JP2020034472A - 自律的ナビゲーションのための地図システム、方法および記憶媒体 - Google Patents

自律的ナビゲーションのための地図システム、方法および記憶媒体 Download PDF

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Publication number
JP2020034472A
JP2020034472A JP2018162472A JP2018162472A JP2020034472A JP 2020034472 A JP2020034472 A JP 2020034472A JP 2018162472 A JP2018162472 A JP 2018162472A JP 2018162472 A JP2018162472 A JP 2018162472A JP 2020034472 A JP2020034472 A JP 2020034472A
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Prior art keywords
vehicle
map
landmark
server
image
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Pending
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JP2018162472A
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Japanese (ja)
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JP2020034472A5 (enExample
Inventor
悠太 藤井
Yuta Fujii
悠太 藤井
横山　隆久
Takahisa Yokoyama
横山　　隆久
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Denso Corp
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Denso Corp
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Priority to JP2018162472A priority Critical patent/JP2020034472A/ja
Priority to PCT/JP2019/033203 priority patent/WO2020045317A1/ja
Publication of JP2020034472A publication Critical patent/JP2020034472A/ja
Publication of JP2020034472A5 publication Critical patent/JP2020034472A5/ja
Priority to US17/185,665 priority patent/US11410332B2/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3644—Landmark guidance, e.g. using POIs or conspicuous other objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3661—Guidance output on an external device, e.g. car radio
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06T2207/30256—Lane; Road marking
    • 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
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Instructional Devices (AREA)
JP2018162472A 2018-08-31 2018-08-31 自律的ナビゲーションのための地図システム、方法および記憶媒体 Pending JP2020034472A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018162472A JP2020034472A (ja) 2018-08-31 2018-08-31 自律的ナビゲーションのための地図システム、方法および記憶媒体
PCT/JP2019/033203 WO2020045317A1 (ja) 2018-08-31 2019-08-26 地図システム、方法および記憶媒体
US17/185,665 US11410332B2 (en) 2018-08-31 2021-02-25 Map system, method and non-transitory computer-readable storage medium for autonomously navigating vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018162472A JP2020034472A (ja) 2018-08-31 2018-08-31 自律的ナビゲーションのための地図システム、方法および記憶媒体

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JP2020034472A true JP2020034472A (ja) 2020-03-05
JP2020034472A5 JP2020034472A5 (enExample) 2021-02-04

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US (1) US11410332B2 (enExample)
JP (1) JP2020034472A (enExample)
WO (1) WO2020045317A1 (enExample)

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US12292301B2 (en) 2022-02-17 2025-05-06 Toyota Jidosha Kabushiki Kaisha Vehicle support system and vehicle support method for marker recognition and illumination adjustment

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US11009356B2 (en) 2018-02-14 2021-05-18 Tusimple, Inc. Lane marking localization and fusion
US11009365B2 (en) 2018-02-14 2021-05-18 Tusimple, Inc. Lane marking localization
US12270661B2 (en) 2018-02-14 2025-04-08 Tusimple, Inc. Lane marking localization and fusion
JP7067536B2 (ja) 2018-08-31 2022-05-16 株式会社デンソー 車両制御装置、方法および記憶媒体
JP7251394B2 (ja) 2018-08-31 2023-04-04 株式会社デンソー 車両側装置、方法および記憶媒体
JP7156206B2 (ja) 2018-08-31 2022-10-19 株式会社デンソー 地図システム、車両側装置、およびプログラム
JP7147712B2 (ja) * 2018-08-31 2022-10-05 株式会社デンソー 車両側装置、方法および記憶媒体
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WO2020104561A1 (en) * 2018-11-21 2020-05-28 Arrival Limited Apparatus and method for warning of an oncoming vehicle
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Cited By (5)

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Publication number Priority date Publication date Assignee Title
CN116594378A (zh) * 2022-02-14 2023-08-15 丰田自动车株式会社 控制装置、控制方法、计算机可读介质
JP2023117987A (ja) * 2022-02-14 2023-08-24 トヨタ自動車株式会社 制御装置、制御方法、制御プログラム
JP7537451B2 (ja) 2022-02-14 2024-08-21 トヨタ自動車株式会社 制御装置、制御方法、制御プログラム
US12291192B2 (en) 2022-02-14 2025-05-06 Toyota Jidosha Kabushiki Kaisha Control apparatus, control method, and non-transitory computer readable media encoded with computer program
US12292301B2 (en) 2022-02-17 2025-05-06 Toyota Jidosha Kabushiki Kaisha Vehicle support system and vehicle support method for marker recognition and illumination adjustment

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US11410332B2 (en) 2022-08-09
WO2020045317A1 (ja) 2020-03-05

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