JP6392750B2 - 障害物評価技術 - Google Patents
障害物評価技術 Download PDFInfo
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Classifications
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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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- 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
-
- 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
-
- 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
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Automation & Control Theory (AREA)
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Description
運転中、自律走行車両センサーシステムは、車両の環境を解析し得て、そして他の車などの一定の障害物の存在を検出し得る。検出された障害物の位置又は他の特性に基づいて、車両はいくつかの障害物を、一つの大きな障害物の単なる部分として、及び他の障害物を別々のそして明確な障害物として分類し得る。しかしながら、状況によっては、これらの分類は誤ったものであり得る。例えば、二台の車が並んで位置しているとき、又は二輪車がセミトラックを通過しているとき、車両システムは、これらの障害物の組(obstacle pairs)の各々を、それらが非常に近接している結果として、単に一つの大きな障害物として間違って分類するかもしれない。
Claims (4)
- 車両システムが複数の予備的な障害物に関するデータを収集するための少なくとも一つのセンサーを使用し、
前記車両システムが前記複数の予備的な障害物から予備的な障害物の組を識別し、ここで、当該予備的な障害物の組は第一及び第二の予備的な障害物を含み、
前記車両システムが、前記第一の予備的な障害物に対して収集されたデータを前記第二の予備的な障害物に対して収集されたデータと比較することによって、評価プロセスを行うことであって、
i)前記第一及び第二の予備的な障害物の間の速度差分の所定期間における最大値が、ある速度閾値を越えたかどうかを決定すること、
ii)前記第一及び第二の予備的な障害物の間の方位差分の前記所定期間における最大値が、ある方位閾値を越えたかどうかを決定すること、及び
iii)前記第一及び第二の予備的な障害物の間の距離差分の前記所定期間における最大値が、ある距離閾値を越えたかどうかを決定すること、
を含む前記評価プロセスを行い、及び
前記車両システムが、前記評価プロセスのi)、ii)及びiii)に基づいて、前記第一及び第二の予備的な障害物の間の速度差分の前記所定期間における最大値が、前記速度閾値を越えた場合、前記第一及び第二の予備的な障害物の間の方位差分の前記所定期間における最大値が、前記方位閾値を越えた場合、又は前記第一及び第二の予備的な障害物の間の距離差分の前記所定期間における最大値が、前記距離閾値を越えた場合、前記第一及び第二の予備的な障害物が二つの別々の障害物であると決定する、
ことを含む方法。 - 前記車両システムが、一つ又はそれ以上の環境条件が変化したかを検出し、それに応じて前記速度閾値、前記方位閾値及び前記距離閾値の少なくとも1つを変更する、請求項1に記載の方法。
- 少なくとも一つのセンサーと、
少なくとも一つのプロセッサと、
データ記憶部と、を備える車両であって、
前記データ記憶部は、
複数の予備的な障害物に関するデータを前記少なくとも一つのセンサーから受信し、
前記複数の予備的な障害物から予備的な障害物の組を識別し、ここで、当該予備的な障害物の組は第一及び第二の予備的な障害物を含み、
前記第一及び第二の予備的な障害物に評価を実行し、
前記評価に基づき前記第一及び第二の予備的な障害物を二つの別々の障害物か、または単独障害物として分類する、
ように少なくとも一つのプロセッサによって実行可能な命令を備え、
ここで、前記評価は、
i)前記第一及び第二の予備的な障害物の間の速度差分の所定期間における最大値が、ある速度閾値を越えたかどうかを決定すること、
ii)前記第一及び第二の予備的な障害物の間の方位差分の前記所定期間における最大値が、ある方位閾値を越えたかどうかを決定すること、及び
iii)前記第一及び第二の予備的な障害物の間の距離差分の前記所定期間における最大値が、ある距離閾値を越えたかどうかを決定すること、
を含む、車両。 - 計算装置に機能を実施させるように、当該計算装置によって実行可能な命令を記憶している、コンピュータ可読媒体であって、当該機能が、
複数の予備的な障害物に関するデータを収集するための少なくとも一つのセンサーを使用すること、
前記複数の予備的な障害物から予備的な障害物の組を識別すること、ここで、当該予備的な障害物の組は第一及び第二の予備的な障害物を含み、
前記第一の予備的な障害物に対して収集されたデータを前記第二の予備的な障害物に対して収集されたデータと比較することによって評価プロセスを行うことであって、
i)前記第一及び第二の予備的な障害物の間の速度差分の所定期間における最大値が、ある速度閾値を越えたかどうかを決定すること、
ii)前記第一及び第二の予備的な障害物の間の方位差分の前記所定期間における最大値が、ある方位閾値を越えたかどうかを決定すること、及び
iii)前記第一及び第二の予備的な障害物の間の距離差分の前記所定期間における最大値が、ある距離閾値を越えたかどうかを決定すること、
を含む前記評価プロセスを行なうこと、及び
前記評価プロセスのi)、ii)及びiii)に基づいて、前記第一及び第二の予備的な障害物の間の速度差分の前記所定期間における最大値が、前記速度閾値を越えた場合、前記第一及び第二の予備的な障害物の間の方位差分の前記所定期間における最大値が、前記方位閾値を越えた場合、又は前記第一及び第二の予備的な障害物の間の距離差分の前記所定期間における最大値が、前記距離閾値を越えた場合、前記第一及び第二の予備的な障害物が二つの別々の障害物であると決定すること、
を含む、コンピュータ可読媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/489,794 US8781721B2 (en) | 2012-06-06 | 2012-06-06 | Obstacle evaluation technique |
US13/489,794 | 2012-06-06 | ||
PCT/US2013/043118 WO2013184464A1 (en) | 2012-06-06 | 2013-05-29 | Obstacle evaluation technique |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016216609A Division JP2017062819A (ja) | 2012-06-06 | 2016-11-04 | 障害物評価技術 |
Publications (2)
Publication Number | Publication Date |
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JP2015531095A JP2015531095A (ja) | 2015-10-29 |
JP6392750B2 true JP6392750B2 (ja) | 2018-09-19 |
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Application Number | Title | Priority Date | Filing Date |
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JP2015516065A Active JP6392750B2 (ja) | 2012-06-06 | 2013-05-29 | 障害物評価技術 |
JP2016216609A Pending JP2017062819A (ja) | 2012-06-06 | 2016-11-04 | 障害物評価技術 |
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JP2016216609A Pending JP2017062819A (ja) | 2012-06-06 | 2016-11-04 | 障害物評価技術 |
Country Status (6)
Country | Link |
---|---|
US (2) | US8781721B2 (ja) |
EP (3) | EP3617020A1 (ja) |
JP (2) | JP6392750B2 (ja) |
KR (2) | KR101792985B1 (ja) |
CN (1) | CN104541284B (ja) |
WO (1) | WO2013184464A1 (ja) |
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JP2017062819A (ja) | 2017-03-30 |
KR20170089967A (ko) | 2017-08-04 |
CN104541284A (zh) | 2015-04-22 |
EP3617020A1 (en) | 2020-03-04 |
US8781721B2 (en) | 2014-07-15 |
EP2858869A1 (en) | 2015-04-15 |
KR101792985B1 (ko) | 2017-11-01 |
EP4089650A1 (en) | 2022-11-16 |
KR20150024340A (ko) | 2015-03-06 |
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