JP7202208B2 - 自動運転システム - Google Patents
自動運転システム Download PDFInfo
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- JP7202208B2 JP7202208B2 JP2019023675A JP2019023675A JP7202208B2 JP 7202208 B2 JP7202208 B2 JP 7202208B2 JP 2019023675 A JP2019023675 A JP 2019023675A JP 2019023675 A JP2019023675 A JP 2019023675A JP 7202208 B2 JP7202208 B2 JP 7202208B2
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- 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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/2661—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on parts having other functions
- B60Q1/268—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on parts having other functions on windscreens or windows
-
- 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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
-
- 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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/54—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating speed outside of the vehicle
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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
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
-
- 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
- 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
-
- 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
- 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
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Description
15へ進む。ステップS15では、自車両Mが減速中である旨を、上述した報知対象通行者36に対して報知すべく、認識状態報知部29に報知指令を出力し、ルーチンを抜ける。
11…ロケータユニット、
12…地図ロケータ演算部、
12a…自車位置推定演算部、
12b…走行ルート設定演算部、
13…GNSS受信機、
14…自律走行センサ、
15…自動運転入力装置、
16…高精度道路地図データベース、
21…カメラユニット、
21a…メインカメラ、
21b…サブカメラ、
21c…画像処理ユニット、
21d…前方走行環境認識部、
22…路車間情報取得部、
23…自動運転制御ユニット、
23a…車両制御演算部、
23b…通行者認識演算部、
26…操舵制御部、
27…ブレーキ制御部、
28…加減速制御部、
29…認識状態報知部、
31…車両用信号機、
32…横断歩道、
32a,32b…停止線、
33…車道、
33a…車道外側線、
34…路側帯、
35…通行者、
35a,35a'…歩行者、
35b…自転車運転者、
36…報知対象通行者、
37…路側物、
38…横断者用信号機、
M…自車両、
Mg…フロントガラス、
Ml,Mr…左右表示領域
Claims (8)
- 自車両を走行ルートに沿って自動走行させる車両制御演算部と、
前記自車両前方の走行環境情報を取得する前方走行環境認識部と、
前記前方走行環境認識部で取得した前記走行環境情報に基づいて前記自車両前方の路側帯を通行する通行者を認識する通行者認識演算部と、
前記通行者認識演算部で前記通行者を認識した場合、該通行者に対して認識している旨の認識状態を報知する認識状態報知部と
を備える自動運転システムにおいて、
前記通行者認識演算部は、認識した前記通行者が通行する前記路側帯が路側物で車道と区画されているか否か、及び該通行者が自車両の方向を向いているか否かを前記前方走行環境認識部で取得した該通行者の情報に基づいて調べ、前記路側物で区画されていない前記路側帯を通行し且つ前記自車両の方向を向いている前記通行者を認識した場合は該通行者を報知対象通行者と特定し、
前記認識状態報知部は、前記報知対象通行者に対して前記認識状態を報知する
ことを特徴とする自動運転システム。 - 前記通行者認識演算部は、前記通行者が前記自車両の方向を向いているか否かを、該通行者の身体的特徴量から判定する
ことを特徴とする請求項1記載の自動運転システム。 - 前記自車両の車速と予め設定されている報知判定車速とを比較する車速判定部を更に有し、
前記通行者認識演算部は、前記車速判定部で前記自車両の車速が報知判定車速以下の場合に前記通行者が自車両の方向を向いているか否かを調べる
ことを特徴とする請求項1或いは2記載の自動運転システム。 - 前記通行者認識演算部は、自車両前方の予め設定された近距離以内の前記走行環境情報に基づいて前記通行者を認識する
ことを特徴とする請求項1~3の何れか1項に記載の自動運転システム。 - 報知する前記認識状態は、フロントガラスの予め設定された領域から車外に向けて表示するメッセージである
ことを特徴とする請求項1~4の何れか1項に記載の自動運転システム。 - 報知する前記認識状態は車外に向けて投光する可視光線である
ことを特徴とする請求項1~4の何れか1項に記載の自動運転システム。 - 前記認識状態報知部は、前記通行者認識演算部で特定した前記報知対象通行者が複数の場合、各報知対象通行者に向けて前記認識状態を報知する
ことを特徴とする請求項1~6の何れか1項に記載の自動運転システム。 - 前記通行者認識演算部は、前記自車両が停止のために減速している場合は、その旨を前記認識状態として、前記認識状態報知部から前記報知対象通行者に向けて報知させる
ことを特徴とする請求項1~7の何れか1項に記載の自動運転システム。
Priority Applications (2)
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JP2019023675A JP7202208B2 (ja) | 2019-02-13 | 2019-02-13 | 自動運転システム |
US16/711,009 US10933805B2 (en) | 2019-02-13 | 2019-12-11 | Automatic driving system |
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JP2019023675A JP7202208B2 (ja) | 2019-02-13 | 2019-02-13 | 自動運転システム |
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JP2020135044A JP2020135044A (ja) | 2020-08-31 |
JP7202208B2 true JP7202208B2 (ja) | 2023-01-11 |
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JP (1) | JP7202208B2 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US11571969B2 (en) * | 2020-06-04 | 2023-02-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | External communication suppression device for driving automation |
JP7281438B2 (ja) * | 2020-09-16 | 2023-05-25 | ソフトバンク株式会社 | 車道侵入判定装置、車両、通信端末装置、並びに、車道への侵入を判定するシステム、方法及びプログラム |
CN113306552B (zh) * | 2021-07-31 | 2021-10-01 | 西华大学 | 混合道路拥堵状态下无人驾驶汽车的超低速蠕行方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015174541A (ja) | 2014-03-14 | 2015-10-05 | 株式会社デンソー | 車載装置 |
JP2018024291A (ja) | 2016-08-08 | 2018-02-15 | 株式会社デンソー | 車外表示処理装置及び車外表示システム |
Family Cites Families (8)
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MY192096A (en) * | 2015-10-22 | 2022-07-27 | Nissan Motor | Vehicular notification device |
CN107176161B (zh) * | 2016-03-10 | 2021-11-23 | 松下电器(美国)知识产权公司 | 识别结果提示装置、识别结果提示方法以及自主移动体 |
US9535423B1 (en) * | 2016-03-29 | 2017-01-03 | Adasworks Kft. | Autonomous vehicle with improved visual detection ability |
KR102648812B1 (ko) * | 2016-12-15 | 2024-03-19 | 현대자동차주식회사 | 차량 및 그의 보행자 감지 알림 방법 |
US10467903B1 (en) * | 2018-05-11 | 2019-11-05 | Arnold Chase | Passive infra-red pedestrian detection and avoidance system |
US11062608B2 (en) * | 2018-05-11 | 2021-07-13 | Arnold Chase | Passive infra-red pedestrian and animal detection and avoidance system |
US10315563B1 (en) * | 2018-05-22 | 2019-06-11 | Zoox, Inc. | Acoustic notifications |
JP6557843B1 (ja) * | 2018-12-05 | 2019-08-14 | パナソニックIpマネジメント株式会社 | 車両の制御装置、制御システム、及び制御プログラム |
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- 2019-02-13 JP JP2019023675A patent/JP7202208B2/ja active Active
- 2019-12-11 US US16/711,009 patent/US10933805B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015174541A (ja) | 2014-03-14 | 2015-10-05 | 株式会社デンソー | 車載装置 |
JP2018024291A (ja) | 2016-08-08 | 2018-02-15 | 株式会社デンソー | 車外表示処理装置及び車外表示システム |
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US10933805B2 (en) | 2021-03-02 |
US20200254927A1 (en) | 2020-08-13 |
JP2020135044A (ja) | 2020-08-31 |
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