JP6747389B2 - 衝突推定装置および衝突推定方法 - Google Patents

衝突推定装置および衝突推定方法 Download PDF

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Publication number
JP6747389B2
JP6747389B2 JP2017127191A JP2017127191A JP6747389B2 JP 6747389 B2 JP6747389 B2 JP 6747389B2 JP 2017127191 A JP2017127191 A JP 2017127191A JP 2017127191 A JP2017127191 A JP 2017127191A JP 6747389 B2 JP6747389 B2 JP 6747389B2
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moving object
vehicle
collision
trajectory
traveling direction
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Japanese (ja)
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JP2019012314A (ja
JP2019012314A5 (enExample
Inventor
崇治 小栗
崇治 小栗
洋介 伊東
洋介 伊東
慶 神谷
慶 神谷
高木　亮
亮 高木
崇弘 馬場
崇弘 馬場
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Denso Corp
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Denso Corp
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Priority to JP2017127191A priority Critical patent/JP6747389B2/ja
Priority to CN201880042560.XA priority patent/CN110809792B/zh
Priority to PCT/JP2018/016260 priority patent/WO2019003603A1/ja
Publication of JP2019012314A publication Critical patent/JP2019012314A/ja
Publication of JP2019012314A5 publication Critical patent/JP2019012314A5/ja
Priority to US16/727,536 priority patent/US11351997B2/en
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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
    • 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
    • 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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4048—Field of view, e.g. obstructed view or direction of gaze
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
JP2017127191A 2017-06-29 2017-06-29 衝突推定装置および衝突推定方法 Active JP6747389B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2017127191A JP6747389B2 (ja) 2017-06-29 2017-06-29 衝突推定装置および衝突推定方法
CN201880042560.XA CN110809792B (zh) 2017-06-29 2018-04-20 碰撞推定装置以及碰撞推定方法
PCT/JP2018/016260 WO2019003603A1 (ja) 2017-06-29 2018-04-20 衝突推定装置および衝突推定方法
US16/727,536 US11351997B2 (en) 2017-06-29 2019-12-26 Collision prediction apparatus and collision prediction method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017127191A JP6747389B2 (ja) 2017-06-29 2017-06-29 衝突推定装置および衝突推定方法

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JP2019012314A JP2019012314A (ja) 2019-01-24
JP2019012314A5 JP2019012314A5 (enExample) 2019-06-20
JP6747389B2 true JP6747389B2 (ja) 2020-08-26

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US (1) US11351997B2 (enExample)
JP (1) JP6747389B2 (enExample)
CN (1) CN110809792B (enExample)
WO (1) WO2019003603A1 (enExample)

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US10643084B2 (en) 2017-04-18 2020-05-05 nuTonomy Inc. Automatically perceiving travel signals
US10816985B2 (en) * 2018-04-17 2020-10-27 Baidu Usa Llc Method on moving obstacle representation for trajectory planning
GB2589247B (en) * 2019-01-29 2023-07-05 Motional Ad Llc Traffic light estimation
JP7275623B2 (ja) * 2019-02-12 2023-05-18 株式会社デンソー 運転支援装置
DE102020214031A1 (de) * 2020-11-09 2022-05-12 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Steuern einer Sicherheitseinrichtung eines Fahrzeugs und Sicherheitssystem für ein Fahrzeug
DE102020214033A1 (de) * 2020-11-09 2022-05-12 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Steuern einer Sicherheitseinrichtung eines Fahrzeugs und Sicherheitssystem für ein Fahrzeug
CN116080635B (zh) * 2021-11-08 2025-12-05 北京智行者科技股份有限公司 碰撞检测方法、电子设备及移动装置
CN115009272B (zh) * 2022-07-08 2023-01-31 北京捷升通达信息技术有限公司 一种基于激光雷达路障分类识别的车辆全自主越障方法
CN115432007B (zh) * 2022-09-28 2025-02-28 深圳海星智驾科技有限公司 用于车辆自动驾驶系统的碰撞检测方法、装置、电子设备

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JP4309920B2 (ja) * 2007-01-29 2009-08-05 株式会社東芝 車載用ナビゲーション装置、路面標示識別プログラム及び路面標示識別方法
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CN110809792B (zh) 2022-05-24
CN110809792A (zh) 2020-02-18
US11351997B2 (en) 2022-06-07
JP2019012314A (ja) 2019-01-24
US20200130683A1 (en) 2020-04-30
WO2019003603A1 (ja) 2019-01-03

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