JP2020064029A - 移動体制御装置 - Google Patents
移動体制御装置 Download PDFInfo
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- JP2020064029A JP2020064029A JP2018197593A JP2018197593A JP2020064029A JP 2020064029 A JP2020064029 A JP 2020064029A JP 2018197593 A JP2018197593 A JP 2018197593A JP 2018197593 A JP2018197593 A JP 2018197593A JP 2020064029 A JP2020064029 A JP 2020064029A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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- G—PHYSICS
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
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- 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
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- 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
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/20—Data confidence level
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/25—Data precision
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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Abstract
Description
図1は、本実施形態に係わる移動体制御装置を搭載する移動体100の一例を示す図である。
t−1とフレームtとの間の特徴点の対応関係、フレームt−1とフレームtにおける特徴点の入力画像上での座標、の各情報に基づき、特徴点の3次元座標を推定する。座標の推定には、三角測量など一般的な3次元座標推定手法を用いる。
上述の第1の実施形態では、設定された収束条件(3次元点1点あたりの投影誤差の平均が予め設定された閾値未満であるか否かを、または、パラメータの更新量を、推定パラメータのノルムで割って正規化した値が予め設定された閾値未満であるか否か)を満たす場合に、運動推定2におけるカメラ姿勢ξの繰り返し計算が収束したと判定している。これに対し、本実施形態においては、繰り返し計算内でカメラ姿勢ξの推定値の信頼性を評価し、信頼性が高い場合に運動推定2におけるカメラ姿勢ξの繰り返し計算が収束したと判定する点が異なっている。本実施形態における移動体制御装置の構成は、図1〜図4に示す第1の移動体制御装置と同様であるので、説明を省略する。
第1、第2の実施形態では、運動推定2におけるカメラ姿勢ξの繰り返し計算の収束判定を、外界センサであるカメラから取得した情報(画像情報)に基づいて行っていたが、第3実施形態では、内界センサである車両センサから取得する車両情報に基づき行う点が異なっている。
10…画像処理装置
10a…プロセッサ
10b…メモリ
10d…画像処理アクセラレータ
10e…処理回路
11…画像処理部
12…障害物検出部
100…移動体
100A…出力部
100B…センサ
100C…入力装置
100D…通信部
100E…ディスプレイ
100F…スピーカ
100G…動力制御部
100H…動力部
100I…バス
111…画像処理制御部
112…画像入力部
113…特徴点抽出部
114…特徴点対応付け部
115…第1運動推定部
116…運動予測部
117…第2運動推定部
118…点3次元座標推定部
119…信頼度特徴量計算部
120…信頼度判定部
Claims (10)
- 移動体に設けられた撮像装置により得られる撮影画像に基づき、前記撮像装置の姿勢を推定し、推定結果として出力する画像処理装置と、
前記推定結果に基づいて前記移動体に設けられた動力部の制御を行う動力制御部と、
を備えた移動体制御装置であって、
前記画像処理装置は、前記推定結果の信頼度特徴量を算出する信頼度特徴量計算部と、前記信頼度特徴量に基づき前記推定結果の信頼度を判定する信頼度判定部を備えており、
前記動力制御部は、前記信頼度の判定結果に基づき、前記動力部の自動制御を行うか否かを決定することを特徴とする、移動体制御装置。 - 前記信頼度の判定結果が低い場合、前記動力制御部は、前記動力部の自動制御を中止し、また、前記画像処理装置は、前記動力制御部が前記動力部の自動制御を行わない旨を、前記移動体に設けられたディスプレイに表示させることを特徴とする、請求項1に記載の移動体制御装置。
- 前記画像処理装置は、投影誤差を前記撮像装置の姿勢を推定するための目的関数とし、前記推定結果近傍の前記目的関数の値を、テイラー展開を用いて算出することを特徴とする、請求項1又は請求項2に記載の移動体制御装置。
- 前記画像処理装置は、前記目的関数の値の算出を、ガウスニュートン法を用いて行うことを特徴とする、請求項3に記載の移動体制御装置。
- 前記画像処理装置は、前記目的関数の値の算出を、レーベンバーグ・マーカート法を用いて行うことを特徴とする、請求項3に記載の移動体制御装置。
- 前記画像処理装置は、前記目的関数の複数の変数のうち一部の前記変数を固定値とみなして、前記目的関数の値を算出することを特徴とする、請求項3乃至請求項5のいずれか一項に記載の移動体制御装置。
- 前記画像処理装置は、前記撮像装置の姿勢の推定において最後に算出した、前記目的関数の値と、前記目的関数の勾配ベクトルと、前記目的関数のヘッセ行列とを用いて、前記信頼度特徴量を算出することを特徴とする、請求項3乃至請求項6のいずれか一項に記載の移動体制御装置。
- 前記画像処理装置は、前記推定結果の信頼度特徴量が設定された値より高くなるまで、前記撮像装置の姿勢を繰り返し推定することを特徴とする、請求項1乃至請求項7のいずれか一項に記載の移動体制御装置。
- 前記画像処理装置は、前記移動体に設けられた車両センサから取得する車両情報と、前記撮像装置の姿勢の推定値との差が、設定された値より小さくなるまで、前記撮像装置の姿勢を繰り返し推定することを特徴とする、請求項1乃至請求項7のいずれか一項に記載の移動体制御装置。
- 前記車両センサはヨーレートセンサであり、前記車両情報はヨー角であることを特徴とする、請求項9に記載の移動体制御装置。
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JP2018197593A JP7278740B2 (ja) | 2018-10-19 | 2018-10-19 | 移動体制御装置 |
US16/298,583 US20200125111A1 (en) | 2018-10-19 | 2019-03-11 | Moving body control apparatus |
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JP2018197593A JP7278740B2 (ja) | 2018-10-19 | 2018-10-19 | 移動体制御装置 |
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JP2020064029A true JP2020064029A (ja) | 2020-04-23 |
JP7278740B2 JP7278740B2 (ja) | 2023-05-22 |
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JP (1) | JP7278740B2 (ja) |
Families Citing this family (2)
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JP6511406B2 (ja) * | 2016-02-10 | 2019-05-15 | クラリオン株式会社 | キャリブレーションシステム、キャリブレーション装置 |
FR3116252B1 (fr) * | 2020-11-19 | 2023-03-24 | Renault Sas | Système et procédé de contrôle adapté à la perception |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001023094A (ja) * | 1999-07-12 | 2001-01-26 | Nissan Motor Co Ltd | 半自動運転システム |
JP2005145402A (ja) * | 2003-11-20 | 2005-06-09 | Mitsubishi Motors Corp | 車両のレーンキープ制御装置 |
JP2011189803A (ja) * | 2010-03-12 | 2011-09-29 | Toyota Motor Corp | 車両制御装置 |
JP2012141691A (ja) * | 2010-12-28 | 2012-07-26 | Fujitsu Ten Ltd | 映像処理装置 |
-
2018
- 2018-10-19 JP JP2018197593A patent/JP7278740B2/ja active Active
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2019
- 2019-03-11 US US16/298,583 patent/US20200125111A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001023094A (ja) * | 1999-07-12 | 2001-01-26 | Nissan Motor Co Ltd | 半自動運転システム |
JP2005145402A (ja) * | 2003-11-20 | 2005-06-09 | Mitsubishi Motors Corp | 車両のレーンキープ制御装置 |
JP2011189803A (ja) * | 2010-03-12 | 2011-09-29 | Toyota Motor Corp | 車両制御装置 |
JP2012141691A (ja) * | 2010-12-28 | 2012-07-26 | Fujitsu Ten Ltd | 映像処理装置 |
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