description 39
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- G06F9/5038—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals considering the execution order of a plurality of tasks, e.g. taking priority or time dependency constraints into consideration
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Abstract
【解決手段】車両における車両システムのプロセッサ又は計算ユニットのプロセッサ時間/計算時間を割り振る運転者支援システムは、少なくとも2つの機能を有している。前記機能には、車両の車両状態を表す信号に依存してプロセッサ時間/計算時間が割り振られる。プロセッサまたは計算ユニットのプロセッサ時間/計算時間をインテリジェントに割り振ることによって、必要なリソースを異なった機能にインテリジェントに配分する。
【選択図】なし
Description
tk+1 c=tk c+Kp(ek+KD[ek LP−ek−1 LP])
であり、例示的制御偏差104
ek={tk r−tk l, jk=1
(1−jk)/jk tk l, jk<1
を有し、これを低域通過フィルタリングした値は
ek LP=KLPek+(1−KLP)ek−1 LP、但し0<KLP<1であり、
この場合、tk c∈Rは制限されない調整量であり、k(・)∈Rはコントローラおよび低域通過フィルタのパラメータを表す。制御偏差104およびその低域通過フィルタリングした値の算出は、例えば、デルタジェネレータ103で行うことができる。
tk l={tk c, tSK cl≧tk c
tSK cl, tSK cl<tk c
にしたがって行われる。この場合、tSK cl≧tSK loは、すでに割り振られたすべての実行時間リミットを差し引いても対応するソフトウェアコンポーネントにまだ利用可能なtclの分量を表す。この場合、tSK loは、同様に静的な、かつ保証された最小値に相当する。この事例では、優先度の付与は、車両の現在の固有速度vk egoに依存し、とりわけ車両状態を表す信号を受け取る別個のユニットで決定される。この実施例において、優先度107 70は、次のように高から低になる:
pk={[PDET,MOD,RSR], vk ego<vlo ego
[MOD,PDET,RSR], vk ego>vhi ego
ここでは、歩行者認識111および車両認識112のためのソフトウェアコンポーネントが、待ち時間の理由(Latenzgruenden)から、交通標識認識113のためのソフトウェアコンポーネントよりも基本的に高い待ち時間要求を満たさなければならないという仮定にもとづいている。さらに、低い速度範囲において歩行者認識111のためのソフトウェアコンポーネントのほうが、車両認識112のためのソフトウェアコンポーネントよりも重要であると格付けされると仮定される。
102 出力
103 デルタジェネレータ
104 制御偏差
107 調整量ユニット
111、112、113 機能
177 優先度
201、202、203、204、301、302、303、304、305 ステップ
SK ソフトウェアコンポーネント
MOD 車両認識
PDET 歩行者認識
RSR 交通標識認識
Claims (10)
- 車両の車両システム、特に運転者支援システムのプロセッサまたは計算ユニットのプロセッサ時間/計算時間を割り振る方法であって、前記車両の車両状態を表す信号に依存して、少なくとも2つの機能(111、112、113)、特に前記運転者支援システムの2つの機能にプロセッサ時間/計算時間が割り振られる、方法。
- 関連する機能のためのプロセッサ時間/計算時間(101)を要求する制御ループが各機能に割り当てられていることを特徴とする、請求項1に記載の方法。
- 各機能に優先度(177)が割り当てられていることと、前記制御ループは、前記関連する機能のためのそれぞれのプロセッサ時間/計算時間を前記機能の優先度(177)の順に要求することとを特徴とする、請求項2に記載の方法。
- 前記機能には、前記車両状態を表す信号に依存して、前記関連する優先度(177)が割り振られることを特徴とする、請求項3に記載の方法。
- 前記機能に割り振られるプロセッサ時間/計算時間を、前記機能(111、112、113)に課されたタスクと前記割り振られたプロセッサ時間/計算時間で前記機能(111、112、113)により処理されたタスクとの関係に依存して適合させることを特徴とする、前記請求項のいずれか1項に記載の方法。
- 前記機能(111、112、113)に割り振られるプロセッサ時間/計算時間を、前記機能(111、112、113)に割り振られたプロセッサ時間/計算時間と前記機能(111、112、113)により処理のために実際に必要とされたプロセッサ時間/計算時間との差および/または関係に依存して、前記機能(111、112、113)に課されたタスクに適合させることを特徴とする、前記請求項のいずれか1項に記載の方法。
- 少なくとも1つの機能(111、112、113)は、オブジェクト認識するように、特に、車両または歩行者または交通標識を認識するように設計されていることを特徴とする、前記請求項のいずれか1項に記載の方法。
- 前記車両状態は、速度、操舵角、加速度、あるいは操作要素、特にアクセルペダルまたはブレーキペダルの調整であることを特徴とする、前記請求項のいずれか1項に記載の方法。
- 前記プロセッサ時間/計算時間の割り振りは、周囲パラメータに依存して、特に明るさに依存して行われることを特徴とする、前記請求項のいずれか1項に記載の方法。
- 計算ユニット、特に電気機械のためのコントローラであって、対応する集積回路によって、および/または記憶装置に記憶されたコンピュータプログラムによって、前記請求項のいずれか1項に記載の方法を実施するように設定されている、計算ユニット。
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DE102016217636.6A DE102016217636A1 (de) | 2016-09-15 | 2016-09-15 | Bildverarbeitungsalgorithmus |
DE102016217636.6 | 2016-09-15 |
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US (1) | US10430680B2 (ja) |
JP (1) | JP2018077828A (ja) |
CN (1) | CN107832137A (ja) |
DE (1) | DE102016217636A1 (ja) |
GB (1) | GB2556655A (ja) |
Cited By (1)
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WO2020031611A1 (ja) * | 2018-08-06 | 2020-02-13 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
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CN109017802B (zh) * | 2018-06-05 | 2020-12-25 | 长沙智能驾驶研究院有限公司 | 智能驾驶环境感知方法、装置、计算机设备和存储介质 |
DE102018220526B4 (de) * | 2018-11-29 | 2022-01-05 | Robert Bosch Gmbh | System und Verfahren zur Verarbeitung von Umfeldsensordaten |
CN110191536B (zh) | 2019-05-24 | 2021-11-12 | 亿信科技发展有限公司 | 驱动控制电路、驱动控制芯片、集成封装器件、显示系统和稀疏驱动的方法 |
US11037000B2 (en) | 2019-09-27 | 2021-06-15 | Gm Cruise Holdings Llc | Intent-based dynamic change of resolution and region of interest of vehicle perception system |
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Also Published As
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DE102016217636A1 (de) | 2018-03-15 |
CN107832137A (zh) | 2018-03-23 |
GB2556655A (en) | 2018-06-06 |
US20180075311A1 (en) | 2018-03-15 |
US10430680B2 (en) | 2019-10-01 |
GB201714811D0 (en) | 2017-11-01 |
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