JP7756083B2 - 自律車両環境知覚ソフトウェアアーキテクチャ - Google Patents

自律車両環境知覚ソフトウェアアーキテクチャ

Info

Publication number
JP7756083B2
JP7756083B2 JP2022528354A JP2022528354A JP7756083B2 JP 7756083 B2 JP7756083 B2 JP 7756083B2 JP 2022528354 A JP2022528354 A JP 2022528354A JP 2022528354 A JP2022528354 A JP 2022528354A JP 7756083 B2 JP7756083 B2 JP 7756083B2
Authority
JP
Japan
Prior art keywords
sensor
scene
lidar
data
interest
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022528354A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2021092702A5 (https=
JP2023501812A5 (https=
JP2023501812A (ja
Inventor
ユヴァル ネフマディ
ピエール オリヴィエ
イド ゴレン
ヨニ モスコヴィッチ
ニール ダルシャン
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of JP2023501812A publication Critical patent/JP2023501812A/ja
Publication of JPWO2021092702A5 publication Critical patent/JPWO2021092702A5/ja
Publication of JP2023501812A5 publication Critical patent/JP2023501812A5/ja
Application granted granted Critical
Publication of JP7756083B2 publication Critical patent/JP7756083B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/803—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of input or preprocessed data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/94—Hardware or software architectures specially adapted for image or video understanding
    • 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
    • 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
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/35—Data fusion
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/417—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section involving the use of neural networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/251—Fusion techniques of input or preprocessed data

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Software Systems (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Image Processing (AREA)
JP2022528354A 2019-11-13 2020-11-13 自律車両環境知覚ソフトウェアアーキテクチャ Active JP7756083B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962934623P 2019-11-13 2019-11-13
US62/934,623 2019-11-13
PCT/CA2020/051558 WO2021092702A1 (en) 2019-11-13 2020-11-13 Autonomous vehicle environmental perception software architecture

Publications (4)

Publication Number Publication Date
JP2023501812A JP2023501812A (ja) 2023-01-19
JPWO2021092702A5 JPWO2021092702A5 (https=) 2023-11-20
JP2023501812A5 JP2023501812A5 (https=) 2023-11-20
JP7756083B2 true JP7756083B2 (ja) 2025-10-17

Family

ID=75911335

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022528354A Active JP7756083B2 (ja) 2019-11-13 2020-11-13 自律車両環境知覚ソフトウェアアーキテクチャ

Country Status (7)

Country Link
US (1) US12560719B2 (https=)
EP (1) EP4058932A4 (https=)
JP (1) JP7756083B2 (https=)
KR (1) KR20230004425A (https=)
CN (1) CN115668182A (https=)
CA (1) CA3161616A1 (https=)
WO (1) WO2021092702A1 (https=)

Families Citing this family (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019094863A1 (en) 2017-11-13 2019-05-16 Smart Ag, Inc. Safety system for autonomous operation of off-road and agricultural vehicles using machine learning for detection and identification of obstacles
WO2021092702A1 (en) 2019-11-13 2021-05-20 Youval Nehmadi Autonomous vehicle environmental perception software architecture
CA3177161A1 (en) * 2020-04-28 2021-11-04 Rahul RAMAKRISHNAN Object detection and tracking for automated operation of vehicles and machinery
DE102020211649A1 (de) * 2020-09-17 2022-03-17 Conti Temic Microelectronic Gmbh Verfahren und System zum Erstellen eines Straßenmodells
JP7465290B2 (ja) * 2020-11-09 2024-04-10 達闥機器人股▲分▼有限公司 点群に基づく地図較正方法、システム、ロボット及びクラウドプラットフォーム
US11995157B2 (en) * 2020-12-04 2024-05-28 Caterpillar Inc. Intelligent LiDAR scanning
EP4036602A1 (en) * 2021-01-29 2022-08-03 Aptiv Technologies Limited Radar data processing for vehicle ego-motion estimation
JP7560397B2 (ja) * 2021-03-25 2024-10-02 パナソニックオートモーティブシステムズ株式会社 物体識別装置、車両および物体識別方法
CN113954879B (zh) * 2021-04-15 2023-09-19 上海丰豹商务咨询有限公司 具有融合感知和协同决策功能的车载智能单元和控制方法
US20220363286A1 (en) * 2021-05-14 2022-11-17 Toyota Research Institute, Inc. Verifying an object recognition determination produced by a perception system from data received from a ranging sensor system
CN115457353B (zh) * 2021-05-21 2026-04-21 魔门塔(苏州)科技有限公司 一种多传感器数据的融合方法及装置
DE102021002910B3 (de) * 2021-06-07 2022-04-21 Daimler Ag Verfahren und Vorrichtung zur Bewertung einer Leistungsfähigkeit mindestens eines Umgebungssensors eines Fahrzeugs sowie Fahrzeug mit einer solchen Vorrichtung
US12007500B2 (en) * 2021-06-21 2024-06-11 Tdk Corporation Method and system for self-calibrating a scanning system using inertial measurement spatial and temporal data
CN113487749A (zh) * 2021-07-22 2021-10-08 梅卡曼德（北京）机器人科技有限公司 基于动态画幅的3d点云处理方法及装置
WO2023001251A1 (zh) * 2021-07-22 2023-01-26 梅卡曼德（北京）机器人科技有限公司 基于动态画幅的 3d 点云处理方法、装置、设备及介质
GB2609676A (en) * 2021-08-13 2023-02-15 Continental Automotive Gmbh A method and a system for detecting free space region in surroundings of autonomous objects
US20230054759A1 (en) * 2021-08-23 2023-02-23 Nvidia Corporation Object tracking using lidar data for autonomous machine applications
EP4141838A1 (en) * 2021-08-23 2023-03-01 Zenseact AB Validation of surrounding objects perceived by an ads-equipped vehicle
US12505682B2 (en) 2021-09-08 2025-12-23 Motive Technologies, Inc. Close following detection using machine learning models
EP4174799B1 (en) * 2021-10-26 2026-04-01 Zenseact AB Ads perception system perceived free-space verification
KR20230082847A (ko) * 2021-12-02 2023-06-09 현대모비스 주식회사 차량의 센서 융합 장치 및 방법
CN114332394B (zh) * 2021-12-29 2024-08-30 北京航空航天大学 一种基于语义信息辅助的动态场景三维重建方法
EP4469949A4 (en) 2022-01-26 2025-08-06 Leddartech Inc AUTONOMOUS VEHICLE ENVIRONMENTAL PERCEPTION SOFTWARE MANAGEMENT
KR20230121644A (ko) * 2022-02-11 2023-08-21 현대자동차주식회사 센서퓨전을 이용한 차량용 운전 제어 시스템 및 방법
US12344270B2 (en) * 2022-03-15 2025-07-01 Nvidia Corporation Hazard detection using occupancy grids for autonomous systems and applications
US20250059011A1 (en) * 2022-03-28 2025-02-20 Seegrid Corporation A hybrid, context-aware localization system for ground vehicles
CN118891543A (zh) * 2022-04-08 2024-11-01 日产自动车株式会社 信息处理方法及信息处理装置
WO2023205725A1 (en) * 2022-04-20 2023-10-26 Pattern Labs Autonomous vehicle for airports
US12354342B2 (en) * 2022-04-29 2025-07-08 Toyota Research Institute, Inc. Network for multisweep 3D detection
GB2635632A (en) * 2022-05-03 2025-05-21 Oxa Autonomy Ltd Generating a descriptor associated with data of a first modality
CN115034324B (zh) * 2022-06-21 2023-05-02 同济大学 一种多传感器融合感知效能增强方法
CN115145272B (zh) * 2022-06-21 2024-03-29 大连华锐智能化科技有限公司 焦炉车辆环境感知系统及方法
DE102022206345A1 (de) * 2022-06-23 2023-12-28 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Netzwerk zur Sensordatenfusion
JP7850619B2 (ja) * 2022-07-21 2026-04-23 京セラ株式会社 状態推定装置、状態推定方法及び状態推定プログラム
US12352579B1 (en) * 2022-07-27 2025-07-08 Zoox, Inc. Localization performance metric
CN117671632A (zh) * 2022-08-31 2024-03-08 比亚迪股份有限公司 车位检测方法、装置、车辆及存储介质
CN115291786A (zh) * 2022-09-30 2022-11-04 深圳市广和通无线通信软件有限公司 一种基于机器学习的误触判断方法、装置和存储介质
US12354371B1 (en) * 2022-11-10 2025-07-08 VicOne Corporation Detection and filtering of abnormal sensor data for object detection in automotive applications
US12548248B2 (en) * 2022-11-16 2026-02-10 Waymo Llc Late-to-early temporal fusion for point clouds
US12409851B2 (en) * 2022-12-09 2025-09-09 Robert Bosch Gmbh Sensor plugin architecture for grid map
GB2625589B (en) * 2022-12-21 2025-03-26 Oxa Autonomy Ltd Generating a trajectory for an autonomous vehicle
CN116125897B (zh) * 2023-03-02 2024-06-28 重庆长安汽车股份有限公司 自动驾驶决策方法、装置、电子设备及存储介质
CN116736322B (zh) * 2023-08-15 2023-10-20 山东科技大学 融合相机图像与机载激光雷达点云数据的速度预测方法
EP4517380A1 (en) * 2023-08-29 2025-03-05 Zenseact AB A monitoring platform for a sensor fusion system
WO2025085170A1 (en) * 2023-10-17 2025-04-24 Qualcomm Incorporated Automated driving sotif via signal representation
KR20250136092A (ko) * 2024-03-07 2025-09-16 네이버 주식회사 버드 아이 뷰 정보 추출 방법 및 시스템
CN117953459B (zh) * 2024-03-25 2024-06-21 安徽蔚来智驾科技有限公司 感知融合结果获取方法、可读存储介质及智能设备
US20250353489A1 (en) * 2024-05-16 2025-11-20 GM Global Technology Operations LLC Predictive frozen scene for uninterrupted operation of automated evasive maneuver systems
CN119172894B (zh) * 2024-11-20 2025-03-28 江苏振华智能科技有限公司 一种照明系统的故障自检方法及装置
JP7744495B1 (ja) * 2024-12-05 2025-09-25 財団法人車輌研究測試中心 マルチセンサー自己適応故障補償システムおよびその方法
CN120761226B (zh) * 2025-08-21 2025-11-11 合肥合安智为科技有限公司 一种基于激光雷达与可视图像的颗粒物分析系统及方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009083854A2 (en) 2007-12-20 2009-07-09 Koninklijke Philips Electronics N.V. Segmentation of image data
JP2017513162A (ja) 2014-03-20 2017-05-25 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 車両を運転するための方法と装置
WO2017085857A1 (ja) 2015-11-20 2017-05-26 三菱電機株式会社 運転支援装置、運転支援システム、運転支援方法及び運転支援プログラム
US20180068206A1 (en) 2016-09-08 2018-03-08 Mentor Graphics Corporation Object recognition and classification using multiple sensor modalities
US20180232947A1 (en) 2017-02-11 2018-08-16 Vayavision, Ltd. Method and system for generating multidimensional maps of a scene using a plurality of sensors of various types
JP2019028861A (ja) 2017-08-02 2019-02-21 ソニー株式会社 信号処理装置、および信号処理方法、プログラム、並びに移動体
US20190086539A1 (en) 2017-09-20 2019-03-21 Yujin Robot Co., Ltd. Hybrid sensor and compact lidar sensor

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102047652B (zh) * 2009-03-31 2014-05-28 松下电器产业株式会社 摄像装置、集成电路及摄像方法
WO2012159070A2 (en) * 2011-05-18 2012-11-22 Nextgenid, Inc. Multi-biometric enrollment kiosk including biometric enrollment and verification, face recognition and fingerprint matching systems
US9111444B2 (en) 2012-10-31 2015-08-18 Raytheon Company Video and lidar target detection and tracking system and method for segmenting moving targets
US9424650B2 (en) * 2013-06-12 2016-08-23 Disney Enterprises, Inc. Sensor fusion for depth estimation
US9544497B2 (en) * 2014-05-21 2017-01-10 Qualcomm Incorporated System and method for determining image resolution
CN108271408B (zh) 2015-04-01 2020-12-04 瓦亚视觉有限公司 使用被动和主动测量生成场景的三维地图
US9880263B2 (en) 2015-04-06 2018-01-30 Waymo Llc Long range steerable LIDAR system
US10582121B2 (en) * 2016-01-12 2020-03-03 Mitsubishi Electric Research Laboratories, Inc. System and method for fusing outputs of sensors having different resolutions
US11573573B2 (en) * 2017-06-06 2023-02-07 Plusai, Inc. Method and system for distributed learning and adaptation in autonomous driving vehicles
CN111837144B (zh) * 2018-03-13 2024-07-26 奇跃公司 使用机器学习的增强图像深度感测
CN109556615B (zh) * 2018-10-10 2022-10-04 吉林大学 基于自动驾驶的多传感器融合认知的驾驶地图生成方法
US11531109B2 (en) 2019-03-30 2022-12-20 Intel Corporation Technologies for managing a world model of a monitored area
WO2021092702A1 (en) 2019-11-13 2021-05-20 Youval Nehmadi Autonomous vehicle environmental perception software architecture

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009083854A2 (en) 2007-12-20 2009-07-09 Koninklijke Philips Electronics N.V. Segmentation of image data
JP2017513162A (ja) 2014-03-20 2017-05-25 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 車両を運転するための方法と装置
WO2017085857A1 (ja) 2015-11-20 2017-05-26 三菱電機株式会社 運転支援装置、運転支援システム、運転支援方法及び運転支援プログラム
US20180315240A1 (en) 2015-11-20 2018-11-01 Mitsubishi Electric Corporation Driving support apparatus, driving support system, driving support method, and computer readable recording medium
US20180068206A1 (en) 2016-09-08 2018-03-08 Mentor Graphics Corporation Object recognition and classification using multiple sensor modalities
US20180232947A1 (en) 2017-02-11 2018-08-16 Vayavision, Ltd. Method and system for generating multidimensional maps of a scene using a plurality of sensors of various types
JP2019028861A (ja) 2017-08-02 2019-02-21 ソニー株式会社 信号処理装置、および信号処理方法、プログラム、並びに移動体
US20190086539A1 (en) 2017-09-20 2019-03-21 Yujin Robot Co., Ltd. Hybrid sensor and compact lidar sensor

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Meyer Gregory P. et al.，"Sensor Fusion for Joint 3D Object Detection and Semantic Segmentation"，2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)[online]，IEEE，2019年06月，pp.1230-1237，[検索日 2024.10.4], インターネット:<URL:https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9025554>，DOI: 10.1109/CVPRW.2019.00162
高解像度カメラとレーザ距離センサを統合した物体検出及び姿勢推定システム，第２７回日本ロボット学会学術講演会予稿集，2019年09月15日

Also Published As

Publication number Publication date
KR20230004425A (ko) 2023-01-06
EP4058932A1 (en) 2022-09-21
WO2021092702A1 (en) 2021-05-20
CN115668182A (zh) 2023-01-31
CA3161616A1 (en) 2021-05-20
JP2023501812A (ja) 2023-01-19
US12560719B2 (en) 2026-02-24
US20220398851A1 (en) 2022-12-15
EP4058932A4 (en) 2024-02-28

Similar Documents

Publication Publication Date Title
JP7756083B2 (ja) 自律車両環境知覚ソフトウェアアーキテクチャ
US11619496B2 (en) System and method of detecting change in object for updating high-definition map
US11960293B2 (en) Systems and methods for navigating lane merges and lane splits
US12158518B2 (en) Resolution of elevation ambiguity in one-dimensional radar processing
US10445928B2 (en) Method and system for generating multidimensional maps of a scene using a plurality of sensors of various types
US11287523B2 (en) Method and apparatus for enhanced camera and radar sensor fusion
Krammer et al. Providentia—A large-scale sensor system for the assistance of autonomous vehicles and its evaluation
KR100466458B1 (ko) 운전지원장치
JP4433887B2 (ja) 車両用外界認識装置
US20220270358A1 (en) Vehicular sensor system calibration
JP7190261B2 (ja) 位置推定装置
US7050908B1 (en) Lane marker projection method for a motor vehicle vision system
US9126533B2 (en) Driving support method and driving support device
US20140267415A1 (en) Road marking illuminattion system and method
KR20190062390A (ko) 검출된 배리어에 기반한 차량의 항법
JP2005310140A (ja) オブジェクトの認識及び／又は追跡方法
JP4483305B2 (ja) 車両周辺監視装置
CN116453031B (zh) 一种煤矿井下环境感知方法、装置及存储介质
CN120213044B (zh) 高精度感知驱动的自动驾驶定位方法及系统
KR20230031344A (ko) 자동차를 둘러싼 영역 내 장애물을 검출하기 위한 시스템 및 방법
JP4475015B2 (ja) 車両周辺監視装置及び車両周辺監視方法
JP2018205142A (ja) 位置推定装置
JP4506299B2 (ja) 車両周辺監視装置
Krajewski et al. Drone-based generation of sensor reference and training data for highly automated vehicles
HK40087828A (zh) 自主车辆环境感知软件架构

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20231110

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20231110

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20240930

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20241021

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250120

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20250225

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20250523

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20250722

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250822

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20250904

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20251006

R150 Certificate of patent or registration of utility model

Ref document number: 7756083

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150