JP7380824B2 - 車両状態推定方法、車両状態推定装置、及び車両状態推定プログラム - Google Patents

車両状態推定方法、車両状態推定装置、及び車両状態推定プログラム Download PDF

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Publication number
JP7380824B2
JP7380824B2 JP2022501515A JP2022501515A JP7380824B2 JP 7380824 B2 JP7380824 B2 JP 7380824B2 JP 2022501515 A JP2022501515 A JP 2022501515A JP 2022501515 A JP2022501515 A JP 2022501515A JP 7380824 B2 JP7380824 B2 JP 7380824B2
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Japan
Prior art keywords
vehicle
estimated
state estimation
lane
image
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Japanese (ja)
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JPWO2021166169A1 (https=
Inventor
皓平 森
崇洋 秦
夕貴 横畑
和昭 尾花
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NTT Inc
NTT Inc USA
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Nippon Telegraph and Telephone Corp
NTT Inc USA
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    • 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
    • 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
    • B60W40/02—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 ambient conditions
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • 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 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
    • 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
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Analysis (AREA)
JP2022501515A 2020-02-20 2020-02-20 車両状態推定方法、車両状態推定装置、及び車両状態推定プログラム Active JP7380824B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/006829 WO2021166169A1 (ja) 2020-02-20 2020-02-20 車両状態推定方法、車両状態推定装置、及び車両状態推定プログラム

Publications (2)

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JPWO2021166169A1 JPWO2021166169A1 (https=) 2021-08-26
JP7380824B2 true JP7380824B2 (ja) 2023-11-15

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US (1) US20230085455A1 (https=)
JP (1) JP7380824B2 (https=)
WO (1) WO2021166169A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7355216B2 (ja) * 2020-03-05 2023-10-03 日本電信電話株式会社 管理装置、管理方法及び管理プログラム
KR20220031224A (ko) * 2020-09-04 2022-03-11 현대자동차주식회사 차량 및 그 제어방법
US20230043040A1 (en) * 2021-08-06 2023-02-09 Peter Cooper System for controlling classes of an e-bike
US11845439B2 (en) * 2021-09-29 2023-12-19 Canoo Technologies Inc. Prediction of target object's behavior based on world and image frames
CN115984806B (zh) * 2023-03-20 2023-06-13 四川京炜数字科技有限公司 道路标线破损动态检测系统

Citations (9)

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JP2004227293A (ja) 2003-01-23 2004-08-12 Nissan Motor Co Ltd 側方車両検出装置
JP2008046761A (ja) 2006-08-11 2008-02-28 Sumitomo Electric Ind Ltd 移動体画像処理システム、装置及び方法
JP2011113330A (ja) 2009-11-27 2011-06-09 Fuji Heavy Ind Ltd 物体検出装置および運転支援システム
WO2013145015A1 (ja) 2012-03-29 2013-10-03 トヨタ自動車株式会社 路面状態推定装置
JP2015225546A (ja) 2014-05-28 2015-12-14 本田技研工業株式会社 物体検出装置、運転支援装置、物体検出方法、および物体検出プログラム
JP2016192177A (ja) 2015-03-31 2016-11-10 株式会社デンソーアイティーラボラトリ 車両検出システム、車両検出装置、車両検出方法、及び車両検出プログラム
WO2017158983A1 (ja) 2016-03-18 2017-09-21 株式会社Ｊｖｃケンウッド 物体認識装置、物体認識方法及び物体認識プログラム
CN110246183A (zh) 2019-06-24 2019-09-17 百度在线网络技术（北京）有限公司 车轮接地点检测方法、装置及存储介质
JP2019196164A (ja) 2018-05-09 2019-11-14 東軟集団股▲分▼有限公司 車両位置検出方法及び装置

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* Cited by examiner, † Cited by third party
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KR102374921B1 (ko) * 2015-10-30 2022-03-16 주식회사 만도모빌리티솔루션즈 차량 제어 시스템 및 방법
KR102215325B1 (ko) * 2017-02-28 2021-02-15 현대자동차주식회사 차량의 위치 추정 장치 및 방법과 이를 이용한 차량
CN107577988B (zh) * 2017-08-03 2020-05-26 东软集团股份有限公司 实现侧方车辆定位的方法、装置及存储介质、程序产品
US10586456B2 (en) * 2018-04-27 2020-03-10 TuSimple System and method for determining car to lane distance

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004227293A (ja) 2003-01-23 2004-08-12 Nissan Motor Co Ltd 側方車両検出装置
JP2008046761A (ja) 2006-08-11 2008-02-28 Sumitomo Electric Ind Ltd 移動体画像処理システム、装置及び方法
JP2011113330A (ja) 2009-11-27 2011-06-09 Fuji Heavy Ind Ltd 物体検出装置および運転支援システム
WO2013145015A1 (ja) 2012-03-29 2013-10-03 トヨタ自動車株式会社 路面状態推定装置
JP2015225546A (ja) 2014-05-28 2015-12-14 本田技研工業株式会社 物体検出装置、運転支援装置、物体検出方法、および物体検出プログラム
JP2016192177A (ja) 2015-03-31 2016-11-10 株式会社デンソーアイティーラボラトリ 車両検出システム、車両検出装置、車両検出方法、及び車両検出プログラム
WO2017158983A1 (ja) 2016-03-18 2017-09-21 株式会社Ｊｖｃケンウッド 物体認識装置、物体認識方法及び物体認識プログラム
JP2019196164A (ja) 2018-05-09 2019-11-14 東軟集団股▲分▼有限公司 車両位置検出方法及び装置
CN110246183A (zh) 2019-06-24 2019-09-17 百度在线网络技术（北京）有限公司 车轮接地点检测方法、装置及存储介质

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Publication number Publication date
WO2021166169A1 (ja) 2021-08-26
JPWO2021166169A1 (https=) 2021-08-26
US20230085455A1 (en) 2023-03-16

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