JP2021523507A - 受動型赤外線歩行者検出および回避システム - Google Patents
受動型赤外線歩行者検出および回避システム Download PDFInfo
- Publication number
- JP2021523507A JP2021523507A JP2021513756A JP2021513756A JP2021523507A JP 2021523507 A JP2021523507 A JP 2021523507A JP 2021513756 A JP2021513756 A JP 2021513756A JP 2021513756 A JP2021513756 A JP 2021513756A JP 2021523507 A JP2021523507 A JP 2021523507A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- thermal
- human
- road
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 241000282414 Homo sapiens Species 0.000 claims abstract description 80
- 230000004044 response Effects 0.000 claims abstract description 50
- 238000000034 method Methods 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims description 37
- 230000009471 action Effects 0.000 claims description 32
- 241000282412 Homo Species 0.000 claims description 12
- 230000003213 activating effect Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000005855 radiation Effects 0.000 claims 6
- 230000000694 effects Effects 0.000 claims 2
- 238000012545 processing Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 abstract description 2
- 238000001931 thermography Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 6
- 230000004913 activation Effects 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000036760 body temperature Effects 0.000 description 2
- 230000001143 conditioned effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002028 premature Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009118 appropriate response Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013479 data entry Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000029305 taxis Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/23—Head-up displays [HUD]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/143—Sensing or illuminating at different wavelengths
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/147—Details of sensors, e.g. sensor lenses
-
- 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
-
- 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
- G06V20/58—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
- 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
- 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
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- 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
- G06V40/23—Recognition of whole body movements, e.g. for sport training
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
- H04N23/23—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only from thermal infrared radiation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/178—Warnings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/20—Optical features of instruments
- B60K2360/33—Illumination features
- B60K2360/334—Projection means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/40—Hardware adaptations for dashboards or instruments
- B60K2360/48—Sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/213—Virtual instruments
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W50/08—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
-
- 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
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Health & Medical Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Signal Processing (AREA)
- Vascular Medicine (AREA)
- Electromagnetism (AREA)
- Social Psychology (AREA)
- Psychiatry (AREA)
- Toxicology (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Business, Economics & Management (AREA)
- Medical Informatics (AREA)
- Game Theory and Decision Science (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Geophysics And Detection Of Objects (AREA)
- Mathematical Physics (AREA)
- Radiation Pyrometers (AREA)
- Navigation (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
【選択図】図1
Description
Claims (26)
- 静止しているまたは横方向に動いている歩行者と動いている車両との間に生じる危険を認識し、それに応じて前記車両の運転を調整して危険を防止するための方法であって、
熱画像を用いて道路の側方または走行部分内の人間を示す熱的特徴を検出することと、
前記人間の熱的特徴が前記車両の予測経路内にあるかまたは予測経路に向かって移動しているかを特定することと、
前記車両の運転に対する応答動作が必要か判断することと、
そのような動作が必要な場合に前記車両の運転に対して前記応答動作を開始することと、を備える、
方法。 - 前記道路の側方または走行部分内の人間の熱的特徴の検出は、前記車両に設けられた熱画像センサーアセンブリを用いることを含んでいることを特徴とする、
請求項1に記載の方法。 - 前記熱画像センサーアセンブリは、前記車両に取り付けられた少なくとも1つの赤外線センサーアレイを含んでいることを特徴とする、
請求項2に記載の方法。 - 前記少なくとも1つの赤外線センサーアレイは、前記車両の前部に取り付けられた前方視熱センサーを含んでいることを特徴とする、
請求項3に記載の方法。 - 前記少なくとも1つの赤外線センサーアレイは、
前記車両の左側の前記道路および/またはその周辺領域の熱画像を取得するための、前記車両の左側に取り付けられた左側赤外線センサーと、
前記車両の右側の前記道路および/またはその周辺領域の熱画像を取得するための、前記車両の右側に取り付けられた右側赤外線センサーと、を含んでいることを特徴とする、
請求項3に記載の方法。 - 前記人間の熱的特徴の検出は、人間の熱放射範囲に相関する事前に定義された熱受容ウィンドウを通過した、検出された熱放射データを用いることを含むことを特徴とする、
請求項1に記載の方法。 - 前記事前に定義された熱受容ウィンドウは、前記人間の熱放射範囲に対する周囲温度条件の影響を補償するように動的に変更可能であることを特徴とする、
請求項6に記載の方法。 - 前記移動を特定する工程は、
前記人間の熱的特徴が検出されると、最初に前記人間の熱的特徴が移動しているかどうかを特定することと、
前記移動が前記道路に概して直交しているかどうかを特定することと、
前記移動が前記道路に向かっているのか離れているのかを特定することと、を備えていることを特徴とする、
請求項1に記載の方法。 - 前記応答動作が必要か判断することは、前記人間の熱的特徴の移動速度を特定することを含んでいることを特徴とする、
請求項1に記載の方法。 - 前記応答動作が必要か判断することは、前記車両の移動速度を特定することを含んでいることを特徴とする、
請求項1に記載の方法。 - 前記応答動作が必要か判断することは、前記人間の熱的特徴が前記車両の予想経路内にいるかどうかを特定することを含んでいることを特徴とする、
請求項1に記載の方法。 - 前記車両の運転に対する応答動作は、
(1)前記車両のステアリングシステムに調整入力を提供することと、
(2)前記車両のブレーキシステムを起動することと、
(3)前記車両に関連した聴覚的警報を発することと、
(4)前記車両に関連した視覚的警報を起動することと、の少なくとも1つを含んでいることを特徴とする、
請求項1に記載の方法。 - 前記車両の予測経路内にある静止している人間の熱的特徴に対して前記応答動作が必要か判断することは、人間の熱的特徴を示す複数の隣接する適格ピクセルを熱画像アレイから検索する画像プロセッサを用いることを含んでいることを特徴とする、
請求項1に記載の方法。 - 前記車両の予測経路内にある静止している人間の熱的特徴に対して前記応答動作が必要か判断することは、人間の熱的特徴を示す隣接する適格ピクセルの数における変化を熱画像アレイから検索する画像プロセッサを用いることを含んでいることを特徴とする、
請求項13に記載の方法。 - 人間の熱的特徴を示す隣接する適格ピクセルの数の変化率が、静止している人間の熱的特徴に向かう車両の接近速度と相関していることを特徴とする、
請求項14に記載の方法。 - 横方向に動いている歩行者と動いている車両との間に生じる危険を認識し、それに応じて前記車両の運転を調整するためのシステムであって、
熱画像を用いて道路の側方または前記道路上の車両の予測経路内の人間の熱的特徴を検出する熱画像センサーアレイアセンブリと、
前記人間の熱的特徴が前記車両の予測経路内にあるかまたは予測経路に向かって移動しているかを特定し、前記車両の運転に対する応答動作が必要か判断する、前記熱画像センサーアレイアセンブリと動作通信を行う画像プロセッサと、
そのような動作が必要な場合に前記車両の運転に対して前記応答動作を開始する、前記画像プロセッサと動作通信を行う中央車両制御システムと、を備える、
システム。 - 前記熱画像センサーアセンブリは、前記車両に取り付けられた少なくとも1つの赤外線センサーアレイを含んでいることを特徴とする、
請求項16に記載のシステム。 - 前記少なくとも1つの赤外線センサーアレイは、前記車両の前部に取り付けられた前方視熱センサーを含んでいることを特徴とする、
請求項17に記載のシステム。 - 前記少なくとも1つの赤外線センサーアレイは、
前記車両の左側の前記道路および/またはその周辺領域の熱画像を取得するための、前記車両の左側に取り付けられた左側赤外線センサーと、
前記車両の右側の前記道路および/またはその周辺領域の熱画像を取得するための、前記車両の右側に取り付けられた右側赤外線センサーと、を含んでいることを特徴とする、
請求項17に記載のシステム。 - 前記熱画像センサーアレイアセンブリによる前記人間の熱的特徴の検出は、人間の熱放射範囲に相関する事前に定義された熱受容ウィンドウを通過した、検出された熱放射データを用いることを含むことを特徴とする、
請求項16に記載のシステム。 - 前記事前に定義された熱受容ウィンドウは、前記人間の熱放射範囲に対する周囲温度条件の影響を補償するように動的に変更可能であることを特徴とする、
請求項20に記載のシステム。 - 前記画像プロセッサは、前記人間の熱的特徴を認識する熱画像センサーアレイアセンブリから信号を受信すると、最初に前記人間の熱的特徴が移動しているかどうかを特定し、前記人間の熱的特徴の移動が前記道路に概して直交しているかどうかを特定し、前記人間の熱的特徴の移動が前記道路に向かっているのか離れているのかを特定することを特徴とする、
請求項14に記載のシステム。 - 前記画像プロセッサは、前記車両による応答動作が必要か判断する際に、前記熱画像センサーアレイアセンブリと関連して前記人間の熱的特徴の移動速度を特定することを特徴とする、
請求項16に記載のシステム。 - 前記システムは、前記車両による応答動作が必要か判断する際に、前記車両の移動速度を特定することを特徴とする、
請求項16に記載のシステム。 - 前記画像プロセッサは、前記車両による応答動作が必要か判断する際に、前記熱画像センサーアレイアセンブリと関連して前記人間の熱的特徴が前記車両の予想経路内にいるかどうかを特定することを特徴とする、
請求項16に記載のシステム。 - 前記車両の運転に対する応答動作は、
(1)前記車両のステアリングシステムに調整入力を提供することと、
(2)前記車両のブレーキシステムを起動することと、
(3)前記車両に関連した聴覚的警報を発することと、
(4)前記車両に関連した視覚的警報を起動することと、の少なくとも1つを含んでいることを特徴とする、
請求項16に記載のシステム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2023144589A JP2023175741A (ja) | 2018-05-11 | 2023-09-06 | 受動型赤外線歩行者検出および回避システム |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201862670209P | 2018-05-11 | 2018-05-11 | |
US62/670,209 | 2018-05-11 | ||
PCT/US2019/027594 WO2019217038A1 (en) | 2018-05-11 | 2019-04-16 | Passive infra-red pedestrian detection and avoidance system |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023144589A Division JP2023175741A (ja) | 2018-05-11 | 2023-09-06 | 受動型赤外線歩行者検出および回避システム |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2021523507A true JP2021523507A (ja) | 2021-09-02 |
Family
ID=68392180
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021513755A Active JP7258125B2 (ja) | 2018-05-11 | 2019-04-16 | 受動型赤外線誘導システム |
JP2021513756A Pending JP2021523507A (ja) | 2018-05-11 | 2019-04-16 | 受動型赤外線歩行者検出および回避システム |
JP2023144589A Pending JP2023175741A (ja) | 2018-05-11 | 2023-09-06 | 受動型赤外線歩行者検出および回避システム |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021513755A Active JP7258125B2 (ja) | 2018-05-11 | 2019-04-16 | 受動型赤外線誘導システム |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023144589A Pending JP2023175741A (ja) | 2018-05-11 | 2023-09-06 | 受動型赤外線歩行者検出および回避システム |
Country Status (7)
Country | Link |
---|---|
US (3) | US10467903B1 (ja) |
EP (3) | EP4296104A3 (ja) |
JP (3) | JP7258125B2 (ja) |
KR (2) | KR102496018B1 (ja) |
CN (2) | CN112106348B (ja) |
CA (2) | CA3099092A1 (ja) |
WO (2) | WO2019217038A1 (ja) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6988672B2 (ja) | 2018-04-25 | 2022-01-05 | トヨタ自動車株式会社 | 車外報知装置 |
JP7059786B2 (ja) * | 2018-05-08 | 2022-04-26 | トヨタ自動車株式会社 | 車外報知装置 |
JP7202208B2 (ja) * | 2019-02-13 | 2023-01-11 | 株式会社Subaru | 自動運転システム |
JP2020160914A (ja) * | 2019-03-27 | 2020-10-01 | 株式会社豊田自動織機 | 物体検出装置 |
US11188094B2 (en) * | 2019-04-30 | 2021-11-30 | At&T Intellectual Property I, L.P. | Autonomous vehicle signaling system |
SE544257C2 (en) * | 2019-08-23 | 2022-03-15 | Scania Cv Ab | Method and control device for controlling driving of a vehicle along a road |
JP6971430B2 (ja) * | 2019-12-09 | 2021-11-24 | 京セラ株式会社 | 電子機器、電子機器の制御方法、及びプログラム |
CN111391828B (zh) * | 2020-03-13 | 2021-06-15 | 南京航空航天大学 | 一种行人过街工况下车辆避撞轨迹的规划方法 |
CN111413009B (zh) * | 2020-04-14 | 2024-06-11 | 清华大学 | 行人体温快速筛查系统及筛查方法、人体温度测量方法 |
CN114425987A (zh) * | 2020-10-29 | 2022-05-03 | 常州星宇车灯股份有限公司 | 一种夜间超车提醒系统、控制方法及车辆 |
US20220198200A1 (en) * | 2020-12-22 | 2022-06-23 | Continental Automotive Systems, Inc. | Road lane condition detection with lane assist for a vehicle using infrared detecting device |
DE102021108807A1 (de) * | 2021-04-08 | 2022-10-13 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur erkennung ungeschützter verkehrsteilnehmer durch ein fahrzeug |
DE102021002662A1 (de) | 2021-05-21 | 2021-07-15 | FEV Group GmbH | Verfahren für ein autonomes Fahrzeug zum Detektieren von und/oder Reagieren auf Lebewesen in einer Umgebung des autonomen Fahrzeugs |
US11780471B1 (en) * | 2021-08-30 | 2023-10-10 | Zoox, Inc. | System for determining a state of an object using thermal data |
CN113822234B (zh) * | 2021-11-22 | 2022-04-22 | 成都星宇融科电力电子股份有限公司 | 基于车载热成像的目标检测预警分析方法、系统及终端 |
FR3133813A1 (fr) * | 2022-03-23 | 2023-09-29 | Psa Automobiles Sa | Méthodes et systèmes de conduite d’un véhicule automobile |
US20240025400A1 (en) | 2022-07-20 | 2024-01-25 | Ford Global Technologies, Llc | Far infrared detection of compacted snow for lane keeping |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005266634A (ja) * | 2004-03-22 | 2005-09-29 | Sharp Corp | 撮像装置 |
JP2006101384A (ja) * | 2004-09-30 | 2006-04-13 | Nissan Motor Co Ltd | 人物検出装置及び方法 |
JP2008143510A (ja) * | 2006-11-17 | 2008-06-26 | Toyota Central R&D Labs Inc | 注意喚起照射装置 |
JP2008162477A (ja) * | 2006-12-28 | 2008-07-17 | Toyota Motor Corp | 車両用接近告知装置 |
JP2012027773A (ja) * | 2010-07-26 | 2012-02-09 | Toyota Central R&D Labs Inc | 擬似濃淡画像生成装置及びプログラム |
JP2013114536A (ja) * | 2011-11-30 | 2013-06-10 | Seiko Epson Corp | 安全支援装置、及び、安全支援方法 |
JP2016189119A (ja) * | 2015-03-30 | 2016-11-04 | セコム工業株式会社 | 検知装置 |
Family Cites Families (58)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB9317983D0 (en) | 1993-08-28 | 1993-10-13 | Lucas Ind Plc | A driver assistance system for a vehicle |
DE19741631B4 (de) * | 1997-09-20 | 2013-08-14 | Volkswagen Ag | Verfahren und Vorrichtung zur Vermeidung und/oder Minimierung von Konfliktsituationen im Straßenverkehr |
EP0913751B1 (de) | 1997-11-03 | 2003-09-03 | Volkswagen Aktiengesellschaft | Autonomes Fahrzeug und Verfahren zur Steuerung eines autonomen Fahrzeuges |
EP1083076A3 (en) * | 1999-09-07 | 2005-01-12 | Mazda Motor Corporation | Display apparatus for vehicle |
US9558663B2 (en) | 2000-10-04 | 2017-01-31 | Intelligent Technologies International, Inc. | Animal detecting and notification method and system |
US6759949B2 (en) | 2002-05-23 | 2004-07-06 | Visteon Global Technologies, Inc. | Image enhancement in far infrared camera |
US20050084659A1 (en) | 2003-10-20 | 2005-04-21 | General Atomics | Vehicle windshield head-up display |
DE10349631A1 (de) | 2003-10-24 | 2005-05-19 | Robert Bosch Gmbh | Fahrerassistenzverfahren und -vorrichtung auf der Basis von Fahrspurinformationen |
JP4376653B2 (ja) * | 2004-02-17 | 2009-12-02 | 富士重工業株式会社 | 車外監視装置 |
DE102004016981A1 (de) * | 2004-04-07 | 2005-10-27 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Warnung des Fahrers eines Kraftfahrzeuges |
US7786898B2 (en) * | 2006-05-31 | 2010-08-31 | Mobileye Technologies Ltd. | Fusion of far infrared and visible images in enhanced obstacle detection in automotive applications |
JP4434234B2 (ja) * | 2007-05-30 | 2010-03-17 | トヨタ自動車株式会社 | 車両用撮像システム、及び車両用制御装置 |
US20080306666A1 (en) * | 2007-06-05 | 2008-12-11 | Gm Global Technology Operations, Inc. | Method and apparatus for rear cross traffic collision avoidance |
JP2009217682A (ja) * | 2008-03-12 | 2009-09-24 | Yazaki Corp | 車両用表示装置 |
US8103604B2 (en) | 2008-03-18 | 2012-01-24 | Manchester Metropolitan University | Remote detection and measurement of objects |
US8988525B2 (en) * | 2009-08-27 | 2015-03-24 | Robert Bosch Gmbh | System and method for providing guidance information to a driver of a vehicle |
CN102511046B (zh) * | 2009-12-02 | 2015-03-25 | 塔塔咨询服务有限公司 | 使用近红外照相机对行人进行检测、分类并追踪的有成本效益的系统及方法 |
US8140260B2 (en) | 2010-02-12 | 2012-03-20 | Honeywell International Inc. | System for enhancing a vehicle operator's orientation and ability to navigate |
US20120038778A1 (en) * | 2010-08-11 | 2012-02-16 | United States Of America, As Represented By The Secretary Of The Army | Self-Scanning Passive Infrared Personnel Detection Sensor |
US9963145B2 (en) * | 2012-04-22 | 2018-05-08 | Emerging Automotive, Llc | Connected vehicle communication with processing alerts related to traffic lights and cloud systems |
US9230178B2 (en) * | 2011-06-02 | 2016-01-05 | Toyota Jidosha Kabushiki Kaisha | Vision support apparatus for vehicle |
PT2723615T (pt) | 2011-06-24 | 2023-05-24 | Surveillance Guard Co Ltd | Um sistema de prevenção de acidente e um veículo que inclui o sistema de prevenção de acidente |
KR101349025B1 (ko) | 2011-11-25 | 2014-01-10 | 현대자동차주식회사 | 원적외선 스마트 나이트 뷰를 위한 차선 정보 합성 장치 및 방법 |
GB2497091B (en) | 2011-11-29 | 2013-11-20 | Qhi Group Ltd | Monitoring an electrical joint |
EP2810267A1 (de) * | 2012-02-03 | 2014-12-10 | Continental Teves AG&Co. Ohg | SIGNALGEBER, SYSTEM UND VERFAHREN ZUR HERVORHEBUNG VON OBJEKTEN IM STRAßENVERKEHR SOWIE VERWENDUNG DES SYSTEMS UND VERWENDUNG DES SIGNALGEBERS |
DE102012201896A1 (de) | 2012-02-09 | 2013-08-14 | Robert Bosch Gmbh | Fahrerassistenzverfahren und Fahrerassistenzsystem für verschneite Straßen |
WO2013136827A1 (ja) * | 2012-03-12 | 2013-09-19 | 本田技研工業株式会社 | 車両周辺監視装置 |
JP5529910B2 (ja) * | 2012-03-12 | 2014-06-25 | 本田技研工業株式会社 | 車両周辺監視装置 |
JP5696701B2 (ja) * | 2012-08-31 | 2015-04-08 | 株式会社デンソー | 対歩行者報知装置 |
JP5904925B2 (ja) * | 2012-10-25 | 2016-04-20 | 本田技研工業株式会社 | 車両周辺監視装置 |
WO2014192369A1 (ja) * | 2013-05-31 | 2014-12-04 | 日立オートモティブシステムズ株式会社 | 車両用危険報知制御装置 |
DE102013210826A1 (de) | 2013-06-11 | 2014-12-11 | Robert Bosch Gmbh | Verfahren zum Betreiben einer Anzeigevorrichtung, Computer-Programmprodukt, Anzeigevorrichtung |
JP6035207B2 (ja) | 2013-06-14 | 2016-11-30 | 日立オートモティブシステムズ株式会社 | 車両制御システム |
KR101543105B1 (ko) * | 2013-12-09 | 2015-08-07 | 현대자동차주식회사 | 보행자 인식 장치 및 그의 처리 방법과 이를 지원하는 차량 |
US9589195B2 (en) * | 2014-01-22 | 2017-03-07 | Polaris Sensor Technologies, Inc. | Polarization-based mapping and perception method and system |
DE102014201159A1 (de) * | 2014-01-23 | 2015-07-23 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Klassifizieren eines Verhaltens eines Fußgängers beim Überqueren einer Fahrbahn eines Fahrzeugs sowie Personenschutzsystem eines Fahrzeugs |
DE102014201382A1 (de) * | 2014-01-27 | 2015-07-30 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Fahrerassistenzsystems und Fahrerassistenzsystem |
IL236114A (en) | 2014-12-07 | 2016-04-21 | Yoav Grauer | Improved object recognition in the reimbursement-based imaging unit |
US20160180175A1 (en) | 2014-12-18 | 2016-06-23 | Pointgrab Ltd. | Method and system for determining occupancy |
US10457113B2 (en) | 2015-02-27 | 2019-10-29 | Braeburn Inc. | Vehicle extreme temperature safety systems and methods |
JP6637686B2 (ja) | 2015-06-30 | 2020-01-29 | 株式会社デンソーテン | 情報提示装置、車載装置、情報提示システムおよび情報提示方法 |
WO2017073348A1 (ja) * | 2015-10-27 | 2017-05-04 | 富士フイルム株式会社 | 赤外線撮像装置及びその制御方法、並びに車両 |
US10019902B2 (en) * | 2015-11-06 | 2018-07-10 | Continental Automotive Systems, Inc. | Enhanced sound generation for quiet vehicles with vehicle-to-vehicle communication capabilities |
US20170219240A1 (en) | 2016-02-03 | 2017-08-03 | Avaya Inc. | Method and apparatus for a fan auto adaptive noise |
SE539816C2 (en) | 2016-04-19 | 2017-12-05 | Scania Cv Ab | Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle |
JP6310503B2 (ja) | 2016-06-06 | 2018-04-11 | 本田技研工業株式会社 | 車両及びレーン変更タイミング判定方法 |
US9898005B2 (en) | 2016-06-24 | 2018-02-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | Driving path determination for autonomous vehicles |
US10656640B2 (en) | 2016-07-07 | 2020-05-19 | Applied Minds, Llc | Systems and methods for centralized control of autonomous vehicles |
US10737702B2 (en) | 2016-07-27 | 2020-08-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Visually simulating driving plans in autonomous vehicles |
MX2019002985A (es) | 2016-09-27 | 2019-07-04 | Nissan Motor | Metodo de estimacion de la posicion propia y dispositivo de estimacion de la posicion propia. |
US10053089B2 (en) * | 2016-11-16 | 2018-08-21 | Nio Usa, Inc. | System for controlling a vehicle based on thermal profile tracking |
KR101996419B1 (ko) * | 2016-12-30 | 2019-07-04 | 현대자동차주식회사 | 센서 융합 기반 보행자 탐지 및 보행자 충돌 방지 장치 및 방법 |
KR101996418B1 (ko) * | 2016-12-30 | 2019-07-04 | 현대자동차주식회사 | 센서 융합 기반 보행자 탐지 및 보행자 충돌 방지 장치 및 방법 |
JP6741603B2 (ja) | 2017-01-16 | 2020-08-19 | 株式会社Soken | 推定装置 |
JP7013727B2 (ja) | 2017-08-25 | 2022-02-01 | 株式会社デンソー | 車両制御装置 |
US10175112B1 (en) | 2017-12-14 | 2019-01-08 | Adasky, Ltd | Compact infrared camera for automotive safety and driving systems |
JP6965739B2 (ja) | 2017-12-27 | 2021-11-10 | 株式会社デンソー | 車両制御装置 |
WO2020184054A1 (ja) | 2019-03-11 | 2020-09-17 | 株式会社日本触媒 | (メタ)アクリル酸金属塩含有組成物および(メタ)アクリル酸金属塩含有液 |
-
2019
- 2019-03-15 US US16/354,833 patent/US10467903B1/en active Active
- 2019-03-18 US US16/356,043 patent/US10613545B2/en active Active
- 2019-04-16 EP EP23208101.8A patent/EP4296104A3/en active Pending
- 2019-04-16 EP EP19800837.7A patent/EP3788778A4/en active Pending
- 2019-04-16 KR KR1020207035179A patent/KR102496018B1/ko active IP Right Grant
- 2019-04-16 KR KR1020207035180A patent/KR20210008034A/ko not_active Application Discontinuation
- 2019-04-16 CN CN201980031744.0A patent/CN112106348B/zh active Active
- 2019-04-16 WO PCT/US2019/027594 patent/WO2019217038A1/en unknown
- 2019-04-16 JP JP2021513755A patent/JP7258125B2/ja active Active
- 2019-04-16 CN CN201980031469.2A patent/CN112105891A/zh active Pending
- 2019-04-16 CA CA3099092A patent/CA3099092A1/en active Pending
- 2019-04-16 JP JP2021513756A patent/JP2021523507A/ja active Pending
- 2019-04-16 CA CA3099099A patent/CA3099099C/en active Active
- 2019-04-16 EP EP19799312.4A patent/EP3788320A4/en active Pending
- 2019-04-16 WO PCT/US2019/027589 patent/WO2019217037A1/en unknown
- 2019-05-17 US US16/415,288 patent/US10755576B2/en active Active
-
2023
- 2023-09-06 JP JP2023144589A patent/JP2023175741A/ja active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005266634A (ja) * | 2004-03-22 | 2005-09-29 | Sharp Corp | 撮像装置 |
JP2006101384A (ja) * | 2004-09-30 | 2006-04-13 | Nissan Motor Co Ltd | 人物検出装置及び方法 |
JP2008143510A (ja) * | 2006-11-17 | 2008-06-26 | Toyota Central R&D Labs Inc | 注意喚起照射装置 |
JP2008162477A (ja) * | 2006-12-28 | 2008-07-17 | Toyota Motor Corp | 車両用接近告知装置 |
JP2012027773A (ja) * | 2010-07-26 | 2012-02-09 | Toyota Central R&D Labs Inc | 擬似濃淡画像生成装置及びプログラム |
JP2013114536A (ja) * | 2011-11-30 | 2013-06-10 | Seiko Epson Corp | 安全支援装置、及び、安全支援方法 |
JP2016189119A (ja) * | 2015-03-30 | 2016-11-04 | セコム工業株式会社 | 検知装置 |
Also Published As
Publication number | Publication date |
---|---|
US20190346855A1 (en) | 2019-11-14 |
EP4296104A3 (en) | 2024-01-10 |
US10613545B2 (en) | 2020-04-07 |
KR20210008034A (ko) | 2021-01-20 |
WO2019217038A1 (en) | 2019-11-14 |
EP3788320A1 (en) | 2021-03-10 |
US10755576B2 (en) | 2020-08-25 |
CN112105891A (zh) | 2020-12-18 |
EP4296104A2 (en) | 2023-12-27 |
JP2023175741A (ja) | 2023-12-12 |
KR20210006961A (ko) | 2021-01-19 |
JP2021522637A (ja) | 2021-08-30 |
US20190346857A1 (en) | 2019-11-14 |
CA3099092A1 (en) | 2019-11-14 |
CN112106348A (zh) | 2020-12-18 |
US20190347938A1 (en) | 2019-11-14 |
CA3099099C (en) | 2023-08-29 |
WO2019217037A1 (en) | 2019-11-14 |
JP7258125B2 (ja) | 2023-04-14 |
CA3099099A1 (en) | 2019-11-14 |
KR102496018B1 (ko) | 2023-02-07 |
EP3788320A4 (en) | 2022-01-26 |
EP3788778A1 (en) | 2021-03-10 |
EP3788778A4 (en) | 2022-01-26 |
US10467903B1 (en) | 2019-11-05 |
CN112106348B (zh) | 2024-03-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP2021523507A (ja) | 受動型赤外線歩行者検出および回避システム | |
US20200324764A1 (en) | Vehicular control system with pedestrian avoidance | |
US10176720B2 (en) | Auto driving control system | |
US10077007B2 (en) | Sidepod stereo camera system for an autonomous vehicle | |
US11062608B2 (en) | Passive infra-red pedestrian and animal detection and avoidance system | |
CN111746511B (zh) | 车辆控制系统 | |
US11012666B2 (en) | Surround camera system for autonomous driving | |
US10259453B2 (en) | Collision avoidance based on front wheel off tracking during reverse operation | |
US10025309B2 (en) | Travel control device | |
CN111824126B (zh) | 车辆控制系统 | |
CN111746515B (zh) | 车辆控制系统 | |
CN104252796A (zh) | 用于在至少两辆汽车之间交换信息的方法 | |
JP2018086874A (ja) | 車両の追従発進制御装置 | |
US11279352B2 (en) | Vehicle control device | |
WO2019142312A1 (ja) | 車両制御装置、それを有する車両、および制御方法 | |
JP6838124B2 (ja) | 自動運転制御システム | |
US11226626B1 (en) | Detecting and responding to people directing traffic for autonomous vehicles | |
US10766412B1 (en) | Systems and methods for notifying other road users of a change in vehicle speed | |
JP2022068115A (ja) | 適応可能な後突警報のためのシステムと方法 | |
US20230068703A1 (en) | Planning system for autonomously navigating around lane-sharing road agents | |
KR20230106207A (ko) | 적어도 하나 이상의 모드에 따라, 제어되는 차량 및 방법 | |
KR20230072418A (ko) | 보행자 보호 기능을 구비한 운전자 보조 시스템 | |
KR20230110395A (ko) | 특정 타입의 버스를 추월하는 차량 및 그 제어 방법 | |
KR20230155147A (ko) | 사각지대 위험 물체에 대응하는 운전자 알림 방법 및 시스템 | |
JP2024050275A (ja) | 報知制御装置、報知制御方法、およびプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210104 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20211213 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20211221 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20220228 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220517 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20221004 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20221228 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20230509 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230906 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20230915 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20231201 |