JP6699728B2 - 車間距離推定方法及び車間距離推定装置 - Google Patents
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Description
図1は、本実施の形態に係る車間距離推定装置20の構成を示すブロック図である。車間距離推定装置20は、センサ21と、地図データ記憶部22と、自己位置推定部23と、運動情報取得部24と、出力部25と、処理回路30とを備える。車間距離推定装置20は、例えば、図2に示すように、車両11(自車両)に搭載され、障害物により遮蔽された他車両を含む車列の車間距離を推定する。
以下、図3A乃至図3Bのフローチャートを用いて、車間距離推定装置20による車間距離推定方法の一例を説明する。以下に示す一連の処理は、所定の時刻ごとに繰り返し実行される。図2に示すように、車間距離推定装置20が搭載された車両11が、前方に存在する道路10の奥の車線に合流するために、奥の車線を走行する複数の追跡車両12の車間距離を推定する場面を例として説明する。
v2=40+10×(2/6)=43.3 …(1)
v3=40+10×(5/6)=48.3 …(2)
v5=35+15×(2/3)=45 …(3)
図6A及び図6Bは、時刻t=0で、ID=11,12,13が同じ速度で走行している状態から、2つの可観測物体13(ID=11,13)に挟まれた1つの非観測物体16(ID=12)が、時刻t=0から時刻t=Tにかけて加速する場面を説明する図である。ID=11の追跡車両12に対して、ID=13の追跡車両12の相対速度が増加したと観測された場合、非観測物体16であるID=12の追跡車両12が、時刻t=0から時刻t=Tにかけて加速したと推定することができる。結果として、ID=11〜13の3台の追跡車両12の車間距離は、それぞれ狭くなると推定される。
上記のように、本発明を上記の実施の形態によって記載したが、この開示の一部をなす論述及び図面は本発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施の形態、実施例及び運用技術が明らかとなろう。
12 追跡車両
14 遮蔽領域
15 非遮蔽領域
20 車間距離推定装置
21 センサ
30 処理回路
101 走行領域
Claims (5)
- 車両の周囲の物体の位置情報を検出するセンサと、前記位置情報に基づいて検出される複数の追跡車両の車間距離を推定する処理回路とを用いた車間距離推定方法であって、
前記処理回路は、障害物により前記センサから遮蔽される遮蔽領域と、前記遮蔽領域を挟む2つの非遮蔽領域とを推定し、
前記2つの非遮蔽領域の同一車線上をそれぞれ走行する2台の前記追跡車両の速度に基づいて、前記遮蔽領域の前記同一車線上を走行する前記追跡車両に対する車間距離を推定することを特徴とする車間距離推定方法。 - 前記遮蔽領域の同一車線上を走行する前記追跡車両の速度を推定し、
推定した前記追跡車両の速度に基づいて、前記車間距離を推定することを特徴とする請求項1に記載の車間距離推定方法。 - 前記処理回路は、前記複数の追跡車両が走行する走行領域を地図データにおいて推定し、前記走行領域において前記2つの非遮蔽領域を推定することを特徴とする請求項1又は2に記載の車間距離推定方法。
- 前記センサは、前記追跡車両の形状及び色の少なくとも何れかを検出し、
前記処理回路は、前記追跡車両の形状及び色の少なくとも何れかに基づいて、前記追跡車両を追跡することを特徴とする請求項1乃至3の何れか1項に記載の車間距離推定方法。 - 車両の周囲の物体の位置情報を検出するセンサと、前記位置情報に基づいて検出される複数の追跡車両の車間距離を推定する処理回路とを備える車間距離推定装置であって、
前記処理回路は、障害物により前記センサから遮蔽される遮蔽領域と、前記遮蔽領域を挟む2つの非遮蔽領域とを推定し、
前記2つの非遮蔽領域をそれぞれ走行する2台の前記追跡車両の速度に基づいて、前記遮蔽領域を走行する前記追跡車両の速度を推定し、
推定した前記追跡車両の速度に基づいて、前記複数の追跡車両の車間距離を推定することを特徴とする車間距離推定装置。
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2016
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CN109314763B (zh) | 2021-01-05 |
EP3471408A4 (en) | 2019-08-21 |
CA3027328A1 (en) | 2017-12-21 |
BR112018075863A2 (pt) | 2019-03-19 |
WO2017216856A1 (ja) | 2017-12-21 |
MX2018014953A (es) | 2019-04-25 |
MX368800B (es) | 2019-10-17 |
US20190276021A1 (en) | 2019-09-12 |
JPWO2017216856A1 (ja) | 2019-06-13 |
RU2693015C1 (ru) | 2019-07-01 |
EP3471408A1 (en) | 2019-04-17 |
US10501077B2 (en) | 2019-12-10 |
KR20190005189A (ko) | 2019-01-15 |
EP3471408B1 (en) | 2021-04-21 |
CN109314763A (zh) | 2019-02-05 |
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