JPH11509005A - 自動車の前方車道状況を確認する方法 - Google Patents
自動車の前方車道状況を確認する方法Info
- Publication number
- JPH11509005A JPH11509005A JP9539536A JP53953697A JPH11509005A JP H11509005 A JPH11509005 A JP H11509005A JP 9539536 A JP9539536 A JP 9539536A JP 53953697 A JP53953697 A JP 53953697A JP H11509005 A JPH11509005 A JP H11509005A
- Authority
- JP
- Japan
- Prior art keywords
- edge
- curve
- road
- vehicle
- target
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 claims abstract description 46
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000012937 correction Methods 0.000 claims description 10
- 230000006978 adaptation Effects 0.000 claims description 7
- 238000013528 artificial neural network Methods 0.000 claims description 4
- 230000003111 delayed effect Effects 0.000 claims description 2
- 238000012417 linear regression Methods 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 claims 2
- 238000012545 processing Methods 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 7
- 238000011156 evaluation Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002547 anomalous effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
-
- 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S367/00—Communications, electrical: acoustic wave systems and devices
- Y10S367/909—Collision avoidance
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.実際の速度を検出し、レーダーセンサ回路により前方にある物体の位置と速 度を求め、自動車に対して前方にある走行路の状況を認識する方法において、 目標振幅のしきい値比較により、固定目標から離散的な角度範囲内で走行路 の縁に特有な目標を分離し、各角度範囲で目標距離をオーダーフィルターで濾波 して車両に対する実際の走行路の縁の間隔を求め、分類器を用いて曲線のタイプ の適応予測する特徴として、また曲線回帰用の支持位置としてこの間隔を使用す る、 ことを特徴とする方法。 2.観測する角度範囲内で車両と走行路の縁の間の間隔を測定するため、オーダ ーフィルターを使用し、多数の連続する測定サイクルの当該角度範囲の走行路の 縁に特有な目標から最短距離の目標を求める、 ことを特徴とする請求項1に記載の方法。 3.走行路の縁の間隔(16′)を平滑化するため、モデルに基づくカルマンフ ィルター(18)を使用し、このフィルターのモデルは街路の状況の動特性に関 する先験的な知識に基づく、 ことを特徴とする請求項1に記載の方法。 4.走行路の幅に関する知識なしに走行路の曲率を予測するため、直線回帰によ り先ず回帰直線を形成し、高次の多項式を求めるために回帰直線の傾斜を利用す る、 ことを特徴とする請求項1に記載の方法。 5.適応曲線予測器(3)には、車両の実際の曲線のタイプ(6)と曲線分類器 (3)により予測され、その都度車両の実際の速度(9)に応じて時間的に遅れ た曲線のタイプ(7′)との比較から得られた修正信号が連続的に入力される、 ことを特徴とする請求項1に記載の方法。 6.予測する曲線分類器(3)はニューロ回路網で形成される、 ことを特徴とする請求項1に記載の方法。 7.ニューロ回路網の重みは実例の状況に基づきオフライン適応により一度に予 め指定される、 ことを特徴とする請求項1に記載の方法。 8.実例の状況に基づき運転前に予め与える重みはオンライン適応により運転中 に修正信号(5)により修正される、 ことを特徴とする請求項1に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19620163.2 | 1996-05-08 | ||
DE19620163 | 1996-05-08 | ||
PCT/EP1997/002297 WO1997042521A1 (de) | 1996-05-08 | 1997-05-07 | Verfahren zur erkennung des vorausliegenden fahrbahnverlaufs für kraftfahrzeuge |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH11509005A true JPH11509005A (ja) | 1999-08-03 |
JP3045401B2 JP3045401B2 (ja) | 2000-05-29 |
Family
ID=7794734
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP9539536A Expired - Fee Related JP3045401B2 (ja) | 1996-05-08 | 1997-05-07 | 自動車の前方車道状況を確認する方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US6300865B1 (ja) |
EP (1) | EP0897545B1 (ja) |
JP (1) | JP3045401B2 (ja) |
DE (2) | DE59704311D1 (ja) |
WO (1) | WO1997042521A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002131432A (ja) * | 2000-10-24 | 2002-05-09 | Honda Motor Co Ltd | 車両用進行軌跡予測装置 |
JP2004271513A (ja) * | 2003-02-20 | 2004-09-30 | Nissan Motor Co Ltd | 前方物体検出装置及び前方物体検出方法 |
JP2005172590A (ja) * | 2003-12-10 | 2005-06-30 | Nissan Motor Co Ltd | 前方物体検出装置及び前方物体検出方法 |
US8126640B2 (en) | 2002-04-27 | 2012-02-28 | Robert Bosch Gmbh | Method and device for predicting the course of motor vehicles |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19749086C1 (de) * | 1997-11-06 | 1999-08-12 | Daimler Chrysler Ag | Vorrichtung zur Ermittlung fahrspurverlaufsindikativer Daten |
SE511013C2 (sv) * | 1997-12-10 | 1999-07-19 | Celsiustech Electronics Ab | Förfarande för att prediktera förekomsten av en krökning på ett vägparti |
DE19757063A1 (de) | 1997-12-20 | 1999-06-24 | Bayerische Motoren Werke Ag | Abstandsbezogenes Fahrgeschwindigkeitsregelsystem |
JP3427809B2 (ja) * | 2000-03-09 | 2003-07-22 | 株式会社デンソー | 車両用道路形状認識方法及び装置、記録媒体 |
JP3417381B2 (ja) * | 2000-05-25 | 2003-06-16 | 株式会社デンソー | 道路形状認識装置、先行車両特定装置、及び記録媒体 |
DE10026132A1 (de) | 2000-05-26 | 2002-02-21 | Trw Automotive Safety Sys Gmbh | Verfahren zum Steuern des Lenkwinkels eines Fahrzeugs sowie System zur Durchführung des Verfahrens |
DE10138641A1 (de) * | 2001-08-07 | 2003-02-20 | Ibeo Automobile Sensor Gmbh | Verfahren zur Bestimmung einer Modellfahrbahn |
US6542111B1 (en) * | 2001-08-13 | 2003-04-01 | Yazaki North America, Inc. | Path prediction for vehicular collision warning system |
DE10140802A1 (de) * | 2001-08-20 | 2003-03-06 | Ibeo Automobile Sensor Gmbh | Führung von Kraftfahrzeugen |
AU2003251943A1 (en) * | 2002-07-15 | 2004-02-02 | Automotive Systems Laboratory, Inc. | Road curvature estimation and automotive target state estimation system |
US7522091B2 (en) * | 2002-07-15 | 2009-04-21 | Automotive Systems Laboratory, Inc. | Road curvature estimation system |
US6807473B1 (en) * | 2003-04-09 | 2004-10-19 | Continental Teves, Inc. | Road recognition system |
DE102004012144B4 (de) * | 2004-03-12 | 2009-04-09 | Audi Ag | Verfahren und Vorrichtung zum Unterstützen eines Fahrers beim Lenken des Kraftfahrzeugs |
US7421894B2 (en) * | 2005-07-14 | 2008-09-09 | Dale Keep | Sensors and associated methods, including surface condition sensors |
US7629801B2 (en) * | 2005-07-14 | 2009-12-08 | Zydax, Llc | Sensing system for use in detecting a surface condition of a roadway surface |
DE102005044013A1 (de) * | 2005-09-14 | 2007-02-15 | Daimlerchrysler Ag | Fahrerassistenzsystem für ein Kraftfahrzeug |
JP4211809B2 (ja) * | 2006-06-30 | 2009-01-21 | トヨタ自動車株式会社 | 物体検出装置 |
DE102007034196A1 (de) | 2007-07-23 | 2009-01-29 | Robert Bosch Gmbh | Verfahren und Vorrichtung für die Spurerfassung mit einem Fahrerassistenzsystem |
EP2242674B1 (de) * | 2008-02-20 | 2012-12-12 | Continental Teves AG & Co. oHG | Verfahren und assistenzsystem zum erfassen von objekten im umfeld eines fahrzeugs |
DE102009007342A1 (de) * | 2009-02-04 | 2010-08-05 | Hella Kgaa Hueck & Co. | Verfahren und Vorrichtung zum Ermitteln einer geltenden Fahrspurmarkierung |
JP5075152B2 (ja) * | 2009-03-24 | 2012-11-14 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
US8306672B2 (en) * | 2009-09-09 | 2012-11-06 | GM Global Technology Operations LLC | Vehicular terrain detection system and method |
JP5610847B2 (ja) * | 2010-05-26 | 2014-10-22 | 三菱電機株式会社 | 角速度推定装置及びコンピュータプログラム及び角速度推定方法 |
JP5618744B2 (ja) * | 2010-05-26 | 2014-11-05 | 三菱電機株式会社 | 道路形状推定装置及びコンピュータプログラム及び道路形状推定方法 |
KR101776703B1 (ko) * | 2011-10-14 | 2017-09-08 | 한화테크윈 주식회사 | 레이다 센서 및 이를 이용한 물체 검출 방법 |
US9145143B2 (en) * | 2013-10-17 | 2015-09-29 | Ford Global Technologies, Llc | Road characteristic prediction |
WO2018055691A1 (ja) * | 2016-09-21 | 2018-03-29 | 株式会社日立製作所 | モータ制御システム並びにモータ制御方法 |
KR20180090610A (ko) | 2017-02-03 | 2018-08-13 | 삼성전자주식회사 | 차선 정보를 출력하는 방법 및 장치. |
CN108445480B (zh) * | 2018-02-02 | 2022-05-03 | 重庆邮电大学 | 基于激光雷达的移动平台自适应扩展目标跟踪系统及方法 |
DE102020208878A1 (de) | 2020-02-27 | 2021-09-02 | Continental Automotive Gmbh | Verfahren zur Kurvenerkennung |
US20220335279A1 (en) * | 2021-04-14 | 2022-10-20 | Aptiv Technologies Limited | Radar System Using a Machine-Learned Model for Stationary Object Detection |
CN113221739B (zh) * | 2021-05-12 | 2023-04-14 | 中国科学技术大学 | 基于单目视觉的车距测量方法 |
DE102022107820A1 (de) | 2022-04-01 | 2023-10-05 | Volkswagen Aktiengesellschaft | Verfahren und Prozessorschaltung zum Überprüfen einer Plausibilität eines Detektionsergebnisses einer Objekterkennung in einem künstlichen neuronalen Netzwerk sowie Kraftfahrzeug |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2215576C3 (de) * | 1972-03-30 | 1988-09-29 | Ernst Leitz Wetzlar Gmbh, 6330 Wetzlar | Einrichtung zum Messen, Regeln und/ oder Anzeigen der Bewegung von Landfahrzeugen |
US4011563A (en) * | 1976-02-06 | 1977-03-08 | Rca Corporation | Variable range automotive radar system |
DE2623643C2 (de) * | 1976-05-26 | 1986-11-20 | Daimler-Benz Ag, 7000 Stuttgart | Verfahren zum selbsttätigen Regeln des Sicherheitsabstandes eines Fahrzeuges zu vorausfahrenden Fahrzeugen und Vorrichtung zur Durchführung dieses Verfahrens |
DE3034199A1 (de) * | 1979-01-08 | 1982-04-22 | Robert Bosch Gmbh, 7000 Stuttgart | Vorrichtung zur regelung der geschwindigkeit eines kraftfahrzeuges |
US4970653A (en) * | 1989-04-06 | 1990-11-13 | General Motors Corporation | Vision method of detecting lane boundaries and obstacles |
IT1240974B (it) * | 1990-07-05 | 1993-12-27 | Fiat Ricerche | Metodo e apparecchiatura per evitare la collisione di un autoveicolo contro ostacoli. |
JP3128176B2 (ja) | 1993-05-24 | 2001-01-29 | マツダ株式会社 | 自動車の障害物検知装置 |
JP3431962B2 (ja) * | 1993-09-17 | 2003-07-28 | 本田技研工業株式会社 | 走行区分線認識装置を備えた自動走行車両 |
JP3388132B2 (ja) * | 1997-04-09 | 2003-03-17 | 本田技研工業株式会社 | 車両制御装置 |
JP3347972B2 (ja) * | 1997-04-09 | 2002-11-20 | 本田技研工業株式会社 | 車両制御装置 |
-
1997
- 1997-05-07 JP JP9539536A patent/JP3045401B2/ja not_active Expired - Fee Related
- 1997-05-07 DE DE59704311T patent/DE59704311D1/de not_active Expired - Lifetime
- 1997-05-07 DE DE19720764A patent/DE19720764C2/de not_active Expired - Lifetime
- 1997-05-07 EP EP97922973A patent/EP0897545B1/de not_active Expired - Lifetime
- 1997-05-07 WO PCT/EP1997/002297 patent/WO1997042521A1/de active IP Right Grant
- 1997-05-07 US US09/180,564 patent/US6300865B1/en not_active Expired - Fee Related
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002131432A (ja) * | 2000-10-24 | 2002-05-09 | Honda Motor Co Ltd | 車両用進行軌跡予測装置 |
US8126640B2 (en) | 2002-04-27 | 2012-02-28 | Robert Bosch Gmbh | Method and device for predicting the course of motor vehicles |
JP2004271513A (ja) * | 2003-02-20 | 2004-09-30 | Nissan Motor Co Ltd | 前方物体検出装置及び前方物体検出方法 |
JP4506162B2 (ja) * | 2003-02-20 | 2010-07-21 | 日産自動車株式会社 | 前方物体検出装置及び前方物体検出方法 |
JP2005172590A (ja) * | 2003-12-10 | 2005-06-30 | Nissan Motor Co Ltd | 前方物体検出装置及び前方物体検出方法 |
JP4506163B2 (ja) * | 2003-12-10 | 2010-07-21 | 日産自動車株式会社 | 前方物体検出装置及び前方物体検出方法 |
Also Published As
Publication number | Publication date |
---|---|
WO1997042521A1 (de) | 1997-11-13 |
EP0897545A1 (de) | 1999-02-24 |
DE19720764C2 (de) | 2003-04-30 |
JP3045401B2 (ja) | 2000-05-29 |
EP0897545B1 (de) | 2001-08-16 |
DE59704311D1 (de) | 2001-09-20 |
US6300865B1 (en) | 2001-10-09 |
DE19720764A1 (de) | 1997-11-13 |
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