JP2018523191A - 車両が走行できる空間を割り出すための装置、それに基づいた走行、並びに、車両 - Google Patents
車両が走行できる空間を割り出すための装置、それに基づいた走行、並びに、車両 Download PDFInfo
- Publication number
- JP2018523191A JP2018523191A JP2017557288A JP2017557288A JP2018523191A JP 2018523191 A JP2018523191 A JP 2018523191A JP 2017557288 A JP2017557288 A JP 2017557288A JP 2017557288 A JP2017557288 A JP 2017557288A JP 2018523191 A JP2018523191 A JP 2018523191A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- travel
- target position
- space
- position candidate
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 15
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/24—Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Multimedia (AREA)
- Optics & Photonics (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (13)
- 車両(301)の車両周辺部にある少なくとも一つのオブジェクト(306)の空間座標を捕捉するための少なくとも一つの捕捉ユニット(101);並びに、
該捕捉ユニット(101)によって捕捉された少なくとも一つのオブジェクト(306)の空間座標と車両(301)の予め定められている寸法から、車両(301)が走行できる空間(404)を割り出すことができるように構成された同定ユニット(102)とを有する、
車両(301)が走行できる空間(404)を割り出すための装置。 - 該捕捉ユニット(101)が、光学的センサー類(303,304)を有している
ことを特徴とする請求項1に記載の装置。 - 該捕捉ユニット(101)が、サラウンド・ビュー・システムを包含している
ことを特徴とする請求項1乃至2のうち何れか一項に記載の装置。 - 捕捉ユニット(101)は、車両(301)の車両周辺部の少なくとも一部の三次元地図を作成できるように構成され、
該三次元地図が、少なくとも一つのオブジェクト(306)と走行できる空間(404)を包含している
ことを特徴とする請求項1から3のうち何れか一項に記載の装置。 - 同定ユニット(102)は、車両(301)が走行できる空間(404)を基に、ある少なくとも一つの目的ポジション候補(402a,402b)に、車両(301)が走行できる空間(404)内にある該車両(301)の走行軌道を介して到達可能な場合、該車両(301)の少なくとも一つの目的ポジション候補(402a,402b)を計算する
ことを特徴とする請求項1から4のうち何れか一項に記載の装置。 - 該少なくとも一つの目的ポジション候補(402a,402b)が、該車両(301)のドライバーにユーザーインターフェース(103)を介して表示される
ことを特徴とする請求項1から5のうち何れか一項に記載の装置。 - 一つの目的ポジション(402a)を、該車両(301)のドライバーが、ユーザーインターフェース(103)を介して、該少なくとも一つの目的ポジション候補(402a,402b)から選択できる
ことを特徴とする請求項6に記載の装置。 - 目的ポジション(402a)を、予め定められている条件に従って該少なくとも一つの目的ポジション候補(402a,402b)から選択するように該捕捉ユニット(101)が構成されている
ことを特徴とする請求項1から5のうち何れか一項に記載の装置。 - 該車両(301)を自動的に選択された目的ポジションへ導くことができるように構成された制御ユニット(104)を包含し、
該車両(301)の該走行軌道が、割り出された該車両(301)が走行できる空間内(404)にある
ことを特徴とする請求項7乃至8のうち何れか一項に記載の装置。 - 以下のステップ:
該車両(301)の車両周辺部にある少なくとも一つのオブジェクト(306)の空間座標を捕捉するステップ(S1);並びに、
少なくとも一つのオブジェクト(306)と該車両(301)の予め定められている寸法に基づいて該車両(301)が走行できる空間(404)を割り出すステップ(S2)
を包含している
ことを特徴とする車両(301)が走行できる領域を割り出すための方法。 - 該車両(301)が走行できる空間(404)内にある該車両(301)の走行軌道を介して到達可能な該車両(301)用の少なくとも一つの目的ポジション候補(402a,402b)を、ユーザーインターフェース(103)を介して該車両(301)のドライバーに、表示するステップ(S3)
を包含している
ことを特徴とする請求項10に記載の方法。 - ドライバーが、少なくとも一つの目的ポジション候補(402a,402b)から一つの目的ポジション(402a)を選択するステップ(S4)、並びに、
選択された目的ポジション(402a)へ車両(300)を自動手的に操縦するステップ(S5)
を包含している
ことを特徴とする請求項11に記載の方法。 - 請求項1から9のうち何れか一項に記載の該車両(301)が走行できる領域を割り出すための装置を備えた(301)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015208590.2 | 2015-05-08 | ||
DE102015208590.2A DE102015208590A1 (de) | 2015-05-08 | 2015-05-08 | Vorrichtung zur bestimmung eines für ein fahrzeug befahrbaren raums, entsprechendes verfahren und fahrzeug |
PCT/DE2016/200206 WO2016180414A1 (de) | 2015-05-08 | 2016-05-03 | Vorrichtung zur bestimmung eines für ein fahrzeug befahrbaren raums, entsprechendes verfahren und fahrzeug |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2018523191A true JP2018523191A (ja) | 2018-08-16 |
JP2018523191A5 JP2018523191A5 (ja) | 2020-06-25 |
JP6800166B2 JP6800166B2 (ja) | 2020-12-16 |
Family
ID=56292409
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017557288A Active JP6800166B2 (ja) | 2015-05-08 | 2016-05-03 | 車両が走行できる空間を割り出すための装置、それに基づいた走行、並びに、車両 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10539963B2 (ja) |
EP (1) | EP3295117A1 (ja) |
JP (1) | JP6800166B2 (ja) |
DE (2) | DE102015208590A1 (ja) |
WO (1) | WO2016180414A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111341144A (zh) * | 2018-12-19 | 2020-06-26 | 丰田自动车北美公司 | 停车促进系统和方法 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016122294A1 (de) * | 2016-11-21 | 2018-05-24 | Valeo Schalter Und Sensoren Gmbh | Planen einer Trajektorie zum autonomen Parken eines Kraftfahrzeugs in einer Parkplatzumgebung |
DE102017103154A1 (de) * | 2017-02-16 | 2018-08-16 | Connaught Electronics Ltd. | Verfahren zum Erzeugen einer digitalen Umgebungskarte einer Umgebung eines Kraftfahrzeugs unter Berücksichtigung eines Freiraums, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102018100596A1 (de) | 2018-01-12 | 2019-07-18 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Verhindern einer kritischen Situation für ein Kraftfahrzeug, wobei ein Abstand zwischen einer Kraftfahrzeugkontur und einer Objektkontur bestimmt wird, Fahrerassistenzsystem sowie Kraftfahrzeug |
KR102586445B1 (ko) * | 2018-08-08 | 2023-10-06 | 현대자동차주식회사 | 주차 보조를 위한 장애물 높이 측정 시스템 |
DE102019202182A1 (de) * | 2019-02-19 | 2020-08-20 | Zf Friedrichshafen Ag | Verfahren zum Steuern eines Nutzfahrzeugs |
DE102019114399A1 (de) * | 2019-05-29 | 2020-12-03 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Parken eines Fahrzeugs mit Überstand |
CN113513984B (zh) * | 2021-06-30 | 2024-01-09 | 广州小鹏自动驾驶科技有限公司 | 一种车位识别精度检测方法、装置、电子设备和存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007326428A (ja) * | 2006-06-07 | 2007-12-20 | Denso Corp | 駐車支援装置 |
JP2009205191A (ja) * | 2008-02-26 | 2009-09-10 | Hitachi Ltd | 駐車スペース認識装置 |
JP2013203348A (ja) * | 2012-03-29 | 2013-10-07 | Toyota Motor Corp | 駐車支援装置 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10312252A1 (de) * | 2003-03-19 | 2004-09-30 | Siemens Ag | Verfahren und Vorrichtung zur Vermeidung von Personen- und Sachschäden durch Kraftfahrzeugtüren |
JP3931857B2 (ja) * | 2003-07-23 | 2007-06-20 | トヨタ自動車株式会社 | 駐車支援装置及び後退支援装置 |
JP3883529B2 (ja) * | 2003-08-28 | 2007-02-21 | アイシン精機株式会社 | 車両後退支援装置 |
DE102005008874A1 (de) * | 2005-02-24 | 2006-09-07 | Daimlerchrysler Ag | Bedien- und Anzeigekonzept für die Bildgestützte Navigation bei Fahrzeugen |
DE102009032541B4 (de) * | 2009-07-10 | 2013-04-18 | Audi Ag | Verfahren zum Betreiben eines Fahrerassistenzsystems eines Fahrzeugs |
DE102009029436A1 (de) * | 2009-09-14 | 2011-03-24 | Robert Bosch Gmbh | Verfahren zum Einparken eines Fahrzeugs |
DE102010009889A1 (de) * | 2010-03-02 | 2011-09-08 | GM Global Technology Operations LLC , (n. d. Ges. d. Staates Delaware) | Vorrichtung zur Vermeidung einer Kollision einer schwenkbaren Fahrzeugklappe |
JP2012214178A (ja) * | 2011-04-01 | 2012-11-08 | Denso Corp | 駐車支援装置 |
EP2523163B1 (en) * | 2011-05-10 | 2019-10-16 | Harman Becker Automotive Systems GmbH | Method and program for calibrating a multicamera system |
DE102011102639A1 (de) * | 2011-05-27 | 2012-11-29 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Bereitstellen einer Rangierhilfe in einem Fahrzeug |
DE102011103743A1 (de) * | 2011-05-31 | 2012-03-29 | Daimler Ag | Verfahren und Vorrichtung zur Umgebungserfassung eines Fahrzeugs |
DE102011113916A1 (de) | 2011-09-21 | 2013-03-21 | Volkswagen Aktiengesellschaft | Verfahren zur Klassifikation von Parkszenarien für ein Einparksystem eines Kraftfahrzeugs |
DE102011086025A1 (de) * | 2011-11-09 | 2013-05-16 | Robert Bosch Gmbh | Verfahren zur Erkennung von Objekten im Umfeld eines Fahrzeugs |
DE102012022336A1 (de) * | 2012-11-14 | 2014-05-15 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Durchführen eines zumindest semi-autonomen Parkvorgangs eines Kraftfahrzeugs in eine Garage, Parkassistenzsystem und Kraftfahrzeug |
DE102013207823A1 (de) * | 2013-04-29 | 2014-10-30 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Bestimmung der Koordinaten eines Objekts |
DE102013209873B4 (de) * | 2013-05-28 | 2019-07-11 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Kollisionsvermeidung für Fahrzeuglasten und -aufbauten |
EP3808633A1 (en) * | 2013-12-04 | 2021-04-21 | Mobileye Vision Technologies Ltd. | Navigating a vehicle to avoid encroaching vehicle |
CN111380545A (zh) * | 2015-02-10 | 2020-07-07 | 御眼视觉技术有限公司 | 用于自主车辆导航的方法、服务器、自主车辆以及介质 |
-
2015
- 2015-05-08 DE DE102015208590.2A patent/DE102015208590A1/de not_active Withdrawn
-
2016
- 2016-05-03 WO PCT/DE2016/200206 patent/WO2016180414A1/de active Application Filing
- 2016-05-03 EP EP16733284.0A patent/EP3295117A1/de not_active Withdrawn
- 2016-05-03 DE DE112016001687.5T patent/DE112016001687A5/de active Pending
- 2016-05-03 JP JP2017557288A patent/JP6800166B2/ja active Active
-
2017
- 2017-10-30 US US15/797,688 patent/US10539963B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007326428A (ja) * | 2006-06-07 | 2007-12-20 | Denso Corp | 駐車支援装置 |
JP2009205191A (ja) * | 2008-02-26 | 2009-09-10 | Hitachi Ltd | 駐車スペース認識装置 |
JP2013203348A (ja) * | 2012-03-29 | 2013-10-07 | Toyota Motor Corp | 駐車支援装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111341144A (zh) * | 2018-12-19 | 2020-06-26 | 丰田自动车北美公司 | 停车促进系统和方法 |
JP2020109628A (ja) * | 2018-12-19 | 2020-07-16 | トヨタ モーター ノース アメリカ,インコーポレイティド | 駐車容易化システムおよび方法 |
JP7314040B2 (ja) | 2018-12-19 | 2023-07-25 | トヨタ モーター ノース アメリカ,インコーポレイティド | 駐車容易化システムおよび方法 |
Also Published As
Publication number | Publication date |
---|---|
DE102015208590A1 (de) | 2016-11-10 |
US20180046194A1 (en) | 2018-02-15 |
WO2016180414A1 (de) | 2016-11-17 |
US10539963B2 (en) | 2020-01-21 |
EP3295117A1 (de) | 2018-03-21 |
JP6800166B2 (ja) | 2020-12-16 |
DE112016001687A5 (de) | 2017-12-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6800166B2 (ja) | 車両が走行できる空間を割り出すための装置、それに基づいた走行、並びに、車両 | |
US9921585B2 (en) | Detailed map format for autonomous driving | |
US9815460B2 (en) | Method and device for safe parking of a vehicle | |
CN107918758B (zh) | 能够进行环境情景分析的车辆 | |
US9915951B2 (en) | Detection of overhanging objects | |
US10829154B2 (en) | Method and device for operating a vehicle | |
US9656691B2 (en) | Method for performing an at least semi-autonomous parking process of a motor vehicle in a garage, parking assistance system and motor vehicle | |
US9495603B2 (en) | Method for determining whether a vehicle can pass through an object by means of a 3-D camera | |
CN109804419B (zh) | 用于运行半自主或自主的机动车的方法和机动车 | |
CN108473131A (zh) | 停车辅助方法和装置 | |
CN108349533B (zh) | 用于确定用于停放机动车辆的停车区的方法、驾驶员辅助系统和机动车辆 | |
US9616886B2 (en) | Size adjustment of forward objects for autonomous vehicles | |
JP2018531175A6 (ja) | 自動車両を駐車するための駐車エリアを特定するための方法、運転者支援システム、及び自動車両 | |
JP2022502642A (ja) | 移動手段周辺の物体が移動手段の運転操作に及ぼす影響を評価する方法 | |
KR20180012128A (ko) | 차량의 3차원 위치 추정 장치 및 그 방법 | |
US10597080B2 (en) | Method and device for operating a motor vehicle traveling driverlessly within a parking facility | |
JP6776842B2 (ja) | 駐車支援方法及び駐車支援装置 | |
JP2019206318A (ja) | 監視装置 | |
JP6473936B2 (ja) | 自動運転車 | |
JP2019049811A (ja) | 車両制御装置、車両制御方法、およびプログラム | |
JP4997604B2 (ja) | 個人用移動車両運転支援装置 | |
JP6406894B2 (ja) | 環境地図生成制御装置、移動体、及び環境地図生成方法 | |
US20240109559A1 (en) | Method and Control Device for the Situation-Dependent Determination of Observation Areas for Motor Vehicles Operated in an at Least Partially Autonomous Manner | |
JP6827391B2 (ja) | 車両制御装置、車両制御方法、およびプログラム | |
JP2015056123A (ja) | 移動体の環境地図生成制御装置、移動体、及び移動体の環境地図生成方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A529 | Written submission of copy of amendment under article 34 pct |
Free format text: JAPANESE INTERMEDIATE CODE: A529 Effective date: 20171102 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190111 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200226 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20200228 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200507 |
|
A524 | Written submission of copy of amendment under article 19 pct |
Free format text: JAPANESE INTERMEDIATE CODE: A524 Effective date: 20200514 |
|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20200703 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20201028 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20201124 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6800166 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |