JP7766637B2 - 自車位置推定装置、車両制御システム及び自車位置推定方法 - Google Patents

自車位置推定装置、車両制御システム及び自車位置推定方法

Info

Publication number
JP7766637B2
JP7766637B2 JP2023050933A JP2023050933A JP7766637B2 JP 7766637 B2 JP7766637 B2 JP 7766637B2 JP 2023050933 A JP2023050933 A JP 2023050933A JP 2023050933 A JP2023050933 A JP 2023050933A JP 7766637 B2 JP7766637 B2 JP 7766637B2
Authority
JP
Japan
Prior art keywords
road
dividing line
line information
vehicle position
cloud data
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
JP2023050933A
Other languages
English (en)
Japanese (ja)
Other versions
JP2024139968A5 (enExample
JP2024139968A (ja
Inventor
匠 佐藤
雄史 長谷川
隆文 春日
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2023050933A priority Critical patent/JP7766637B2/ja
Priority to US18/585,394 priority patent/US20240331407A1/en
Priority to DE102024202775.8A priority patent/DE102024202775A1/de
Publication of JP2024139968A publication Critical patent/JP2024139968A/ja
Publication of JP2024139968A5 publication Critical patent/JP2024139968A5/ja
Application granted granted Critical
Publication of JP7766637B2 publication Critical patent/JP7766637B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
JP2023050933A 2023-03-28 2023-03-28 自車位置推定装置、車両制御システム及び自車位置推定方法 Active JP7766637B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2023050933A JP7766637B2 (ja) 2023-03-28 2023-03-28 自車位置推定装置、車両制御システム及び自車位置推定方法
US18/585,394 US20240331407A1 (en) 2023-03-28 2024-02-23 Own-vehicle position estimation device, vehicle control system, and own-vehicle position estimation method
DE102024202775.8A DE102024202775A1 (de) 2023-03-28 2024-03-22 Eigen-fahrzeugposition-schätzvorrichtung, fahrzeugsteuersystem und eigen-fahrzeug-positionsschätzverfahren

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2023050933A JP7766637B2 (ja) 2023-03-28 2023-03-28 自車位置推定装置、車両制御システム及び自車位置推定方法

Publications (3)

Publication Number Publication Date
JP2024139968A JP2024139968A (ja) 2024-10-10
JP2024139968A5 JP2024139968A5 (enExample) 2025-01-27
JP7766637B2 true JP7766637B2 (ja) 2025-11-10

Family

ID=92712701

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023050933A Active JP7766637B2 (ja) 2023-03-28 2023-03-28 自車位置推定装置、車両制御システム及び自車位置推定方法

Country Status (3)

Country Link
US (1) US20240331407A1 (enExample)
JP (1) JP7766637B2 (enExample)
DE (1) DE102024202775A1 (enExample)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013186903A1 (ja) 2012-06-14 2013-12-19 トヨタ自動車株式会社 車線区分標示検出装置、運転支援システム
JP2018084492A (ja) 2016-11-24 2018-05-31 日産自動車株式会社 自己位置推定方法及び自己位置推定装置
JP2018131042A (ja) 2017-02-15 2018-08-23 日立オートモティブシステムズ株式会社 車両運動制御装置、車両運動制御方法および車両運動制御システム
US20220176989A1 (en) 2020-12-09 2022-06-09 Hyundai Motor Company High precision position estimation method through road shape classification-based map matching and autonomous vehicle thereof
JP2022150979A (ja) 2021-03-26 2022-10-07 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7241839B1 (ja) 2021-10-06 2023-03-17 三菱電機株式会社 自己位置推定装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013186903A1 (ja) 2012-06-14 2013-12-19 トヨタ自動車株式会社 車線区分標示検出装置、運転支援システム
JP2018084492A (ja) 2016-11-24 2018-05-31 日産自動車株式会社 自己位置推定方法及び自己位置推定装置
JP2018131042A (ja) 2017-02-15 2018-08-23 日立オートモティブシステムズ株式会社 車両運動制御装置、車両運動制御方法および車両運動制御システム
US20220176989A1 (en) 2020-12-09 2022-06-09 Hyundai Motor Company High precision position estimation method through road shape classification-based map matching and autonomous vehicle thereof
JP2022150979A (ja) 2021-03-26 2022-10-07 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7241839B1 (ja) 2021-10-06 2023-03-17 三菱電機株式会社 自己位置推定装置

Also Published As

Publication number Publication date
DE102024202775A1 (de) 2024-10-02
JP2024139968A (ja) 2024-10-10
US20240331407A1 (en) 2024-10-03

Similar Documents

Publication Publication Date Title
JP5747787B2 (ja) 車線認識装置
US20180267172A1 (en) System and method for recognizing position of vehicle
JP4392389B2 (ja) 車両及び車線認識装置
US9714034B2 (en) Vehicle control device
US9740942B2 (en) Moving object location/attitude angle estimation device and moving object location/attitude angle estimation method
JP4343536B2 (ja) 車用の感知装置
US12235113B2 (en) Parking support apparatus
JP5966747B2 (ja) 車両走行制御装置及びその方法
JP6541590B2 (ja) カメラキャリブレーション装置
US9767372B2 (en) Target detection apparatus and target detection method
CN111164648B (zh) 移动体的位置推断装置及位置推断方法
US20220176989A1 (en) High precision position estimation method through road shape classification-based map matching and autonomous vehicle thereof
JP6302519B2 (ja) 車両の運転支援装置
WO2019065970A1 (ja) 車両用外界認識装置
CN111989541B (zh) 立体摄像机装置
US11619495B2 (en) Position estimating apparatus and position estimating method
US10554951B2 (en) Method and apparatus for the autocalibration of a vehicle camera system
JP2018032253A (ja) キャリブレーション装置、キャリブレーション方法、キャリブレーションプログラム
WO2020137110A1 (ja) 移動量推定装置
JP2018169319A (ja) 車両の走行車線推定装置
JP7456857B2 (ja) 自己位置推定装置
JP7766637B2 (ja) 自車位置推定装置、車両制御システム及び自車位置推定方法
JP7399255B2 (ja) 車両走行経路生成装置、および車両走行経路生成方法
JP7113938B1 (ja) 目標制御情報生成装置
KR20230064040A (ko) 차로 결정 방법 및 차로 결정 장치

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250117

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20250117

TRDD Decision of grant or rejection written
A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20250925

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20250930

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20251028

R150 Certificate of patent or registration of utility model

Ref document number: 7766637

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150