JP6712775B2 - 路面推定装置、車両制御装置、路面推定方法、およびプログラム - Google Patents
路面推定装置、車両制御装置、路面推定方法、およびプログラム Download PDFInfo
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- JP6712775B2 JP6712775B2 JP2016158836A JP2016158836A JP6712775B2 JP 6712775 B2 JP6712775 B2 JP 6712775B2 JP 2016158836 A JP2016158836 A JP 2016158836A JP 2016158836 A JP2016158836 A JP 2016158836A JP 6712775 B2 JP6712775 B2 JP 6712775B2
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- 238000005259 measurement Methods 0.000 claims description 53
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- G06V20/00—Scenes; Scene-specific elements
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- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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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
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Landscapes
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- Length Measuring Devices By Optical Means (AREA)
Description
図1は、第1の実施の形態に係る路面推定装置100のブロック図である。路面推定装置100は、撮影部110、空間計測部120、路面モデル作成部130、フィルタ部140、路面推定部150、および車両制御部160を備える。
x:b=ur:d … (1)
x:ur=y:vr=z:f … (3)
110 撮影部
120 空間計測部
130 路面モデル作成部
140 フィルタ部
150 路面推定部
160 車両制御部
2100 コンピュータ
2101 入力装置
2102 出力装置
2103 CPU
2104 ROM
2105 RAM
2106 記憶装置
2107 読取装置
2108 送受信装置
2109 バス
Claims (8)
- ステレオカメラまたは3次元計測が可能なカメラから入力された画像に基づいて路面の複数の3次元計測点を計測する空間計測部と、
地図の情報に基づいて作成された路面モデルに基づいて前記複数の3次元計測点にフィルタをかけて路面候補点を取得するフィルタ部と、
前記路面候補点に基づいて路面を推定する路面推定部と、
を備える路面推定装置。 - 前記フィルタは、前記路面モデルが表す平面または曲面からの法線方向の幅であるフィルタ幅によって画定される範囲の内側にある3次元計測点を前記路面候補点として採用し、前記範囲の外側にある3次元計測点を外れ候補点として除外する、請求項1に記載の路面推定装置。
- 前記フィルタ幅は、前記ステレオカメラからの距離に応じて幅を変更することを特徴とする、請求項2に記載の路面推定装置。
- 請求項1から3のいずれかに記載の路面推定装置と、
搭載された車両を制御する制御部と、
を備え、
前記制御部は、前記路面推定装置が推定した推定路面に応じて、前記車両を制御する、車両制御装置。 - 前記制御部は、前記推定路面に応じて、前記車両のサスペンションの堅さを調節する、請求項4に記載の車両制御装置。
- 前記制御部は、前記推定路面に応じて、前記車両の速度を調節する、請求項4または5に記載の車両制御装置。
- ステレオカメラまたは3次元計測が可能なカメラから入力された画像に基づいて路面の複数の3次元計測点を計測するステップと、
地図の情報に基づいて作成された路面モデルに基づいて前記複数の3次元計測点にフィルタをかけて路面候補点を取得するステップと、
前記路面候補点に基づいて路面を推定するステップと、
を備える路面推定方法。 - コンピュータに、
ステレオカメラまたは3次元計測が可能なカメラから入力された画像に基づいて路面の複数の3次元計測点を計測するステップと、
地図の情報に基づいて作成された路面モデルに基づいて前記複数の3次元計測点にフィルタをかけて路面候補点を取得するステップと、
前記路面候補点に基づいて路面を推定するステップと、
を実行させるプログラム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016158836A JP6712775B2 (ja) | 2016-08-12 | 2016-08-12 | 路面推定装置、車両制御装置、路面推定方法、およびプログラム |
PCT/JP2017/023467 WO2018030010A1 (ja) | 2016-08-12 | 2017-06-27 | 路面推定装置、車両制御装置、路面推定方法、およびプログラム |
DE112017004047.7T DE112017004047T5 (de) | 2016-08-12 | 2017-06-27 | Straßenoberflächenabschätzungsvorrichtung, Fahrzeugsteuervorrichtung, Straßenoberflächenabschätzungsverfahren und Programm |
CN201780048046.2A CN109564682A (zh) | 2016-08-12 | 2017-06-27 | 路面估计装置、车辆控制装置、路面估计方法以及程序 |
US16/254,876 US20190152487A1 (en) | 2016-08-12 | 2019-01-23 | Road surface estimation device, vehicle control device, and road surface estimation method |
Applications Claiming Priority (1)
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JP2016158836A JP6712775B2 (ja) | 2016-08-12 | 2016-08-12 | 路面推定装置、車両制御装置、路面推定方法、およびプログラム |
Publications (2)
Publication Number | Publication Date |
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JP2018026058A JP2018026058A (ja) | 2018-02-15 |
JP6712775B2 true JP6712775B2 (ja) | 2020-06-24 |
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JP2016158836A Active JP6712775B2 (ja) | 2016-08-12 | 2016-08-12 | 路面推定装置、車両制御装置、路面推定方法、およびプログラム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20190152487A1 (ja) |
JP (1) | JP6712775B2 (ja) |
CN (1) | CN109564682A (ja) |
DE (1) | DE112017004047T5 (ja) |
WO (1) | WO2018030010A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190005667A1 (en) * | 2017-07-24 | 2019-01-03 | Muhammad Zain Khawaja | Ground Surface Estimation |
JP6849569B2 (ja) * | 2017-09-29 | 2021-03-24 | トヨタ自動車株式会社 | 路面検出装置 |
US20220165073A1 (en) * | 2019-02-22 | 2022-05-26 | Panasonic Intellectual Property Management Co., Ltd. | State detection device and state detection method |
CN110378293B (zh) * | 2019-07-22 | 2021-02-23 | 泰瑞数创科技(北京)有限公司 | 一种基于实景三维模型生产高精度地图的方法 |
US11164369B2 (en) * | 2019-12-20 | 2021-11-02 | Argo AI, LLC | Methods and systems for constructing map data using poisson surface reconstruction |
DE102020007645A1 (de) * | 2020-04-03 | 2021-10-07 | Daimler Ag | Verfahren zur Kalibrierung eines Lidarsensors |
CN112092563A (zh) * | 2020-09-11 | 2020-12-18 | 广州小鹏汽车科技有限公司 | 车辆的控制方法、控制装置、车载终端和车辆 |
CN114261408B (zh) * | 2022-01-10 | 2024-05-03 | 武汉路特斯汽车有限公司 | 一种可识别路况的自动驾驶方法、系统及车辆 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3324821B2 (ja) * | 1993-03-12 | 2002-09-17 | 富士重工業株式会社 | 車輌用車外監視装置 |
JP2001331787A (ja) * | 2000-05-19 | 2001-11-30 | Toyota Central Res & Dev Lab Inc | 道路形状推定装置 |
JP4631750B2 (ja) * | 2006-03-06 | 2011-02-16 | トヨタ自動車株式会社 | 画像処理システム |
US8699754B2 (en) * | 2008-04-24 | 2014-04-15 | GM Global Technology Operations LLC | Clear path detection through road modeling |
WO2014020744A1 (ja) * | 2012-08-02 | 2014-02-06 | トヨタ自動車株式会社 | 路面状態取得装置およびサスペンションシステム |
CN103854008B (zh) * | 2012-12-04 | 2019-10-18 | 株式会社理光 | 路面检测方法和装置 |
US8788146B1 (en) * | 2013-01-08 | 2014-07-22 | Ford Global Technologies, Llc | Adaptive active suspension system with road preview |
JP6274557B2 (ja) * | 2013-02-18 | 2018-02-07 | 株式会社リコー | 移動面情報検出装置、及びこれを用いた移動体機器制御システム並びに移動面情報検出用プログラム |
JP5906272B2 (ja) * | 2014-03-28 | 2016-04-20 | 富士重工業株式会社 | 車両用ステレオ画像処理装置 |
-
2016
- 2016-08-12 JP JP2016158836A patent/JP6712775B2/ja active Active
-
2017
- 2017-06-27 CN CN201780048046.2A patent/CN109564682A/zh active Pending
- 2017-06-27 WO PCT/JP2017/023467 patent/WO2018030010A1/ja active Application Filing
- 2017-06-27 DE DE112017004047.7T patent/DE112017004047T5/de not_active Withdrawn
-
2019
- 2019-01-23 US US16/254,876 patent/US20190152487A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
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WO2018030010A1 (ja) | 2018-02-15 |
DE112017004047T5 (de) | 2019-04-25 |
US20190152487A1 (en) | 2019-05-23 |
JP2018026058A (ja) | 2018-02-15 |
CN109564682A (zh) | 2019-04-02 |
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