JP2021504222A - 状態推定器 - Google Patents
状態推定器 Download PDFInfo
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- 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
- B60W50/08—Interaction between the driver and the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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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- 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
- B60W40/10—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 vehicle motion
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- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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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
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- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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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
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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Abstract
Description
Claims (15)
- 自車両のための自動車運転者支援システムのための装置であって、
現在の演算サイクル中に、前記自車両の第1の状態を使用して前記自車両の後続の第2の状態を推定するように構成された状態推定器を実装するように構成されており、前記状態推定器が、回帰神経回路網(「RNN」)を含み、
前記RNNが、前記第2の状態の測定値に対応する少なくとも1つの値を入力としてとり、前記少なくとも1つの値は、センサ測定値から決定され、
前記RNNが、前記第2の状態の少なくとも一部を出力として生成し、
前記RNNが、前記現在の演算サイクルに先行する少なくとも1つの先行する演算サイクルからの情報を使用するように構成されている、装置。 - 前記RNNが、少なくとも1つのフィードバック結合を含む、請求項1に記載の装置。
- 前記RNNが、複数のフィードバック結合を含み、前記RNNが、前記現在の演算サイクルに先行する複数の先行する演算サイクルからの情報を使用するように構成されており、各先行する演算サイクルが、前記複数のフィードバック結合のうちの少なくとも1つに対応する、請求項1又は2に記載の装置。
- 前記装置が、前記運転者支援システムによって使用するために前記RNNから少なくとも1つの現実世界の属性を導出するように更に構成されている、請求項1〜3のいずれか一項に記載の装置。
- 前記RNNに接続された出力人工神経回路網(「ANN」)が、前記RNNから前記少なくとも1つの現実世界の属性を導出するように構成されている、請求項4に記載の装置。
- 前記第1の状態及び前記第2の状態が各々、前記自車両の運動の一態様を記述する少なくとも1つの自車両の属性を含む、請求項1〜5のいずれか一項に記載の装置。
- 前記第1の状態及び前記第2の状態が各々、前記自車両の近傍に位置する局所的物体を記述する少なくとも1つの局所的物体属性を含む、請求項1〜6のいずれか一項に記載の装置。
- 前記少なくとも1つの局所的物体属性が、前記局所的物体の位置を含む、請求項7に記載の装置。
- 前記予測要素が、前記第1の状態の前記局所的物体の第1の位置を使用して、前記推定された第2の状態の前記局所的物体の第2の位置を推定するように構成されている、請求項8に記載の装置。
- 前記局所的物体が、局所的車両である、請求項7〜9のいずれか一項に記載の装置。
- 前記第2の状態の測定値に対応する前記少なくとも1つの値が、前記局所的車両の前記第2の位置の測定値を含む、請求項10に記載の装置。
- 前記装置が、能動的運転者支援デバイス又は受動的運転者支援デバイスによって使用されるために、前記第2の状態から出力変数を出力するように構成されている、請求項1〜11のいずれか一項に記載の装置。
- 前記装置が、前記自車両の運転者に提示するために、前記第2の状態から出力変数を出力するように構成されている、請求項1〜12のいずれか一項に記載の装置。
- 前記第1の状態及び前記第2の状態が各々、前記自車両が位置する環境を記述する少なくとも1つの環境属性を含む、請求項1〜13のいずれか一項に記載の装置。
- 自車両の状態を推定するための方法であって、前記状態が、前記自車両の自動車運転者支援システムで使用するためのものであり、前記方法は、
状態推定器を使用して、現在の演算サイクル中に前記自車両の第1の状態を使用して前記自車両の後続の第2の状態を推定する工程を含み、前記状態推定器が、回帰神経回路網(「RNN」)を含み、
前記RNNが、前記第2の状態の測定値に対応する少なくとも1つの値を入力としてとり、前記少なくとも1つの値は、センサ測定値から決定され、
前記RNNが、前記第2の状態の少なくとも一部を出力ベクトルとして生成し、
前記RNNが、前記現在の演算サイクルに先行する少なくとも1つの先行する演算サイクルからの情報を使用するように構成されている、方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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EP17208656.3 | 2017-12-19 | ||
EP17208656.3A EP3502977A1 (en) | 2017-12-19 | 2017-12-19 | A state estimator |
PCT/EP2018/082275 WO2019120865A1 (en) | 2017-12-19 | 2018-11-22 | A state estimator |
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JP2021504222A true JP2021504222A (ja) | 2021-02-15 |
JP7089832B2 JP7089832B2 (ja) | 2022-06-23 |
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JP2020529361A Active JP7089832B2 (ja) | 2017-12-19 | 2018-11-22 | 状態推定器 |
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US (1) | US20200339146A1 (ja) |
EP (1) | EP3502977A1 (ja) |
JP (1) | JP7089832B2 (ja) |
WO (1) | WO2019120865A1 (ja) |
Families Citing this family (7)
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US11560690B2 (en) * | 2018-12-11 | 2023-01-24 | SafeAI, Inc. | Techniques for kinematic and dynamic behavior estimation in autonomous vehicles |
DE102019128115A1 (de) * | 2019-10-17 | 2021-04-22 | Bayerische Motoren Werke Aktiengesellschaft | Fahrzeugmodell für Längsdynamik |
CN111062589B (zh) * | 2019-12-02 | 2022-08-16 | 武汉理工大学 | 一种基于目的地预测的城市出租车调度方法 |
KR20210129913A (ko) * | 2020-04-21 | 2021-10-29 | 주식회사 만도모빌리티솔루션즈 | 운전자 보조 시스템 |
CN113997947B (zh) * | 2021-10-27 | 2022-09-27 | 山西大鲲智联科技有限公司 | 驾驶信息提示方法、装置、电子设备和计算机可读介质 |
WO2023123325A1 (zh) * | 2021-12-31 | 2023-07-06 | 华为技术有限公司 | 一种状态估计方法和装置 |
CN114312811B (zh) * | 2022-01-27 | 2023-11-07 | 清华大学 | 自动驾驶汽车的自车状态近似最优估计方法、装置及设备 |
Citations (3)
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JP2007223494A (ja) * | 2006-02-24 | 2007-09-06 | Fuji Heavy Ind Ltd | 車両挙動推定予測装置および車両安定化制御システム |
JP2017154725A (ja) * | 2015-04-21 | 2017-09-07 | パナソニックIpマネジメント株式会社 | 情報処理システム、情報処理方法、およびプログラム |
US20170286826A1 (en) * | 2016-03-30 | 2017-10-05 | Nec Laboratories America, Inc. | Real-time deep learning for danger prediction using heterogeneous time-series sensor data |
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JP4093076B2 (ja) * | 2003-02-19 | 2008-05-28 | 富士重工業株式会社 | 車両運動モデルの生成装置および車両運動モデルの生成方法 |
WO2016145547A1 (en) * | 2015-03-13 | 2016-09-22 | Xiaoou Tang | Apparatus and system for vehicle classification and verification |
WO2016156236A1 (en) * | 2015-03-31 | 2016-10-06 | Sony Corporation | Method and electronic device |
KR20180094725A (ko) * | 2017-02-16 | 2018-08-24 | 삼성전자주식회사 | 자율 주행을 위한 차량 제어 방법, 차량 제어 장치 및 자율 주행을 위한 학습 방법 |
US10268191B1 (en) * | 2017-07-07 | 2019-04-23 | Zoox, Inc. | Predictive teleoperator situational awareness |
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- 2017-12-19 EP EP17208656.3A patent/EP3502977A1/en not_active Ceased
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2018
- 2018-11-22 JP JP2020529361A patent/JP7089832B2/ja active Active
- 2018-11-22 US US16/956,285 patent/US20200339146A1/en not_active Abandoned
- 2018-11-22 WO PCT/EP2018/082275 patent/WO2019120865A1/en active Application Filing
Patent Citations (3)
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JP2007223494A (ja) * | 2006-02-24 | 2007-09-06 | Fuji Heavy Ind Ltd | 車両挙動推定予測装置および車両安定化制御システム |
JP2017154725A (ja) * | 2015-04-21 | 2017-09-07 | パナソニックIpマネジメント株式会社 | 情報処理システム、情報処理方法、およびプログラム |
US20170286826A1 (en) * | 2016-03-30 | 2017-10-05 | Nec Laboratories America, Inc. | Real-time deep learning for danger prediction using heterogeneous time-series sensor data |
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Publication number | Publication date |
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JP7089832B2 (ja) | 2022-06-23 |
WO2019120865A1 (en) | 2019-06-27 |
EP3502977A1 (en) | 2019-06-26 |
US20200339146A1 (en) | 2020-10-29 |
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