JP6723983B2 - 慣性センサを利用するドライバ支援システム - Google Patents
慣性センサを利用するドライバ支援システム Download PDFInfo
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- JP6723983B2 JP6723983B2 JP2017506787A JP2017506787A JP6723983B2 JP 6723983 B2 JP6723983 B2 JP 6723983B2 JP 2017506787 A JP2017506787 A JP 2017506787A JP 2017506787 A JP2017506787 A JP 2017506787A JP 6723983 B2 JP6723983 B2 JP 6723983B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/10—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
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- 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
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/11—Linear movements of the vehicle
- B60Q2300/112—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/11—Linear movements of the vehicle
- B60Q2300/114—Vehicle acceleration or deceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/13—Attitude of the vehicle body
- B60Q2300/132—Pitch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Traffic Control Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Closed-Circuit Television Systems (AREA)
Description
Claims (9)
- 視野に対応する画像データを捕捉するよう構成された画像センサと、
前記画像センサと通信するコントローラと、
前記コントローラと通信する慣性センサと、
を備える、車両制御システム用の画像データの処理機能を調整するよう構成された装置であって、
前記コントローラは、
前記画像センサから画像データを受信し、
前記慣性センサからホスト車両の方向に対応する加速度信号を受信し、
前記視野のサブセットを含む処理ウィンドウ内で標的車両の少なくとも1つの特徴のために前記画像データを走査するよう構成された機能を作動し、
前記加速度信号に応答して前記画像データ内の前記処理ウィンドウの位置を設定し、
前記画像データ内の前記少なくとも1つの特徴を特定するために前記処理ウィンドウ内を走査し、
前記標的車両の特定された前記少なくとも1つの特徴を通信するための制御信号を出力する
ように動作可能であり、
前記制御信号は、前記ホスト車両のヘッドライトの照準またはレベルを制御するように構成されたヘッドライド制御システムに出力される
ことを特徴とする装置。 - 前記視野は、前記ホスト車両に対して前方方向の領域に対応する、請求項1に記載の装置。
- 前記少なくとも1つの特徴は、標的車両のヘッドライト及びテールライトのうちの少なくとも1つに起因する発光に対応する、請求項1〜2のいずれか1項に記載の装置。
- 前記位置は、前記加速度信号から決定されるような前記ホスト車両の方向変化に基づいて決定される、請求項1〜3のいずれか1項に記載の装置。
- 前記処理ウィンドウは、前記位置に基づいて非標的物体に対応する物体をフィルタリングするように前記画像データの走査を制限または優先付けするように構成されている、請求項1〜3のいずれか1項に記載の装置。
- 視野に対応する画像データを捕捉するよう構成された画像センサと、
前記画像センサと通信するコントローラと、
前記コントローラと慣性信号を通信するよう構成される慣性センサと、
を備える、車両制御システム用の画像データの処理機能を調整するよう構成された装置であって、
前記コントローラは、
前記画像センサから画像データを受信し、
前記慣性センサからホスト車両の方向を受信し、
前記視野のサブセットを含む処理ウィンドウ内で標的車両の少なくとも1つの特徴のために前記画像データを走査するよう構成された機能を作動し、
前記方向に応答して前記画像データ内の前記処理ウィンドウの位置を設定し、
前記画像データ内の前記少なくとも1つの特徴を特定するために前記処理ウィンドウ内を走査し、
前記標的車両の特定された前記少なくとも1つの特徴の検出を示す制御信号を出力する
ように動作可能であり、
前記ホスト車両の車軸の数に対応する複数の信号スパイクを決定するために、前記慣性信号が、当該慣性信号の平均と比較され、
前記ホスト車両の前記速度を計算するために、前記ホスト車両の2つの車軸の間の距離が、前記複数の信号スパイクの間の時間差によって除算される
ことを特徴とする装置。 - 前記コントローラは、前記ホスト車両の進行方向を検出するよう動作可能な方向検出装置と通信する、請求項6に記載の装置。
- 前記方向検出装置は、磁気計、コンパス、及び、任意の好適な方向検出装置、のうちの1つを有する、請求項7に記載の装置。
- 前記少なくとも1つの標的車両の特徴は、前記標的車両のヘッドライトとテールライトのうちの少なくとも1つに対応する、請求項6に記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201462032894P | 2014-08-04 | 2014-08-04 | |
US62/032,894 | 2014-08-04 | ||
PCT/US2015/043448 WO2016022483A1 (en) | 2014-08-04 | 2015-08-03 | Driver assist system utilizing an inertial sensor |
Publications (2)
Publication Number | Publication Date |
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JP2017530896A JP2017530896A (ja) | 2017-10-19 |
JP6723983B2 true JP6723983B2 (ja) | 2020-07-15 |
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Application Number | Title | Priority Date | Filing Date |
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JP2017506787A Active JP6723983B2 (ja) | 2014-08-04 | 2015-08-03 | 慣性センサを利用するドライバ支援システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US9704049B2 (ja) |
EP (1) | EP3194211B1 (ja) |
JP (1) | JP6723983B2 (ja) |
KR (1) | KR101911715B1 (ja) |
CN (1) | CN106573571B (ja) |
WO (1) | WO2016022483A1 (ja) |
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US10857883B2 (en) * | 2016-11-14 | 2020-12-08 | The University Of Massachusetts | Efficient control of fuel consumption in cars |
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US11341786B1 (en) | 2020-11-13 | 2022-05-24 | Samsara Inc. | Dynamic delivery of vehicle event data |
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US11352014B1 (en) | 2021-11-12 | 2022-06-07 | Samsara Inc. | Tuning layers of a modular neural network |
US11386325B1 (en) | 2021-11-12 | 2022-07-12 | Samsara Inc. | Ensemble neural network state machine for detecting distractions |
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-
2015
- 2015-08-03 WO PCT/US2015/043448 patent/WO2016022483A1/en active Application Filing
- 2015-08-03 JP JP2017506787A patent/JP6723983B2/ja active Active
- 2015-08-03 KR KR1020177005830A patent/KR101911715B1/ko active IP Right Grant
- 2015-08-03 US US14/816,203 patent/US9704049B2/en active Active
- 2015-08-03 EP EP15829372.0A patent/EP3194211B1/en active Active
- 2015-08-03 CN CN201580042319.3A patent/CN106573571B/zh active Active
Also Published As
Publication number | Publication date |
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US9704049B2 (en) | 2017-07-11 |
EP3194211A4 (en) | 2017-08-09 |
KR20170036096A (ko) | 2017-03-31 |
CN106573571B (zh) | 2019-05-21 |
JP2017530896A (ja) | 2017-10-19 |
WO2016022483A1 (en) | 2016-02-11 |
EP3194211B1 (en) | 2024-05-01 |
EP3194211A1 (en) | 2017-07-26 |
US20160034770A1 (en) | 2016-02-04 |
CN106573571A (zh) | 2017-04-19 |
KR101911715B1 (ko) | 2018-10-25 |
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