JP2020056733A - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP2020056733A JP2020056733A JP2018188679A JP2018188679A JP2020056733A JP 2020056733 A JP2020056733 A JP 2020056733A JP 2018188679 A JP2018188679 A JP 2018188679A JP 2018188679 A JP2018188679 A JP 2018188679A JP 2020056733 A JP2020056733 A JP 2020056733A
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- 238000012937 correction Methods 0.000 claims abstract description 17
- 239000003550 marker Substances 0.000 claims description 27
- 238000003384 imaging method Methods 0.000 claims description 7
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- 238000012544 monitoring process Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 6
- 238000013523 data management Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
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- 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
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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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- 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
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Navigation (AREA)
Abstract
Description
できる。
410 車両制御装置
521 通信制御部(取得部)
522 センサデータ取得部(取得部)
523 走行制御部
524 位置推定部(補正部)
L60 車道外側線
L70 方位マーカ
V 車両
Claims (6)
- 車両が走行する路面に設置された線状の路面標示の絶対方位を示す地図データ、および前記車両が有する車載カメラによって前記車両の周辺を撮像して得られる画像データを取得する取得部と、
取得した前記画像データから、前記路面標示を検出し、前記画像データ上における前記車両に対する前記路面標示の相対方位を算出し、算出した前記相対方位と前記地図データが示す前記検出した路面標示の前記絶対方位とに基づいて、前記車両が進行する方位のずれを算出し、当該算出したずれに基づいて、前記車両が進行する方位を補正する補正部と、
を備えた車両制御装置。 - 前記補正部は、所定位置において前記車載カメラにより得られた前記画像データから前記路面標示を検出する請求項1に記載の車両制御装置。
- 前記補正部は、前記所定位置において前記車両が停止した際に前記車載カメラにより得られた前記画像データから前記路面標示を検出する請求項2に記載の車両制御装置。
- 前記路面標示は、前記車両が走行する路面に引かれた車道外側線である請求項1から3のいずれか一に記載の車両制御装置。
- 前記路面標示は、前記車両が走行する路面に引かれた線状の方位マーカである請求項1から3のいずれか一に記載の車両制御装置。
- 前記路面標示は、前記車両が走行する路面に設置され、駐車枠を示す駐車区画線とは異なる線状の路面標示である請求項1から5のいずれか一に記載の車両制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018188679A JP7275520B2 (ja) | 2018-10-03 | 2018-10-03 | 車両制御装置 |
CN201910924715.9A CN110979310A (zh) | 2018-10-03 | 2019-09-27 | 车辆控制装置 |
DE102019126446.4A DE102019126446A1 (de) | 2018-10-03 | 2019-10-01 | Fahrzeugsteuerungsvorrichtung |
US16/590,697 US11161516B2 (en) | 2018-10-03 | 2019-10-02 | Vehicle control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018188679A JP7275520B2 (ja) | 2018-10-03 | 2018-10-03 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2020056733A true JP2020056733A (ja) | 2020-04-09 |
JP7275520B2 JP7275520B2 (ja) | 2023-05-18 |
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JP2018188679A Active JP7275520B2 (ja) | 2018-10-03 | 2018-10-03 | 車両制御装置 |
Country Status (4)
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US (1) | US11161516B2 (ja) |
JP (1) | JP7275520B2 (ja) |
CN (1) | CN110979310A (ja) |
DE (1) | DE102019126446A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112319464A (zh) * | 2020-11-09 | 2021-02-05 | 恒大新能源汽车投资控股集团有限公司 | 自动泊车方法、装置、设备及存储介质 |
WO2021220599A1 (ja) * | 2020-04-30 | 2021-11-04 | 株式会社デンソー | 管制装置、システム、管制方法、及びプログラム |
KR20220078519A (ko) * | 2020-12-03 | 2022-06-10 | 재단법인대구경북과학기술원 | 자율주행을 위한 차량의 위치추정 장치 및 방법 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017217008A1 (de) * | 2017-09-26 | 2019-03-28 | Robert Bosch Gmbh | Verfahren zum Ermitteln der Steigung einer Fahrbahn |
JP7222339B2 (ja) * | 2019-10-25 | 2023-02-15 | トヨタ自動車株式会社 | 自動駐車システム |
Citations (3)
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---|---|---|---|---|
JP2007316025A (ja) * | 2006-05-29 | 2007-12-06 | Toyota Motor Corp | 自車位置測定装置 |
JP2009139306A (ja) * | 2007-12-10 | 2009-06-25 | Hitachi Ltd | 路面標示認識装置 |
JP2010186257A (ja) * | 2009-02-10 | 2010-08-26 | Denso Corp | 駐車支援システム、車載駐車支援装置、情報付マーカー |
Family Cites Families (7)
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JPH09152348A (ja) * | 1995-12-01 | 1997-06-10 | Pioneer Electron Corp | カーナビゲーション装置 |
JPH09297030A (ja) * | 1996-05-02 | 1997-11-18 | Pioneer Electron Corp | 移動体位置算出方法及び装置並びに移動体位置補正方法及び装置 |
KR100278972B1 (ko) * | 1996-08-21 | 2001-01-15 | 모리 하루오 | 네비게이션장치 |
JP2003065783A (ja) * | 2001-08-27 | 2003-03-05 | Pioneer Electronic Corp | 通信ナビゲーションシステム及び方法、地図情報提供通信センタ装置、通信ナビゲーション端末並びにコンピュータプログラム |
JP6167846B2 (ja) * | 2013-10-25 | 2017-07-26 | トヨタ自動車株式会社 | 駐車支援装置 |
CN105946853B (zh) * | 2016-04-28 | 2018-05-29 | 中山大学 | 基于多传感器融合的长距离自动泊车的系统及方法 |
JP2019096314A (ja) | 2017-11-17 | 2019-06-20 | アイシン精機株式会社 | 車両位置推定装置、駐車場、および車両制御装置 |
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2018
- 2018-10-03 JP JP2018188679A patent/JP7275520B2/ja active Active
-
2019
- 2019-09-27 CN CN201910924715.9A patent/CN110979310A/zh active Pending
- 2019-10-01 DE DE102019126446.4A patent/DE102019126446A1/de active Pending
- 2019-10-02 US US16/590,697 patent/US11161516B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2007316025A (ja) * | 2006-05-29 | 2007-12-06 | Toyota Motor Corp | 自車位置測定装置 |
JP2009139306A (ja) * | 2007-12-10 | 2009-06-25 | Hitachi Ltd | 路面標示認識装置 |
JP2010186257A (ja) * | 2009-02-10 | 2010-08-26 | Denso Corp | 駐車支援システム、車載駐車支援装置、情報付マーカー |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021220599A1 (ja) * | 2020-04-30 | 2021-11-04 | 株式会社デンソー | 管制装置、システム、管制方法、及びプログラム |
JPWO2021220599A1 (ja) * | 2020-04-30 | 2021-11-04 | ||
JP7248194B2 (ja) | 2020-04-30 | 2023-03-29 | 株式会社デンソー | 管制装置、システム、管制方法、及びプログラム |
CN112319464A (zh) * | 2020-11-09 | 2021-02-05 | 恒大新能源汽车投资控股集团有限公司 | 自动泊车方法、装置、设备及存储介质 |
CN112319464B (zh) * | 2020-11-09 | 2021-10-15 | 恒大新能源汽车投资控股集团有限公司 | 自动泊车方法、装置、设备及存储介质 |
KR20220078519A (ko) * | 2020-12-03 | 2022-06-10 | 재단법인대구경북과학기술원 | 자율주행을 위한 차량의 위치추정 장치 및 방법 |
KR102633705B1 (ko) | 2020-12-03 | 2024-02-06 | 재단법인대구경북과학기술원 | 자율주행을 위한 차량의 위치추정 장치 및 방법 |
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Publication number | Publication date |
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JP7275520B2 (ja) | 2023-05-18 |
US20200108836A1 (en) | 2020-04-09 |
CN110979310A (zh) | 2020-04-10 |
DE102019126446A1 (de) | 2020-04-09 |
US11161516B2 (en) | 2021-11-02 |
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