JP2019008796A - 自律可能車両用衝突回避システム - Google Patents

自律可能車両用衝突回避システム Download PDF

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Publication number
JP2019008796A
JP2019008796A JP2018116988A JP2018116988A JP2019008796A JP 2019008796 A JP2019008796 A JP 2019008796A JP 2018116988 A JP2018116988 A JP 2018116988A JP 2018116988 A JP2018116988 A JP 2018116988A JP 2019008796 A JP2019008796 A JP 2019008796A
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Japan
Prior art keywords
vehicle
image frame
collision avoidance
autonomous vehicle
travelable space
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JP2018116988A
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English (en)
Japanese (ja)
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JP2019008796A5 (https=
Inventor
グレイ アンドリュー
Gray Andrew
グレイ アンドリュー
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Uber Technologies Inc
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Uber Technologies Inc
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Publication of JP2019008796A5 publication Critical patent/JP2019008796A5/ja
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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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/08—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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • 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
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    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
    • G06F18/217—Validation; Performance evaluation; Active pattern learning techniques
    • G06F18/2178—Validation; Performance evaluation; Active pattern learning techniques based on feedback of a supervisor
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    • G06F18/2415—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on parametric or probabilistic models, e.g. based on likelihood ratio or false acceptance rate versus a false rejection rate
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    • G—PHYSICS
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    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
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    • G06N3/045—Combinations of networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0088—Adaptive recalibration
    • 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
    • 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
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
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    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
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    • B60Y2300/14—Cruise control

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Evolutionary Computation (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Data Mining & Analysis (AREA)
  • Multimedia (AREA)
  • Health & Medical Sciences (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Medical Informatics (AREA)
  • Databases & Information Systems (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Biomedical Technology (AREA)
  • Human Computer Interaction (AREA)
  • Molecular Biology (AREA)
  • Computational Linguistics (AREA)
  • Biophysics (AREA)
  • Probability & Statistics with Applications (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Business, Economics & Management (AREA)
  • Game Theory and Decision Science (AREA)
  • Image Analysis (AREA)
JP2018116988A 2017-06-23 2018-06-20 自律可能車両用衝突回避システム Pending JP2019008796A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/631,990 US10007269B1 (en) 2017-06-23 2017-06-23 Collision-avoidance system for autonomous-capable vehicle
US15/631,990 2017-06-23

Publications (2)

Publication Number Publication Date
JP2019008796A true JP2019008796A (ja) 2019-01-17
JP2019008796A5 JP2019008796A5 (https=) 2019-07-11

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Family Applications (1)

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JP2018116988A Pending JP2019008796A (ja) 2017-06-23 2018-06-20 自律可能車両用衝突回避システム

Country Status (7)

Country Link
US (3) US10007269B1 (https=)
EP (2) EP3418841B1 (https=)
JP (1) JP2019008796A (https=)
KR (1) KR101963422B1 (https=)
CN (1) CN109117709B (https=)
CA (1) CA3008091C (https=)
IL (1) IL260106B (https=)

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020110227A1 (ja) * 2018-11-28 2020-06-04 三菱電機株式会社 衝突回避学習装置及び衝突回避学習方法
JP2020126642A (ja) * 2019-01-31 2020-08-20 株式会社ストラドビジョンＳｔｒａｄｖｉｓｉｏｎ，Ｉｎｃ． 自律走行車両のユーザに対してキャリブレーションされた車両特化型及び適応型ディープラーニングモデルを提供する方法及び装置｛ｍｅｔｈｏｄ ａｎｄ ｄｅｖｉｃｅ ｆｏｒ ｐｒｏｖｉｄｉｎｇ ｐｅｒｓｏｎａｌｉｚｅｄ ａｎｄ ｃａｌｉｂｒａｔｅｄ ａｄａｐｔｉｖｅ ｄｅｅｐ ｌｅａｒｎｉｎｇ ｍｏｄｅｌ ｆｏｒ ｔｈｅ ｕｓｅｒ ｏｆ ａｎ ａｕｔｏｎｏｍｏｕｓ ｖｅｈｉｃｌｅ｝
JP2020129241A (ja) * 2019-02-08 2020-08-27 株式会社ダイヘン 移動体、画像補正装置、及び学習器
JP2020142769A (ja) * 2019-03-08 2020-09-10 マツダ株式会社 自動車用演算システム
KR20210010388A (ko) * 2019-07-19 2021-01-27 유아이패스, 인크. 로봇 프로세스 자동화를 위한 컴퓨터 비전 모델의 리트레이닝
JP2021012043A (ja) * 2019-07-03 2021-02-04 株式会社日立製作所 機械学習用情報処理装置、機械学習用情報処理方法、および機械学習用情報処理プログラム
JP2021014257A (ja) * 2019-07-10 2021-02-12 トヨタ自動車株式会社 車両のエンドツーエンド走行のためのフィードバックシステム
JP2021018823A (ja) * 2019-07-23 2021-02-15 コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツングＣｏｎｔｉｎｅｎｔａｌ Ａｕｔｏｍｏｔｉｖｅ ＧｍｂＨ 機械学習に基づく運転支援システムの検出能力を改善する方法およびシステム
WO2021044486A1 (ja) * 2019-09-02 2021-03-11 三菱電機株式会社 自動運転制御装置および自動運転制御方法
WO2021076929A1 (en) * 2019-10-18 2021-04-22 Zenosol, Corp. Uni-body multimodal mobility chassis and autonomous vehicle system
JP2021091390A (ja) * 2019-10-25 2021-06-17 トヨタ リサーチ インスティテュート，インコーポレイティド 最も信頼できる入力を決定および使用することによる動的および可変学習
JP2021160531A (ja) * 2020-03-31 2021-10-11 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム
JPWO2021210134A1 (https=) * 2020-04-16 2021-10-21
JP2022003508A (ja) * 2020-06-30 2022-01-11 ベイジン バイドゥ ネットコム サイエンス テクノロジー カンパニー リミテッド 軌道計画モデルの訓練方法と装置、電子機器、コンピュータ記憶媒体及びコンピュータプログラム
JP2022512271A (ja) * 2019-11-20 2022-02-03 バイドゥ オンライン ネットワーク テクノロジー（ペキン） カンパニー リミテッド 音声パケット記録機能のガイド方法、装置、デバイス、プログラム及びコンピュータ記憶媒体
DE112020005642T5 (de) 2020-01-30 2022-09-01 Hitachi Astemo, Ltd. Informationsverarbeitungsvorrichtung
US11443526B2 (en) 2019-10-10 2022-09-13 Toyota Jidosha Kabshiki Kaisha Road obstacle detection device, road obstacle detection method, and recording medium storing a road obstacle detection program
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US10007269B1 (en) 2018-06-26
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