JP5622993B2 - 走行車線に関する自動車の位置を求めるための方法および装置 - Google Patents
走行車線に関する自動車の位置を求めるための方法および装置 Download PDFInfo
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- JP5622993B2 JP5622993B2 JP2001223333A JP2001223333A JP5622993B2 JP 5622993 B2 JP5622993 B2 JP 5622993B2 JP 2001223333 A JP2001223333 A JP 2001223333A JP 2001223333 A JP2001223333 A JP 2001223333A JP 5622993 B2 JP5622993 B2 JP 5622993B2
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- 238000000034 method Methods 0.000 title claims description 30
- 230000007704 transition Effects 0.000 claims description 4
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- 238000012545 processing Methods 0.000 claims description 2
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Classifications
-
- 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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
-
- 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
- G01C21/30—Map- or contour-matching
Description
Claims (8)
- 走行車線に関する自動車の位置を求めるための方法であって、
ナビゲーションシステムに接続されたデジタルロードマップを用いて、道路に対する自動車の第1の位置づけを行い、
続いて、距離分析センサを用いて、自動車から道路縁部までの距離を確定することによって、前記第1の位置づけを精密化する形式の方法において、
道路縁部までの距離を確定するために、前記距離分析センサの受信信号の特徴を評価し、特徴の分析中に、受信信号の偏波を考慮する、方法において、
先行する測定によって求められた距離情報の時間シーケンスに基づき、車道縁部の経過を求め、前記求めた車道縁部の経過に基づき、道路が合流する領域の道路縁部を外挿する、
ことを特徴とする走行車線に関する自動車の位置を求めるための方法。
- 自動車の位置を求めるために、ジャイロシステムの位置情報を利用する、請求項1記載の方法。
- 受信信号が車道縁部の典型的な特徴を有する場合には、有意な変化が判定される、請求項1または2記載の方法。
- 前記車道縁部の経過を最小2乗誤差の方法を用いて求める、請求項1から3いずれか1項記載の方法。
- 前記車道縁部の経過を、カルマンフィルタを用いて求める、請求項1から4いずれか1項記載の方法。
- 前記カルマンフィルタを、例えばカーブパラメータであるデジタルロードマップから得た情報に適合させる、請求項5記載の方法。
- 請求項1から6のいずれか1項記載の方法を実施するための装置であって、
例えばナビゲーションおよび距離調整の目的で車両に既に存在するセンサが、共に接続されている形式の装置において、
前記センサのうちの1つは、道路表面と道路縁部との間の移行部を表す特徴を検出する、ことを特徴とする装置。
- 前記センサは、道路表面と道路縁部との間の移行部から検出した特徴を個別に評価することができる信号処理ユニットを含む、請求項7記載の装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10036042A DE10036042B4 (de) | 2000-07-25 | 2000-07-25 | Multisensorielle Fahrspurzuordnung |
DE10036042.4 | 2000-07-25 |
Publications (2)
Publication Number | Publication Date |
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JP2002098758A JP2002098758A (ja) | 2002-04-05 |
JP5622993B2 true JP5622993B2 (ja) | 2014-11-12 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2001223333A Expired - Fee Related JP5622993B2 (ja) | 2000-07-25 | 2001-07-24 | 走行車線に関する自動車の位置を求めるための方法および装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US6597984B2 (ja) |
JP (1) | JP5622993B2 (ja) |
DE (1) | DE10036042B4 (ja) |
FR (1) | FR2812438B1 (ja) |
GB (1) | GB2370706B (ja) |
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DE102004003848A1 (de) * | 2004-01-26 | 2005-08-11 | Ibeo Automobile Sensor Gmbh | Verfahren zur Erkennung von gekennzeichneten Gefahr- und/oder Baustellen im Bereich von Fahrbahnen |
US7513508B2 (en) * | 2004-06-04 | 2009-04-07 | Romeo Fernando Malit | Computer assisted driving of vehicles |
DE102004057296A1 (de) | 2004-11-26 | 2006-06-08 | Daimlerchrysler Ag | Lane-Departure-Warning mit Unterscheidung zwischen Fahrbahnrandmarkierung und baulicher Begrenzung des Fahrbahnrandes |
DE102006052779A1 (de) * | 2006-11-09 | 2008-05-15 | Bayerische Motoren Werke Ag | Verfahren zur Erzeugung eines Gesamtbilds der Umgebung eines Kraftfahrzeugs |
DE102008007347A1 (de) * | 2008-02-04 | 2009-08-06 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Bestimmen der Position eines anderen Verkehrsteilnehmers |
US20090284361A1 (en) * | 2008-05-19 | 2009-11-19 | John Boddie | Driver scoring system with lane changing detection and warning system |
JP5461065B2 (ja) * | 2009-05-21 | 2014-04-02 | クラリオン株式会社 | 現在位置特定装置とその現在位置特定方法 |
US8102306B2 (en) | 2010-05-13 | 2012-01-24 | The United States Of America As Represented By The Secretary Of The Navy | Active-radar-assisted passive composite imagery for aiding navigation or detecting threats |
DE102010049214A1 (de) | 2010-10-21 | 2011-07-28 | Daimler AG, 70327 | Verfahren zur Bestimmung eines Fahrspurverlaufs für ein Fahrzeug |
DE102010049215A1 (de) | 2010-10-21 | 2011-07-28 | Daimler AG, 70327 | Verfahren zur Bestimmung einer Fahrzeugumgebung |
JP5935377B2 (ja) * | 2012-02-20 | 2016-06-15 | 株式会社豊田中央研究所 | 移動体運動推定装置 |
US8744675B2 (en) | 2012-02-29 | 2014-06-03 | Ford Global Technologies | Advanced driver assistance system feature performance using off-vehicle communications |
US8996197B2 (en) | 2013-06-20 | 2015-03-31 | Ford Global Technologies, Llc | Lane monitoring with electronic horizon |
US20150316386A1 (en) * | 2014-04-30 | 2015-11-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Detailed map format for autonomous driving |
DE102014008849A1 (de) | 2014-06-14 | 2014-11-27 | Daimler Ag | Verfahren zur Erkennung von Fahrspurmarkierungen |
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WO2021058100A1 (en) | 2019-09-25 | 2021-04-01 | Huawei Technologies Co., Ltd. | Multisensory learning system for traffic prediction |
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-
2000
- 2000-07-25 DE DE10036042A patent/DE10036042B4/de not_active Expired - Fee Related
-
2001
- 2001-07-20 GB GB0117758A patent/GB2370706B/en not_active Expired - Fee Related
- 2001-07-24 FR FR0109838A patent/FR2812438B1/fr not_active Expired - Fee Related
- 2001-07-24 US US09/912,001 patent/US6597984B2/en not_active Expired - Lifetime
- 2001-07-24 JP JP2001223333A patent/JP5622993B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE10036042A1 (de) | 2002-02-21 |
FR2812438A1 (fr) | 2002-02-01 |
GB2370706B (en) | 2003-03-05 |
US6597984B2 (en) | 2003-07-22 |
GB0117758D0 (en) | 2001-09-12 |
US20020067292A1 (en) | 2002-06-06 |
DE10036042B4 (de) | 2004-12-16 |
GB2370706A (en) | 2002-07-03 |
FR2812438B1 (fr) | 2004-01-30 |
JP2002098758A (ja) | 2002-04-05 |
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