JP7136663B2 - 車載制御装置 - Google Patents
車載制御装置 Download PDFInfo
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- JP7136663B2 JP7136663B2 JP2018209810A JP2018209810A JP7136663B2 JP 7136663 B2 JP7136663 B2 JP 7136663B2 JP 2018209810 A JP2018209810 A JP 2018209810A JP 2018209810 A JP2018209810 A JP 2018209810A JP 7136663 B2 JP7136663 B2 JP 7136663B2
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- 238000001514 detection method Methods 0.000 claims description 27
- 230000010365 information processing Effects 0.000 claims description 22
- 238000012545 processing Methods 0.000 claims description 18
- 238000003384 imaging method Methods 0.000 claims description 13
- 238000000605 extraction Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 7
- 210000004027 cell Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 238000009825 accumulation Methods 0.000 description 5
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- 238000007781 pre-processing Methods 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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-
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
-
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- G06T7/70—Determining position or orientation of objects or cameras
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- 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
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- 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
- B60W2554/4041—Position
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
-
- 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
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- 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
- G06T2207/20—Special algorithmic details
- G06T2207/20021—Dividing image into blocks, subimages or windows
-
- 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
- G06T2207/30256—Lane; Road marking
-
- 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
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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
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Instructional Devices (AREA)
- Radar Systems Or Details Thereof (AREA)
- Image Analysis (AREA)
Description
2 物体検知部
3 物体情報蓄積部
4 加工前格子地図
5 情報加工部
5a 物体領域抽出部
5b 物体領域間距離算出部
5c 隣接物体領域補完部
5d 物体領域線分算出部
5e 隣接線分補完部
6a 判定用格子地図
6b 自動運転用格子地図
7 路面領域判定部
8 制御部
20 自車両
21 物体占有領域
22、22a 物体非占有領域
23 路面領域
Claims (5)
- 撮像装置が撮像した画像情報から自車両の前方の物体の位置を検知する物体検知部と、
該物体検知部が物体を検知した位置を物体占有領域とし、物体を検知しない位置を物体
非占有領域とした加工前格子地図を記憶する物体情報蓄積部と、
前記加工前格子地図の物体非占有領域の一部を物体占有領域に置換した判定用格子地図
を生成する情報加工部と、
前記判定用格子地図の物体占有領域に囲まれた閉空間を路面領域とした自動運転用格子
地図を生成する路面領域判定部と、
を備えた車載制御装置であって、
前記情報加工部は、
前記加工前格子地図から物体占有領域の連続部を抽出する物体領域抽出部と、
前記連続部が複数存在するときに、連続部同士の距離を算出する物体領域間距離算出部と、
算出した前記距離が閾値以下であるときに、両連続部に挟まれた前記物体非占有領域を前記物体占有領域に置換した前記判定用格子地図を生成する隣接物体領域補完部と、
を備えることを特徴とする車載制御装置。 - 撮像装置が撮像した画像情報から自車両の前方の物体の位置を検知する物体検知部と、
該物体検知部が物体を検知した位置を物体占有領域とし、物体を検知しない位置を物体
非占有領域とした加工前格子地図を記憶する物体情報蓄積部と、
前記加工前格子地図の物体非占有領域の一部を物体占有領域に置換した判定用格子地図
を生成する情報加工部と、
前記判定用格子地図の物体占有領域に囲まれた閉空間を路面領域とした自動運転用格子
地図を生成する路面領域判定部と、
を備えた車載制御装置であって、
前記情報加工部は、
前記加工前格子地図から物体占有領域の塊を抽出する物体領域抽出部と、
前記塊が複数存在するときに、各塊の代表線分を算出する物体領域線分算出部と、
算出した代表線分同士の距離が閾値以下、かつ、算出した代表線分同士のなす角が閾値以下であるときに、両代表線分間の前記物体非占有領域を前記物体占有領域に置換した前記判定用格子地図を生成する隣接線分補間部と、
を備えることを特徴とする車載制御装置。 - 請求項1または2に記載の車載制御装置において、
前記情報加工部は、予め作成しておいた高精度地図を併用して、前記置換の要否を判断することを特徴とする車載制御装置。 - 請求項1または2に記載の車載制御装置において、
前記情報加工部は、前記撮像装置が撮像した画像情報から抽出した白線情報を併用して、前記置換の要否を判断することを特徴とする車載制御装置。 - 請求項1または2に記載の車載制御装置において、
前記物体情報蓄積部に記憶された前記加工前格子地図には、自車両に設置された前記撮像装置以外の物体検知装置が検知した物体の位置も前記物体占有領域として登録されることを特徴とする車載制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018209810A JP7136663B2 (ja) | 2018-11-07 | 2018-11-07 | 車載制御装置 |
PCT/JP2019/041448 WO2020095673A1 (ja) | 2018-11-07 | 2019-10-23 | 車載制御装置 |
EP19882588.7A EP3852081A4 (en) | 2018-11-07 | 2019-10-23 | VEHICLE MOUNTED CONTROL DEVICE |
US17/286,783 US20210339765A1 (en) | 2018-11-07 | 2019-10-23 | In-vehicle control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018209810A JP7136663B2 (ja) | 2018-11-07 | 2018-11-07 | 車載制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020077180A JP2020077180A (ja) | 2020-05-21 |
JP7136663B2 true JP7136663B2 (ja) | 2022-09-13 |
Family
ID=70611334
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JP2018209810A Active JP7136663B2 (ja) | 2018-11-07 | 2018-11-07 | 車載制御装置 |
Country Status (4)
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US (1) | US20210339765A1 (ja) |
EP (1) | EP3852081A4 (ja) |
JP (1) | JP7136663B2 (ja) |
WO (1) | WO2020095673A1 (ja) |
Families Citing this family (1)
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DE102020211649A1 (de) * | 2020-09-17 | 2022-03-17 | Conti Temic Microelectronic Gmbh | Verfahren und System zum Erstellen eines Straßenmodells |
Citations (3)
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JP2010160777A (ja) | 2008-12-12 | 2010-07-22 | Toyota Central R&D Labs Inc | 地図生成装置、走路推定装置、移動可能領域推定装置、及びプログラム |
JP2014142965A (ja) | 2014-04-24 | 2014-08-07 | Toyota Motor Corp | 運転支援装置および運転支援方法 |
JP2017037473A (ja) | 2015-08-10 | 2017-02-16 | 富士重工業株式会社 | 操舵支援装置 |
Family Cites Families (12)
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JP5007840B2 (ja) * | 2009-05-22 | 2012-08-22 | トヨタ自動車株式会社 | 運転支援装置 |
US8781644B2 (en) * | 2011-03-21 | 2014-07-15 | Denso Corporation | Method and apparatus for recognizing shape of road for vehicles |
JP5348180B2 (ja) * | 2011-05-30 | 2013-11-20 | トヨタ自動車株式会社 | 運転支援装置 |
US8750567B2 (en) * | 2012-04-09 | 2014-06-10 | GM Global Technology Operations LLC | Road structure detection and tracking |
DE102012107885A1 (de) * | 2012-08-27 | 2014-02-27 | Continental Teves Ag & Co. Ohg | Verfahren zur Bestimmung eines Fahrspurverlaufs für ein Fahrzeug |
JP6160634B2 (ja) * | 2015-02-09 | 2017-07-12 | トヨタ自動車株式会社 | 走行路面検出装置及び走行路面検出方法 |
KR101847838B1 (ko) * | 2015-12-24 | 2018-04-11 | 현대자동차주식회사 | 도로 경계 검출 시스템 및 방법과 이를 이용한 차량 |
JP6239664B2 (ja) | 2016-03-16 | 2017-11-29 | 株式会社デンソーアイティーラボラトリ | 周辺環境推定装置及び周辺環境推定方法 |
EP3432264A4 (en) * | 2016-03-17 | 2019-07-10 | Ricoh Company, Ltd. | IMAGE PROCESSING DEVICE, IMAGE RECORDING, MOBILE BODY DEVICE CONTROL SYSTEM, PICTURE PROCESSING METHOD AND PROGRAM |
WO2017158964A1 (ja) * | 2016-03-18 | 2017-09-21 | 株式会社リコー | 画像処理装置、移動体機器制御システム、画像処理用プログラム及び画像処理方法 |
US10369994B2 (en) * | 2016-07-20 | 2019-08-06 | Ford Global Technologies, Llc | Rear camera stub detection |
US10309777B2 (en) * | 2016-12-30 | 2019-06-04 | DeepMap Inc. | Visual odometry and pairwise alignment for high definition map creation |
-
2018
- 2018-11-07 JP JP2018209810A patent/JP7136663B2/ja active Active
-
2019
- 2019-10-23 US US17/286,783 patent/US20210339765A1/en active Pending
- 2019-10-23 EP EP19882588.7A patent/EP3852081A4/en active Pending
- 2019-10-23 WO PCT/JP2019/041448 patent/WO2020095673A1/ja unknown
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010160777A (ja) | 2008-12-12 | 2010-07-22 | Toyota Central R&D Labs Inc | 地図生成装置、走路推定装置、移動可能領域推定装置、及びプログラム |
JP2014142965A (ja) | 2014-04-24 | 2014-08-07 | Toyota Motor Corp | 運転支援装置および運転支援方法 |
JP2017037473A (ja) | 2015-08-10 | 2017-02-16 | 富士重工業株式会社 | 操舵支援装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3852081A1 (en) | 2021-07-21 |
JP2020077180A (ja) | 2020-05-21 |
EP3852081A4 (en) | 2022-10-19 |
WO2020095673A1 (ja) | 2020-05-14 |
US20210339765A1 (en) | 2021-11-04 |
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