KR20030036764A - 경로 예측 시스템 및 방법 - Google Patents
경로 예측 시스템 및 방법 Download PDFInfo
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- KR20030036764A KR20030036764A KR10-2003-7003425A KR20037003425A KR20030036764A KR 20030036764 A KR20030036764 A KR 20030036764A KR 20037003425 A KR20037003425 A KR 20037003425A KR 20030036764 A KR20030036764 A KR 20030036764A
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- 238000000034 method Methods 0.000 title claims abstract description 177
- 230000008859 change Effects 0.000 claims abstract description 46
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- 230000004044 response Effects 0.000 claims abstract description 9
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- 238000001514 detection method Methods 0.000 claims description 26
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- 230000001902 propagating effect Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims description 3
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- 230000008569 process Effects 0.000 abstract description 29
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- 230000003044 adaptive effect Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010219 correlation analysis Methods 0.000 description 1
- 238000003066 decision tree Methods 0.000 description 1
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- 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
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- 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
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
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- 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
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
Description
Claims (20)
- 도로의 차선을 따라 이동하는 차량의 예측된 경로에서 물체를 검출하기 위한 시스템으로서,차량 전방의 시야내의 물체에 대한 거리, 각도 및 속도 데이터를 제공하기 위한 전향 센서;상기 차량에 대한 속도 및 선회각 데이터를 제공하기 위한 측정 시스템; 및상기 전향 센서 및 상기 측정 시스템에 응답하여 속도 및 선회각에 기반하여 상기 차량의 추정된 경로를 계산하고, 상기 물체 각각에 대한 추정된 경로를 계산하고, 상기 차량의 예측된 경로로부터 각각의 물체의 측면 범위를 결정하며, 각각의 물체를 상기 차량의 도로 차선 안쪽 또는 바깥쪽으로 구분하기 위한 처리 시스템을 포함하는 시스템.
- 제 1항에 있어서, 상기 전향 센서는 레이더 시스템을 포함하는 것을 특징으로 하는 물체 검출 시스템.
- 제 1항에 있어서, 상기 선회각 측정 시스템은 자이로컴퍼스(gyrocompass)를 포함하는 것을 특징으로 하는 물체 검출 시스템.
- 차량 전방의 시야내의 물체에 대한 거리, 각도, 및 속도 데이터를 제공하기위한 전향 센서, 상기 차량에 대한 속도 및 선회각 데이터를 제공하기 위한 측정 시스템 및 상기 전향 센서와 상기 측정 시스템에 응답하는 처리시스템을 포함하는 차량용 시스템에서, 도로의 차선을 따라 이동하는 동안 상기 차량의 예측된 경로에서 물체를 검출하기 위한 방법으로서,a. 속도 및 선회각에 기반하여 상기 차량의 추정된 경로를 계산하는 단계;b. 상기 물체의 각각에 대한 추정된 경로를 계산하는 단계;c. 상기 차량의 예측된 경로로부터 각각의 물체의 측면 범위를 결정하는 단계; 및d. 각각의 물체가 상기 차량의 도로 차선 안쪽 또는 바깥쪽에 있는지를 구분하는 단계를 포함하는 방법.
- 제 4항에 있어서, 상기 방법은 초당 10 내지 20회 반복되는 것을 특징으로 하는 방법.
- 상기 차량의 전방의 시야내의 타겟에 대한 거리, 각도 및 속도 데이터를 제공하기 위한 전향 레이더 시스템, 상기 차량에 대한 속도 및 선회각 데이터를 제공하기 위한 측정 시스템, 및 상기 전향 레이더 시스템 및 상기 측정 시스템에 응답하는 처리 시스템을 포함하는 호스트 차량용 시스템에서, 도로의 차선을 따라 이동하는 동안 상기 호스트 차량의 예측된 경로에서 타겟을 검출하기 위한 방법으로서,a. 상기 전향 레이더 시스템 및 측정 시스템으로부터의 데이터 입력을 수집하고, 그로부터 가속도 및 측면 속도 타겟 데이터를 유도해내는 단계;b. 상기 속도 및 선회각 데이터로부터 호스트 차량 경로 추정값을 계산하는 단계;c. 상기 호스트 차량 경로 추정값을 사용하여 타겟 위치 히스토리를 전파하는 단계;d. 전면 및 측면 타겟 위치 상태 벡터를 사용하여 타겟 위치 앞쪽으로 전파하는 단계;e. 호스트 차량 및 타겟 위치 벡터에 대한 다항 곡선 맞춤(curve fit)을 계산하는 단계;f. 호스트 차량과 타겟 경로를 서로 상관시킴으로써 상기 예측된 경로를 발생시키고 그후에 타겟 경로를 가중 평균으로 퓨징(fusing)하는 단계;g. 타겟 교차 범위 위치와 상기 예측된 경로를 비교하고, 상기 호스트 차량의 도로 차선에 관련하여 타겟을 차선이 안쪽 또는 차선 바깥쪽에 있는지를 구분하는 단계;h. 상기 전향 레이더 시스템으로부터 업데이트된 데이터를 수신하는 단계; 및상기 단계 a 내지 h를 계속하여 반복하는 단계를 포함하는 방법.
- 제 6항에 있어서, 상기 호스트 차량의 경로 추정값을 계산하는 상기 단계는 곡률 파라미터를 추적하여 호스트 위치벡터를 범위내에서 앞쪽으로 전파하기 위해2상태 칼만(Kalman) 필터를 적용하는 단계를 포함하는 것을 특징으로 하는 방법.
- 제 6항에 있어서, 상기 타겟 위치 히스토리를 전파하는 상기 단계는 상기 호스트 차량의 전면축에 관련하여 타겟의 이전 위치를 계산하는 단계, 히스토리 포인트의 벡터를 필링(filling)하는 단계, 및 전면값이 0 이하로 떨어질때 포인트를 하락시키는 단계를 포함하는 것을 특징으로 하는 방법.
- 제 6항에 있어서, 상기 호스트 차량 벡터에 대한 다항 곡선 맞춤을 계산 하는 상기 단계는 타겟 히스토리 데이터 및 호스트 차량 곡률 비율 데이터에 2차 다항 곡선 맞춤을 적용하는 단계를 포함하는 것을 특징으로 하는 방법.
- 제 9항에 있어서, 상기 다항 곡선은x = c0+ c1 y + c2 y2식을 포함하며,상기 x는 측면 방향이고, y는 전면 방향이며, 상기 c0, c1및 c2는 각각 교차 범위 차원에서 곡선의 형태를 구분하는 0차, 1차, 및 2차 다항 계수인것을 특징으로 하는 방법.
- 제 6항에 있어서, 상기 타겟 위치 벡터에 대한 다항 곡선 맞춤을 계산하는 상기 단계는 전면 및 측면 차원에서 타겟 위치 앞쪽의 데이터 및 속도 추정값을 전파하는 단계를 포함하는 방법.
- 제 11항에 있어서, 상기 다항 곡선은x = c0+ c1 y + c2 y2식을 포함하며,상기 x는 측면 방향이고, y는 전면 방향이며, 상기 c0, c1및 c2는 각각 교차 범위 차원에서 곡선의 형태를 구분하는 0차, 1차, 및 2차 다항 계수인것을 특징으로 하는 방법.
- 제 6항에 있어서, 상기 예측된 경로를 발생시키는 상기 단계는 상기 호스트 차량에 의한 도로의 차선 변경을 위한 테스트 단계를 포함하는 것을 특징으로 하는 방법.
- 제 13항에 있어서, 상기 예측된 경로를 발생시키는 상기 단계는 상기 호스트 차량의 필터링되지 않은 선회각 측정값과 상기 호스트 차량 속력의 2배로 곱해진 이전의 업데이트 경로 헤딩 계수를 비교하는 단계를 포함하는 것을 특징으로 하는 방법.
- 제 14항에 있어서, 상기 호스트 차량에 의한 도로 차선 변경은,통합된 선회각과 각각의 타겟 헤딩 계수가 동일한지와 반대인지를 알기위해비교하는 단계;타겟의 대다수가 호스트 차량의 반대 방향에서 이동하는지를 확인하는 단계; 및상기 반대 방향 모션이 전향 레이더 시스템으로부터 2개의 연속하는 데이터에서 발생하는지를 관찰하는 단계에 의해 확인되는 것을 특징으로 하는 방법.
- 제 6항에 있어서, 상기 예측된 경로를 발생시키는 상기 단계는 불이행 타겟 퓨전 가중치를 계산하는 단계를 포함하는 것을 특징으로 하는 방법.
- 제 16항에 있어서, 상기 불이행 타겟 퓨전 가중치는 상기 호스트 차량 및 상기 타겟의 현재 위치 사이의 범위에 대한 값과 상기 타겟을 넘어서 상기 전향 레이더 시스템의 범위의 끝에서 단조롭게 감소하는 값에 할당되는 것을 특징으로 하는 방법.
- 제 6항에 있어서, 상기 타겟 교차 범위 위치와 상기 예측된 경로를 비교하는 상기 단계는 차선 안쪽 구분을 결정하기 위해 타겟 위치와 예측된 경로의 도로 차선 폭의 2/1의 안쪽인지를 비교하는 단계를 포함하는 것을 특징으로 하는 방법.
- 제 6항에 있어서, 호스트 차량 및 타겟 경로를 상관하고 그후에 타겟 경로를 가중 평균으로 퓨징하여 상기 예측된 경로를 발생시키는 상기 단계는 범위 내에서가장 먼 타겟이 예측된 경로로부터 벗어날 때 타겟은 선택 경로 가설을 셋팅하는 프로세스를 더 포함하며, 상기 선택 경로 가설은 예측된 경로를 따르는 것을 계속하는 것을 특징으로 하는 방법.
- 제 12항에 있어서, 호스트 차량 및 타겟 경로를 상관하고 그후에 타겟 경로를 가중 평균으로 퓨징하여 상기 예측된 경로를 발생시키는 상기 단계는,허용된 선택 경로 가설의 분석에 따라 퓨전 가중치를 조절하는 단계; 또는선택 경로 가설이 거절되고 단일 타겟만이 존재한다면 호스트 차량의 유도된 경로를 사용하는 단계; 또는하나 이상의 타겟이 존재하는 거절된 선택 경로 가설의 분석에 따라 퓨전 가중치를 조절하는 단계; 또는어떤 선택 경로 가설도 존재하지 않는 불이행의 범위기반 퓨전 가중치를 적용하는 단계;타겟 경로의 가중 평균을 계산하는 단계; 및상기 다항 계수를 추출하는 단계를 더 포함하는 방법.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US23111300P | 2000-09-08 | 2000-09-08 | |
US60/231,113 | 2000-09-08 | ||
PCT/US2001/042065 WO2002021156A2 (en) | 2000-09-08 | 2001-09-07 | Path prediction system and method |
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EP (1) | EP1315980B1 (ko) |
JP (1) | JP2004508627A (ko) |
KR (1) | KR100776860B1 (ko) |
AU (1) | AU2001291299A1 (ko) |
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-
2001
- 2001-09-07 KR KR1020037003425A patent/KR100776860B1/ko active IP Right Grant
- 2001-09-07 EP EP01971409A patent/EP1315980B1/en not_active Expired - Lifetime
- 2001-09-07 DE DE60123640T patent/DE60123640T2/de not_active Expired - Lifetime
- 2001-09-07 US US09/949,295 patent/US6675094B2/en not_active Expired - Lifetime
- 2001-09-07 WO PCT/US2001/042065 patent/WO2002021156A2/en active IP Right Grant
- 2001-09-07 AU AU2001291299A patent/AU2001291299A1/en not_active Abandoned
- 2001-09-07 JP JP2002524722A patent/JP2004508627A/ja active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20190070824A (ko) * | 2017-12-13 | 2019-06-21 | 국민대학교산학협력단 | 광학 카메라 통신을 이용하는 위치 추정 방법 및 장치 |
Also Published As
Publication number | Publication date |
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US6675094B2 (en) | 2004-01-06 |
EP1315980A2 (en) | 2003-06-04 |
WO2002021156A3 (en) | 2002-07-18 |
DE60123640T2 (de) | 2007-08-16 |
US20020049539A1 (en) | 2002-04-25 |
EP1315980B1 (en) | 2006-10-04 |
KR100776860B1 (ko) | 2007-11-16 |
JP2004508627A (ja) | 2004-03-18 |
AU2001291299A1 (en) | 2002-03-22 |
DE60123640D1 (de) | 2006-11-16 |
WO2002021156A2 (en) | 2002-03-14 |
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