JP7179440B2 - 二輪車における傾斜検出 - Google Patents
二輪車における傾斜検出 Download PDFInfo
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Description
本発明は、他車の走行軌道を予測するための運転支援システムに関する。
本発明では、周囲センサシステムを備えた車両の動作方法を開示する。本方法では、少なくとも1つの先行及び/又は対向二輪車を、少なくとも周囲センサシステムのデータに依存して識別する。さらに、二輪車の傾斜角を少なくとも周囲センサシステムのデータに依存して求め、求められたこの傾斜角に基づいて二輪車の動き推移を予測する。車両の動作は、この予測された動き推移に基づいて行われる。
以下の実施例では、車両に周囲センサシステム、特にカメラと、当該車両の動作を行うための装置とが備えつけられている。この装置は、二輪車を識別し、二輪車の傾斜角を求め、傾斜角に基づいて二輪車の動き推移を予測するように構成されている。装置は、予測された動き推移に基づいて車両を動作させることができる。動き推移を予測するためには、装置上においてコンピュータプログラムを用いて、図1において概略的な流れが示されている方法を実施する。本方法は、ステップ101で開始する。
tan α=FZ/FG=κν2/g
を用いて、二輪車201,401,501の速度を求める及び/又は推定することができる。上記式は、二輪車201,401,501が安定的にカーブ走行する場合に近似的に成立する。αは傾斜角であり、FZ304は遠心力であり、FG305は重力であり、gは重力加速度であり、vは速度である。これらの力はそれぞれ、運転者302が存在する場合には運転者302も含めて、二輪車201,401,501の重心301に作用する(図3参照)。1つの単画像と、既知の道路曲率κとにのみ基づいて、二輪車201,401,501の速度を求めることができる。このことは、低コストのセンサシステムを用いて衝突回避支援システムを実現できるようにするため、及び、たとえば被害軽減ブレーキアシスト等の支援システムに係る迅速かつ早期の判断を可能とするために重要な前提条件である。
Claims (11)
- 少なくとも1つの先行及び/又は対向する二輪車(201,401,501)を、少なくとも周囲センサシステムのデータに依存して、識別する、当該周囲センサシステムを備えた車両の動作方法であって、
前記二輪車(201,401,501)の傾斜角(303)を少なくとも前記周囲センサシステムのデータに依存して求め、前記傾斜角(303)は、水平線に対する前記二輪車(201,401,501)の傾斜を表す角度であり、
前記周囲センサシステムは、カメラとして構成されており、
前記傾斜角(303)を求めるため、前記カメラを用いて記録されたデジタル画像の特定の画素を前記二輪車(201,401,501)に分類し、
前記画像のラインごとの読み出しにより、前記画像の2つのラインにおいて、前記二輪車(201,401,501)に分類される画素の中間カラム値(204)を求め、
前記中間カラム値(204)に基づいて前記傾斜角(303)を求め、
求められた前記傾斜角(303)に基づいて前記二輪車(201,401,501)の動き推移を予測し、
予測された前記動き推移に基づいて、前記車両を動作させる、
ことを特徴とする動作方法。 - 二輪車(201,401,501)を識別するために、カメラとして構成された前記周囲センサシステムを用いて記録された画像列に基づいてオプティカルフローを求める、
請求項1に記載の動作方法。 - 前記傾斜角(303)を求める際に、前記車両の自己運動を考慮する、
請求項1又は2に記載の動作方法。 - 前記周囲センサシステムによって検出された、前記二輪車(201,401,501)の少なくとも2つの参照点(403,404)に基づいて、前記傾斜角(303)を求める、
請求項1乃至3のいずれか一項に記載の動作方法。 - 前記予測された動き推移を求めるために、走行路分岐を、前記周囲センサシステムを用いて検出することによって、及び/又は、地図情報に基づいて特定することによって、求め、
求められた少なくとも1つの走行路分岐において、前記二輪車(201,401,501)の方向転換先となる走行路を、前記傾斜角(303)に基づいて予測する、
請求項1乃至4のいずれか一項に記載の動作方法。 - 前記動き推移を予測するために、前記二輪車(201,401,501)の速度を求める、
請求項1乃至5のいずれか一項に記載の動作方法。 - 前記周囲センサシステムのデータを用いて、及び/又は、
前記傾斜角(303)と、読み込まれた地図情報とに基づいて、
前記速度を求める、
請求項6に記載の動作方法。 - 前記予測された動き推移は、前記求められた傾斜角(303)と求められた前記速度とに基づいて予測される走行軌道を含む、
請求項6又は7に記載の動作方法。 - 前記車両の動作は、警報装置の作動、及び/又は、当該車両の走行推進力に介入する少なくとも1つのアクチュエータの作動であり、
前記二輪車(201,401,501)の前記予測された動き推移に基づき、前記車両が走行している車線(503)に当該二輪車(201,401,501)が向かっているか否かを特定する、
請求項1乃至8のいずれか一項に記載の動作方法。 - 周囲センサシステムを備えた車両を動作させるための装置であって、
前記装置は、少なくとも1つの先行及び/又は対向する二輪車(201,401,501)を前記周囲センサシステムのデータに依存して識別し、当該二輪車(201,401,501)の動き推移を予測するように構成されており、
前記動き推移を予測するために、前記周囲センサシステムのデータに依存して前記二輪車(201,401,501)の傾斜角(303)が検出され、前記傾斜角(303)は、水平線に対する前記二輪車(201,401,501)の傾斜を表す角度であり、
前記周囲センサシステムは、カメラとして構成されており、
前記装置は、
前記傾斜角(303)を求めるため、前記カメラを用いて記録されたデジタル画像の特定の画素を前記二輪車(201,401,501)に分類し、
前記画像のラインごとの読み出しにより、前記画像の2つのラインにおいて、前記二輪車(201,401,501)に分類される画素の中間カラム値(204)を求め、
前記中間カラム値(204)に基づいて前記傾斜角(303)を求める
ように構成されており、
前記車両の動作は、請求項1乃至9のいずれか一項に記載の動作方法を使用して予測された動き推移に基づいて行われる、
ことを特徴とする装置。 - 請求項1乃至9のいずれか一項に記載の動作方法のすべてのステップを実施するために構成されたコンピュータプログラム。
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KR101858902B1 (ko) * | 2017-06-26 | 2018-05-16 | 한국도로공사 | 컴포넌트를 활용한 점군 데이터의 객체 위치정보 추출 시스템 |
DE102017222429A1 (de) * | 2017-12-12 | 2019-06-13 | Zf Friedrichshafen Ag | Vorrichtung, Verfahren und System zum Anpassen einer Trajektorie eines zumindest teilautonomen Fahrzeugs |
EP3498557B1 (en) * | 2017-12-18 | 2020-07-29 | Continental Automotive GmbH | Method and system for road safety in detecting nearby vehicles swerving to avoid accidents |
CN109969173B (zh) * | 2017-12-28 | 2021-03-26 | 宝沃汽车(中国)有限公司 | 交通器的识别方法、装置和汽车 |
CN110316196B (zh) * | 2018-03-28 | 2022-11-11 | 奥迪股份公司 | 驾驶辅助系统和方法 |
US11590968B2 (en) * | 2018-10-31 | 2023-02-28 | Intel Corporation | Methods and apparatus to mitigate hard-braking events |
WO2020189903A1 (ko) * | 2019-03-20 | 2020-09-24 | 엘지전자 주식회사 | 포인트 클라우드 데이터 송신 장치, 포인트 클라우드 데이터 송신 방법, 포인트 클라우드 데이터 수신 장치 및 포인트 클라우드 데이터 수신 방법 |
DE102019213814A1 (de) * | 2019-09-11 | 2021-03-11 | Zf Friedrichshafen Ag | Verfahren zur Bestimmung der Bewegungsrichtung eines Verkehrsteilnehmers |
CN113129597B (zh) * | 2019-12-31 | 2022-06-21 | 深圳云天励飞技术有限公司 | 一种机动车道违法车辆识别方法及装置 |
US20230096864A1 (en) * | 2020-03-11 | 2023-03-30 | Hitachi Astemio, Ltd | Imaging processing device |
JP2021142907A (ja) * | 2020-03-12 | 2021-09-24 | 本田技研工業株式会社 | 車両追従走行システム、車両制御装置、車両、および制御方法 |
CN111401282A (zh) * | 2020-03-23 | 2020-07-10 | 上海眼控科技股份有限公司 | 目标检测方法、装置、计算机设备和存储介质 |
JP7104739B2 (ja) * | 2020-03-26 | 2022-07-21 | 本田技研工業株式会社 | 車両用制御装置 |
JP7348874B2 (ja) | 2020-04-06 | 2023-09-21 | トヨタ自動車株式会社 | 傾斜角検出装置及び制御装置 |
CN112766077B (zh) * | 2020-12-31 | 2022-09-06 | 清华大学 | 基于自车摄像头感知信息的前方车辆侧翻识别方法 |
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- 2016-11-03 US US15/342,306 patent/US10102751B2/en active Active
- 2016-12-02 JP JP2016235087A patent/JP7179440B2/ja active Active
- 2016-12-05 CN CN201611102893.6A patent/CN107054358B/zh active Active
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EP3176541A1 (de) | 2017-06-07 |
CN107054358B (zh) | 2022-07-05 |
EP3176541B1 (de) | 2018-06-20 |
CN107054358A (zh) | 2017-08-18 |
US10102751B2 (en) | 2018-10-16 |
JP2017102928A (ja) | 2017-06-08 |
JP2022171774A (ja) | 2022-11-11 |
DE102015224171A1 (de) | 2017-06-08 |
US20170162055A1 (en) | 2017-06-08 |
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