JP7436670B2 - 路車協調における目標検出方法、装置及び路側機器 - Google Patents

路車協調における目標検出方法、装置及び路側機器 Download PDF

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JP7436670B2
JP7436670B2 JP2022535786A JP2022535786A JP7436670B2 JP 7436670 B2 JP7436670 B2 JP 7436670B2 JP 2022535786 A JP2022535786 A JP 2022535786A JP 2022535786 A JP2022535786 A JP 2022535786A JP 7436670 B2 JP7436670 B2 JP 7436670B2
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JP2023536025A (ja
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春▲ロン▼ 夏
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Apollo Intelligent Connectivity Beijing Technology Co Ltd
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    • 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
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/045—Combinations of networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
    • 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
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • General Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computational Linguistics (AREA)
  • Data Mining & Analysis (AREA)
  • Evolutionary Computation (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
JP2022535786A 2021-06-28 2021-10-25 路車協調における目標検出方法、装置及び路側機器 Active JP7436670B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202110721853.4A CN113420682B (zh) 2021-06-28 2021-06-28 车路协同中目标检测方法、装置和路侧设备
CN202110721853.4 2021-06-28
PCT/CN2021/126163 WO2023273041A1 (zh) 2021-06-28 2021-10-25 车路协同中目标检测方法、装置和路侧设备

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JP2023536025A JP2023536025A (ja) 2023-08-23
JP7436670B2 true JP7436670B2 (ja) 2024-02-21

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JP (1) JP7436670B2 (ko)
KR (1) KR20220091607A (ko)
CN (1) CN113420682B (ko)
WO (1) WO2023273041A1 (ko)

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* Cited by examiner, † Cited by third party
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CN113420682B (zh) * 2021-06-28 2023-08-15 阿波罗智联(北京)科技有限公司 车路协同中目标检测方法、装置和路侧设备
CN114063079B (zh) * 2021-10-12 2022-06-21 福瑞泰克智能系统有限公司 目标置信度获取方法、装置、雷达系统和电子装置
WO2023065312A1 (zh) * 2021-10-22 2023-04-27 深圳市速腾聚创科技有限公司 障碍物识别方法、装置、存储介质及电子设备
CN114005095B (zh) * 2021-10-29 2023-06-30 北京百度网讯科技有限公司 车辆属性识别方法、装置、电子设备和介质
CN116071724B (zh) * 2023-03-03 2023-08-04 安徽蔚来智驾科技有限公司 车载相机遮挡场景识别方法、电子设备、存储介质及车辆
CN116363631B (zh) * 2023-05-19 2023-09-05 小米汽车科技有限公司 三维目标检测方法、装置及车辆

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CN109101859A (zh) 2017-06-21 2018-12-28 北京大学深圳研究生院 使用高斯惩罚检测图像中行人的方法
CN110222764A (zh) 2019-06-10 2019-09-10 中南民族大学 遮挡目标检测方法、系统、设备及存储介质
US20200097756A1 (en) 2018-09-26 2020-03-26 Toyota Jidosha Kabushiki Kaisha Object detection device and object detection method
CN111986252A (zh) 2020-07-16 2020-11-24 浙江工业大学 一种用于目标分割网络中候选边界框精准定位的方法
US20210042592A1 (en) 2019-08-08 2021-02-11 Toyota Jidosha Kabushiki Kaisha Object detection device, object detection method, and computer program for object detection
CN113011417A (zh) 2021-01-08 2021-06-22 湖南大学 基于交并比覆盖率损失与重定位策略的目标匹配方法

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TWI393074B (zh) * 2009-12-10 2013-04-11 Ind Tech Res Inst 移動物體偵測裝置與方法
CN102044151B (zh) * 2010-10-14 2012-10-17 吉林大学 基于光照可见度辨识的夜间车辆视频检测方法
CN110009060B (zh) * 2019-04-17 2021-07-23 东北大学 一种基于相关滤波与目标检测的鲁棒性长期跟踪方法
CN110428007B (zh) * 2019-08-01 2020-11-24 科大讯飞(苏州)科技有限公司 X光图像目标检测方法、装置及设备
CN110659600B (zh) * 2019-09-19 2022-04-29 北京百度网讯科技有限公司 物体检测方法、装置及设备
CN111182491B (zh) * 2019-12-31 2022-03-22 淮安中科晶上智能网联研究院有限公司 一种基于射频层析成像的无设备目标定位的方法及装置
CN113033456B (zh) * 2021-04-08 2023-12-19 阿波罗智联(北京)科技有限公司 车辆车轮接地点的确定方法、装置、路侧设备及云控平台
CN113420682B (zh) * 2021-06-28 2023-08-15 阿波罗智联(北京)科技有限公司 车路协同中目标检测方法、装置和路侧设备

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109101859A (zh) 2017-06-21 2018-12-28 北京大学深圳研究生院 使用高斯惩罚检测图像中行人的方法
US20200097756A1 (en) 2018-09-26 2020-03-26 Toyota Jidosha Kabushiki Kaisha Object detection device and object detection method
CN110222764A (zh) 2019-06-10 2019-09-10 中南民族大学 遮挡目标检测方法、系统、设备及存储介质
US20210042592A1 (en) 2019-08-08 2021-02-11 Toyota Jidosha Kabushiki Kaisha Object detection device, object detection method, and computer program for object detection
CN111986252A (zh) 2020-07-16 2020-11-24 浙江工业大学 一种用于目标分割网络中候选边界框精准定位的方法
CN113011417A (zh) 2021-01-08 2021-06-22 湖南大学 基于交并比覆盖率损失与重定位策略的目标匹配方法

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KR20220091607A (ko) 2022-06-30
WO2023273041A1 (zh) 2023-01-05
CN113420682B (zh) 2023-08-15
JP2023536025A (ja) 2023-08-23
CN113420682A (zh) 2021-09-21

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