JP7137359B2 - 情報処理装置 - Google Patents

情報処理装置 Download PDF

Info

Publication number
JP7137359B2
JP7137359B2 JP2018104102A JP2018104102A JP7137359B2 JP 7137359 B2 JP7137359 B2 JP 7137359B2 JP 2018104102 A JP2018104102 A JP 2018104102A JP 2018104102 A JP2018104102 A JP 2018104102A JP 7137359 B2 JP7137359 B2 JP 7137359B2
Authority
JP
Japan
Prior art keywords
vehicle
point cloud
parking
unit
map
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2018104102A
Other languages
English (en)
Japanese (ja)
Other versions
JP2019207214A5 (enExample
JP2019207214A (ja
Inventor
盛彦 坂野
晋也 田川
將裕 清原
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Faurecia Clarion Electronics Co Ltd
Original Assignee
Clarion Co Ltd
Faurecia Clarion Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Clarion Co Ltd, Faurecia Clarion Electronics Co Ltd filed Critical Clarion Co Ltd
Priority to JP2018104102A priority Critical patent/JP7137359B2/ja
Priority to EP19812343.2A priority patent/EP3805702B1/en
Priority to PCT/JP2019/008631 priority patent/WO2019230098A1/ja
Priority to CN201980036783.XA priority patent/CN112204348B/zh
Priority to US17/059,129 priority patent/US11560160B2/en
Publication of JP2019207214A publication Critical patent/JP2019207214A/ja
Publication of JP2019207214A5 publication Critical patent/JP2019207214A5/ja
Application granted granted Critical
Publication of JP7137359B2 publication Critical patent/JP7137359B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01C21/3811—Point data, e.g. Point of Interest [POI]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to 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
    • 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
    • B60W2520/12—Lateral 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
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4043—Lateral 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2018104102A 2018-05-30 2018-05-30 情報処理装置 Active JP7137359B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2018104102A JP7137359B2 (ja) 2018-05-30 2018-05-30 情報処理装置
EP19812343.2A EP3805702B1 (en) 2018-05-30 2019-03-05 Information processing device
PCT/JP2019/008631 WO2019230098A1 (ja) 2018-05-30 2019-03-05 情報処理装置
CN201980036783.XA CN112204348B (zh) 2018-05-30 2019-03-05 信息处理装置
US17/059,129 US11560160B2 (en) 2018-05-30 2019-03-05 Information processing apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018104102A JP7137359B2 (ja) 2018-05-30 2018-05-30 情報処理装置

Publications (3)

Publication Number Publication Date
JP2019207214A JP2019207214A (ja) 2019-12-05
JP2019207214A5 JP2019207214A5 (enExample) 2021-07-26
JP7137359B2 true JP7137359B2 (ja) 2022-09-14

Family

ID=68697952

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018104102A Active JP7137359B2 (ja) 2018-05-30 2018-05-30 情報処理装置

Country Status (5)

Country Link
US (1) US11560160B2 (enExample)
EP (1) EP3805702B1 (enExample)
JP (1) JP7137359B2 (enExample)
CN (1) CN112204348B (enExample)
WO (1) WO2019230098A1 (enExample)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11408964B2 (en) * 2017-11-30 2022-08-09 Nec Corporation Location estimating apparatus, location estimating method and program storing recording medium, and location estimating system
JP2020017199A (ja) * 2018-07-27 2020-01-30 パイオニア株式会社 情報処理装置
US11372097B2 (en) * 2018-10-09 2022-06-28 Metawave Corporation Method and apparatus for phase unwrapping radar detections using optical flow
JP7479108B2 (ja) * 2020-01-31 2024-05-08 パナソニックオートモーティブシステムズ株式会社 情報処理装置、情報処理方法
WO2022049615A1 (ja) * 2020-09-01 2022-03-10 株式会社ネイン 情報処理システム、情報処理方法およびコンピュータプログラム
JP7712070B2 (ja) * 2020-09-28 2025-07-23 若辰 司 経路案内装置、経路案内システム、及びプログラム
CN112735130B (zh) * 2020-12-25 2022-05-10 阿波罗智联(北京)科技有限公司 交通数据的处理方法、装置、电子设备和介质
JP7610904B2 (ja) * 2021-01-15 2025-01-09 パナソニックオートモーティブシステムズ株式会社 駐車支援方法および駐車支援装置
JP7409330B2 (ja) * 2021-01-28 2024-01-09 トヨタ自動車株式会社 自己位置推定精度検証方法、自己位置推定システム
JP2022142826A (ja) * 2021-03-17 2022-10-03 本田技研工業株式会社 自車位置推定装置
JP7561683B2 (ja) * 2021-05-13 2024-10-04 日立Astemo株式会社 地図生成・自己位置推定装置
WO2023002615A1 (ja) * 2021-07-21 2023-01-26 株式会社センシンロボティクス 移動体の移動経路生成方法及びプログラム、管理サーバ、管理システム
JP2023019930A (ja) * 2021-07-30 2023-02-09 キヤノン株式会社 情報処理装置、移動体、情報処理装置の制御方法およびプログラム
JP2024173590A (ja) * 2023-05-31 2024-12-12 トヨタ自動車株式会社 制御装置
CN116486639B (zh) * 2023-06-14 2023-09-29 眉山环天智慧科技有限公司 一种基于遥感和北斗卫星数据分析的车辆监管方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010032398A (ja) 2008-07-30 2010-02-12 Alpine Electronics Inc ナビゲーションシステムの位置検出装置および位置検出方法
JP2012141662A (ja) 2010-12-28 2012-07-26 Toyota Motor Corp ロボットの自己位置推定方法
JP2015077862A (ja) 2013-10-16 2015-04-23 トヨタ自動車株式会社 駐車支援装置
WO2016189732A1 (ja) 2015-05-28 2016-12-01 日産自動車株式会社 自己位置推定装置及び自己位置推定方法
JP2018004343A (ja) 2016-06-29 2018-01-11 クラリオン株式会社 車載処理装置
WO2018020589A1 (ja) 2016-07-26 2018-02-01 日産自動車株式会社 自己位置推定方法及び自己位置推定装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3595680B2 (ja) * 1998-05-19 2004-12-02 クラリオン株式会社 ナビゲーションシステム及び方法並びにナビゲーション用ソフトウェアを記録した記録媒体
JP4277717B2 (ja) * 2004-03-17 2009-06-10 株式会社日立製作所 車両位置推定装置およびこれを用いた運転支援装置
JP2006072431A (ja) * 2004-08-31 2006-03-16 Matsushita Electric Ind Co Ltd 自動駐車システム
JP4483589B2 (ja) * 2005-01-12 2010-06-16 日産自動車株式会社 車両用情報提供装置
JP5634046B2 (ja) * 2009-09-25 2014-12-03 クラリオン株式会社 センサコントローラ、ナビゲーション装置、センサ制御方法
GB201116959D0 (en) * 2011-09-30 2011-11-16 Bae Systems Plc Vehicle localisation with 2d laser scanner and 3d prior scans
JP5926558B2 (ja) * 2011-12-29 2016-05-25 クラリオン株式会社 車両用情報システムおよびサーバ装置
GB2501466A (en) * 2012-04-02 2013-10-30 Univ Oxford Localising transportable apparatus
DE102013015348A1 (de) * 2013-09-17 2014-04-10 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs
JP6314932B2 (ja) 2014-09-26 2018-04-25 キヤノンマーケティングジャパン株式会社 錠剤供給システム、情報処理装置、錠剤供給システムの制御方法、情報処理装置の制御方法及びプログラム
DE102014224077A1 (de) * 2014-11-26 2016-06-02 Robert Bosch Gmbh Verfahren und Vorrichtung zum assistierten Führen eines Fahrzeugs
DE102015201209A1 (de) * 2015-01-26 2016-07-28 Robert Bosch Gmbh Valet Parking-Verfahren und Valet-Parking System
JP6589410B2 (ja) * 2015-06-24 2019-10-16 株式会社豊田中央研究所 地図生成装置及びプログラム
JP6958117B2 (ja) * 2017-08-29 2021-11-02 株式会社アイシン 駐車支援装置
US10719719B2 (en) * 2018-03-02 2020-07-21 Here Global B.V. Method, apparatus, and computer program product for determining if probe data points have been map-matched

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010032398A (ja) 2008-07-30 2010-02-12 Alpine Electronics Inc ナビゲーションシステムの位置検出装置および位置検出方法
JP2012141662A (ja) 2010-12-28 2012-07-26 Toyota Motor Corp ロボットの自己位置推定方法
JP2015077862A (ja) 2013-10-16 2015-04-23 トヨタ自動車株式会社 駐車支援装置
WO2016189732A1 (ja) 2015-05-28 2016-12-01 日産自動車株式会社 自己位置推定装置及び自己位置推定方法
JP2018004343A (ja) 2016-06-29 2018-01-11 クラリオン株式会社 車載処理装置
WO2018020589A1 (ja) 2016-07-26 2018-02-01 日産自動車株式会社 自己位置推定方法及び自己位置推定装置

Also Published As

Publication number Publication date
EP3805702A4 (en) 2022-03-16
EP3805702B1 (en) 2024-04-24
JP2019207214A (ja) 2019-12-05
CN112204348A (zh) 2021-01-08
CN112204348B (zh) 2024-08-27
US20210206391A1 (en) 2021-07-08
EP3805702A1 (en) 2021-04-14
WO2019230098A1 (ja) 2019-12-05
US11560160B2 (en) 2023-01-24

Similar Documents

Publication Publication Date Title
JP7137359B2 (ja) 情報処理装置
JP6843712B2 (ja) 車載処理装置
JP6649191B2 (ja) 車載処理装置
JP6757261B2 (ja) 車載処理装置
US12103517B2 (en) In-vehicle processing device and movement support system
JP7538640B2 (ja) 俯瞰画像生成装置、俯瞰画像生成システム及び自動駐車装置
JP7132037B2 (ja) 車載処理装置
JP7227763B2 (ja) 車載処理装置、位置推定方法、出庫システム
JP2020073931A (ja) 情報処理装置、制御方法、プログラム及び記憶媒体
JP2023039626A (ja) 車載処理装置、車両制御装置、及び自己位置推定方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210514

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210514

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220524

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220714

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20220816

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20220902

R150 Certificate of patent or registration of utility model

Ref document number: 7137359

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150