JP7150274B2 - 改善された視覚的検出能力を備えた自律走行車 - Google Patents
改善された視覚的検出能力を備えた自律走行車 Download PDFInfo
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Description
-前記少なくとも1つのカメラは、制御されるように構成される、進行の方向に対する可変および可動ピッチ、ヨー、および/またはロールを有し、
-少なくとも1つのカメラのピッチ、ヨー、および/またはロールは、自律走行車が動くにつれて、カメラの画像の鮮明性および/または解像度を最大限にするために変更されるように構成され、
-可変ピッチ、可変ヨー、および/または可変ロールのカメラからの少なくとも1つの画像は、自律走行車の動きを制御する際に使用されるように構成される。
自律走行車を制御するために使用されるコンピュータビジョンのための画像を生成するように構成された、少なくとも1つのカメラを含む本発明に従う自律走行車を制御する方法であって、該方法は以下の工程を含む;
-前記少なくとも1つのカメラが、制御される進行の方向に対する可変および可動ピッチ、可変および可動ヨー、ならびに/または可変および可動ロールを有する、
-少なくとも1つのカメラのピッチ、ヨー、および/またはロールが、自律走行車が動くにつれて、カメラの画像の鮮明性および/または解像度を最大限にするために変更される、および
-可変ピッチ、可変ヨー、および/または可変ロールのカメラからの少なくとも1つの画像は、自律走行車の動きを制御する際に使用される。
自律走行車を制御するために、非一時的なメモリ媒体上に記憶される本発明に従うソフトウェアプログラム製品であって、該ソフトウェアプログラム製品は、自律走行車を制御するために使用されるコンピュータビジョンソフトウェアのための画像を生成するように構成された、少なくとも1つのカメラソフトウェアを含み、ここで、
-前記少なくとも1つのカメラは、制御されるように構成される、進行の方向に対する可変および可動ピッチ、可変および可動ヨー、ならびに/または可変および可動ロールを有し、
-少なくとも1つのカメラのピッチ、ヨー、および/またはロールは、自律走行車が動くにつれて、カメラの画像の鮮明性および/または解像度を最大限にするために変更されるように構成され、
-可変ピッチ、可変ヨー、および/または可変ロールのカメラからの少なくとも1つの画像は、自律走行車の動きを制御する際に使用されるように構成される。
-車両の前の平面における点pに関して、0以外のカメラピッチは、結果としてもたらされる再構成精度が本発明に従って水平に置かれたカメラの再構成精度よりも良くなるように選択されうる。
-車からの距離に応じる再構成精度の関数の発展は、厳密に単調であり、このことにより、0以外のカメラピッチの構成が、重要度関数(I(ΔX(); _ΔY()))とは無関係に、すなわち本発明に従う軌道制御モデルおよび考察に関わらず、車線の検出のためのより正確な入力を常に生み出すことができるという結果をもたらす。
-典型的なカメラ構成(焦点距離、センサーサイズ、およびカメラ高さ)に関して、再構成精度の著しい改善は、近距離(典型的には数メートル)で達成されうる。このことは、本発明に従って、高精細な地図を作成するためにカメラを使用するとき、重要な結果である。
-特定の車線の検出アルゴリズムおよび車線維持ソリューションのためのカメラの最適な配向(ピッチ)は、通常車両の速度に依存し、かつ本発明に従って最適な性能に到達するように動的に調節される可能性がある。
US 9,121,717 Bl COLLISION AVOIDANCE FOR VEHICLE CONTROL, published on Sep.1,2015 Jiajun Zhu.
US 5040116 VISUAL NAVIGATION AND OBSTACLE AVOIDANCE STRUCTURED LIGHT SYSTEM, published Aug. 13, 1991 Evans et al.
Claims (1)
- 自律走行車(100)であって、該自律走行車(100)は、自律走行車(100)を制御するために使用されるコンピュータビジョンのための画像(141、142、143、または144)を生成するように構成された少なくとも1つのカメラ(110、111、または112)を含み、ここで、
-少なくとも1つのカメラ(110、111、112、または113)は、進行の方向に対して制御可能なピッチ並びに可変および可動なピッチを有し、
-可変ピッチカメラ(110、111、112、または113)からの少なくとも1つの画像(141、142、143、または144)は、自律走行車(100)の動きを制御するのに使用されるように構成され、および
-可変ピッチカメラ(110、111、112、または113)のピッチは、自律走行車が動くにつれて、カメラの画像の鮮明性および/または解像度を最大限にするために変更されるように構成され、可変ピッチカメラ(110、111、112、または113)は常に0以外のピッチを有し、車線の検出のための正確な入力を提供するために下方へ傾けられ、および、
ここで、可変ピッチカメラ(110、111、112、または113)のピッチは、自律走行車(100)の速度に基づいて制御される、
ことを特徴とする、自律走行車(100)。
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US15/084,084 | 2016-03-29 | ||
US15/084,084 US9535423B1 (en) | 2016-03-29 | 2016-03-29 | Autonomous vehicle with improved visual detection ability |
PCT/EP2016/077518 WO2017167411A1 (en) | 2016-03-29 | 2016-11-14 | An autonomous vehicle with improved visual detection ability |
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JP2019512913A JP2019512913A (ja) | 2019-05-16 |
JP2019512913A5 JP2019512913A5 (ja) | 2019-12-19 |
JP7150274B2 true JP7150274B2 (ja) | 2022-10-11 |
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JP2021208374A Pending JP2022058391A (ja) | 2016-03-29 | 2021-12-22 | 改善された視覚的検出能力を備えた自律走行車 |
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EP (1) | EP3436879B1 (ja) |
JP (2) | JP7150274B2 (ja) |
CN (1) | CN109074069B (ja) |
WO (1) | WO2017167411A1 (ja) |
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