JP6823307B2 - 車両運転補助装置 - Google Patents
車両運転補助装置 Download PDFInfo
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- JP6823307B2 JP6823307B2 JP2019524008A JP2019524008A JP6823307B2 JP 6823307 B2 JP6823307 B2 JP 6823307B2 JP 2019524008 A JP2019524008 A JP 2019524008A JP 2019524008 A JP2019524008 A JP 2019524008A JP 6823307 B2 JP6823307 B2 JP 6823307B2
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- 230000001133 acceleration Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- 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
-
- 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
-
- 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
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
-
- 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
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/08—Predicting or avoiding probable or impending collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/304—Acceleration sensors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Traffic Control Systems (AREA)
- Studio Devices (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Description
自動車は、使用される原動機による分類によれば、内燃機関(internal combustion engine)自動車、外燃機関(external combustion engine)自動車、ガスタービン(gas turbine)自動車または電気自動車(electric vehicle)等がある。
Claims (11)
- センサモジュール;
映像を撮影するカメラモジュール;及び
車両取り付け後、前記車両の前面が第1方向に位置時、前記センサモジュールで測定した第1中心軸値、及び前記第1方向と反対となる第2方向に前記車両の前面が位置時、前記センサモジュールで測定した第2中心軸値に基づいて前記車両が位置した地面の傾斜値を算出し、前記第1、第2中心軸値のいずれか一つと前記傾斜値を利用して算出した前記センサモジュールの中心軸固定誤差値に基づいて前記映像でオブジェクトを追従するための有効領域を決定する制御モジュールを含む、車両運転補助装置。 - 前記センサモジュールは、
加速度信号を出力するセンサ部;及び
前記加速度信号を信号処理して前記第1、第2中心軸値の少なくとも一つを算出する信号処理部を含む、請求項1に記載の車両運転補助装置。 - 前記センサ部は、
前記加速度信号を出力する3軸加速度センサを含む、請求項2に記載の車両運転補助装置。 - 前記信号処理部は、
前記加速度信号をデジタル信号に変換した後、前記第1、第2中心軸値を出力する、請求項2に記載の車両運転補助装置。 - 前記制御モジュールは、
前記第1、第2中心軸値で前記傾斜値を算出する傾斜値算出部;
前記第1、第2中心軸値の少なくとも一つと前記傾斜値に基づいて前記中心軸固定誤差値を算出し、前記中心軸固定誤差値で前記有効領域を決定する領域決定部;及び
車両運転補助機能遂行時、前記有効領域で前記オブジェクトを追従する追従制御部を含む、請求項1に記載の車両運転補助装置。 - 前記領域決定部は、
前記傾斜値が設定された基準傾斜値より大きければ、前記有効領域の決定に対するエラーと判断し、決定エラー信号を前記追従制御部に出力する、請求項5に記載の車両運転補助装置。 - 前記制御モジュールは、
エラーアラームを出力するエラーアラーム部をさらに含み、
前記追従制御部は、
前記決定エラー信号入力時、前記エラーアラームが出力されるように前記エラーアラーム部を制御する、請求項6に記載の車両運転補助装置。 - 前記傾斜値算出部は、
前記傾斜値を数1の式で算出する、請求項5に記載の車両運転補助装置。
- 前記領域決定部は、
前記中心軸固定誤差値を数2の式で算出する、請求項5に記載の車両運転補助装置。
- 前記領域決定部は、
前記中心軸固定誤差値に対応する移動値に設定された基準有効領域を移動(shift)させて前記有効領域を決定する、請求項5に記載の車両運転補助装置。 - 前記中心軸固定誤差値は、
前記センサモジュールが印刷回路基板に半田付け時にずれる工程上の誤差値及び前記車両に装着時にずれる装着誤差値を含む、請求項1に記載の車両運転補助装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020160088894A KR101793223B1 (ko) | 2016-07-13 | 2016-07-13 | 차량 운전 보조장치 |
KR10-2016-0088894 | 2016-07-13 | ||
PCT/KR2017/007467 WO2018012879A1 (ko) | 2016-07-13 | 2017-07-12 | 차량 운전 보조장치 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019523622A JP2019523622A (ja) | 2019-08-22 |
JP6823307B2 true JP6823307B2 (ja) | 2021-02-03 |
Family
ID=60383671
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019524008A Active JP6823307B2 (ja) | 2016-07-13 | 2017-07-12 | 車両運転補助装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10708552B2 (ja) |
EP (1) | EP3486131B1 (ja) |
JP (1) | JP6823307B2 (ja) |
KR (1) | KR101793223B1 (ja) |
CN (1) | CN109476303A (ja) |
WO (1) | WO2018012879A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6988200B2 (ja) * | 2017-06-29 | 2022-01-05 | 株式会社デンソー | 車両制御装置 |
CN109740462B (zh) * | 2018-12-21 | 2020-10-27 | 北京智行者科技有限公司 | 目标的识别跟随方法 |
CN114001752A (zh) * | 2021-10-27 | 2022-02-01 | 一汽解放汽车有限公司 | 车辆坡度传感器校准方法、装置、传感器校准设备及介质 |
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-
2016
- 2016-07-13 KR KR1020160088894A patent/KR101793223B1/ko active IP Right Grant
-
2017
- 2017-07-12 CN CN201780043456.8A patent/CN109476303A/zh active Pending
- 2017-07-12 US US16/317,282 patent/US10708552B2/en active Active
- 2017-07-12 WO PCT/KR2017/007467 patent/WO2018012879A1/ko unknown
- 2017-07-12 JP JP2019524008A patent/JP6823307B2/ja active Active
- 2017-07-12 EP EP17827949.3A patent/EP3486131B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20190246076A1 (en) | 2019-08-08 |
EP3486131A4 (en) | 2020-01-08 |
CN109476303A (zh) | 2019-03-15 |
KR101793223B1 (ko) | 2017-11-03 |
WO2018012879A1 (ko) | 2018-01-18 |
US10708552B2 (en) | 2020-07-07 |
EP3486131B1 (en) | 2021-01-20 |
JP2019523622A (ja) | 2019-08-22 |
EP3486131A1 (en) | 2019-05-22 |
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