MX2017014181A - Seguimiento de objetos mediante el uso de fusion de sensores dentro de un sistema probabilistico. - Google Patents
Seguimiento de objetos mediante el uso de fusion de sensores dentro de un sistema probabilistico.Info
- Publication number
- MX2017014181A MX2017014181A MX2017014181A MX2017014181A MX2017014181A MX 2017014181 A MX2017014181 A MX 2017014181A MX 2017014181 A MX2017014181 A MX 2017014181A MX 2017014181 A MX2017014181 A MX 2017014181A MX 2017014181 A MX2017014181 A MX 2017014181A
- Authority
- MX
- Mexico
- Prior art keywords
- sensor
- tracklet
- assigned
- outputs
- probability
- Prior art date
Links
- 230000004927 fusion Effects 0.000 title 1
- 238000001914 filtration Methods 0.000 abstract 1
- 238000002604 ultrasonography Methods 0.000 abstract 1
Classifications
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- 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
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/253—Fusion techniques of extracted features
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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
- 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
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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
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- 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
-
- 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
- B60W2556/20—Data confidence level
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- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Data Mining & Analysis (AREA)
- Artificial Intelligence (AREA)
- Bioinformatics & Computational Biology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Evolutionary Biology (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Evolutionary Computation (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Un controlador recibe resultados de múltiples sensores tales como una cámara, un sensor LIDAR, un sensor RADAR y un sensor de ultrasonido. Los resultados de los sensores que corresponden a un objeto se asignan a un tracklet. Los resultados posteriores de cualquiera de los sensores que corresponden a un objeto también se asignan al tracklet. Se calcula una trayectoria del objeto a partir de los resultados de los sensores asignados al tracklet, tal como por medio de filtrado de Kalman. Para cada resultado de los sensores asignado al tracklet, se actualiza una probabilidad, por ejemplo, mediante el uso de una actualización de probabilidad bayesiana. Cuando la probabilidad coincide con una condición de un umbral, se determina que el objeto está presente y se genera una alerta o se lleva a cabo la prevención de colisiones autónoma con respecto a una ubicación esperada del objeto.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/346,210 US10160448B2 (en) | 2016-11-08 | 2016-11-08 | Object tracking using sensor fusion within a probabilistic framework |
Publications (1)
Publication Number | Publication Date |
---|---|
MX2017014181A true MX2017014181A (es) | 2018-10-02 |
Family
ID=60664855
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2017014181A MX2017014181A (es) | 2016-11-08 | 2017-11-06 | Seguimiento de objetos mediante el uso de fusion de sensores dentro de un sistema probabilistico. |
Country Status (6)
Country | Link |
---|---|
US (1) | US10160448B2 (es) |
CN (1) | CN108062095B (es) |
DE (1) | DE102017125963A1 (es) |
GB (1) | GB2558726A (es) |
MX (1) | MX2017014181A (es) |
RU (1) | RU2017134401A (es) |
Families Citing this family (20)
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JP6194520B1 (ja) * | 2016-06-24 | 2017-09-13 | 三菱電機株式会社 | 物体認識装置、物体認識方法および自動運転システム |
US10421452B2 (en) * | 2017-03-06 | 2019-09-24 | GM Global Technology Operations LLC | Soft track maintenance |
US11392133B2 (en) | 2017-06-06 | 2022-07-19 | Plusai, Inc. | Method and system for object centric stereo in autonomous driving vehicles |
US11573573B2 (en) | 2017-06-06 | 2023-02-07 | Plusai, Inc. | Method and system for distributed learning and adaptation in autonomous driving vehicles |
US11042155B2 (en) * | 2017-06-06 | 2021-06-22 | Plusai Limited | Method and system for closed loop perception in autonomous driving vehicles |
US10852420B2 (en) * | 2018-05-18 | 2020-12-01 | Industrial Technology Research Institute | Object detection system, autonomous vehicle using the same, and object detection method thereof |
CN110501709B (zh) * | 2018-05-18 | 2023-03-07 | 财团法人工业技术研究院 | 目标检测系统、自主车辆以及其目标检测方法 |
JP7027279B2 (ja) * | 2018-08-07 | 2022-03-01 | 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 |
CN108983213B (zh) * | 2018-09-07 | 2021-01-01 | 百度在线网络技术(北京)有限公司 | 障碍物静止状态的确定方法、装置、设备及存储介质 |
CN111629947B (zh) * | 2018-12-26 | 2023-05-26 | 百度时代网络技术(北京)有限公司 | 自动驾驶车辆的用于生成参考线的方法和系统 |
KR20200085982A (ko) | 2019-01-07 | 2020-07-16 | 삼성전자주식회사 | 차량의 주행을 보조하는 전자 장치 및 방법 |
KR20210132674A (ko) | 2019-02-19 | 2021-11-04 | 크라운 이큅먼트 코포레이션 | 자재 취급 차량에 관련한 센서의 포즈의 교정을 위한 시스템들 및 방법들 |
US11280897B2 (en) * | 2019-03-31 | 2022-03-22 | Waymo Llc | Radar field of view extensions |
CN110267206B (zh) * | 2019-05-21 | 2020-11-17 | 中国联合网络通信集团有限公司 | 用户位置预测方法及装置 |
CN110221307B (zh) * | 2019-05-28 | 2022-12-13 | 哈尔滨工程大学 | 一种多被动声纳非合作多目标线谱信息融合方法 |
US11643115B2 (en) * | 2019-05-31 | 2023-05-09 | Waymo Llc | Tracking vanished objects for autonomous vehicles |
CN110346004B (zh) * | 2019-08-16 | 2020-08-21 | 杭州山科智能科技股份有限公司 | 一种双声道超声时差法的流量测量数据融合方法 |
DE102019123483B4 (de) | 2019-09-02 | 2021-12-09 | Audi Ag | Verfahren sowie Kraftfahrzeug-Steuereinheit zum Erfassen einer Umgebung eines Kraftfahrzeugs durch Fusionieren von Sensordaten auf Punktwolkenebene |
US11069161B2 (en) * | 2019-09-30 | 2021-07-20 | Ford Global Technologies, Llc | Adaptive sensor fusion |
US20230406359A1 (en) * | 2022-06-15 | 2023-12-21 | Gm Cruise Holdings Llc | Collision imminent detection |
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DE10118707A1 (de) * | 2001-04-12 | 2002-10-17 | Bosch Gmbh Robert | Verfahren zur Kollisionsverhinderung bei Kraftfahrzeugen |
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DE102015201706A1 (de) * | 2015-02-02 | 2016-08-04 | Bayerische Motoren Werke Aktiengesellschaft | Verarbeitung von Sensormessungen eines Fahrzeugumfeldes bei geringer Querauflösung |
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US9785846B2 (en) * | 2015-12-23 | 2017-10-10 | Automotive Research & Test Center | Method for quantifying classification confidence of obstructions |
-
2016
- 2016-11-08 US US15/346,210 patent/US10160448B2/en active Active
-
2017
- 2017-10-03 RU RU2017134401A patent/RU2017134401A/ru not_active Application Discontinuation
- 2017-11-02 GB GB1718172.8A patent/GB2558726A/en not_active Withdrawn
- 2017-11-03 CN CN201711068459.5A patent/CN108062095B/zh active Active
- 2017-11-06 MX MX2017014181A patent/MX2017014181A/es unknown
- 2017-11-07 DE DE102017125963.5A patent/DE102017125963A1/de active Pending
Also Published As
Publication number | Publication date |
---|---|
GB2558726A (en) | 2018-07-18 |
US20180126984A1 (en) | 2018-05-10 |
GB201718172D0 (en) | 2017-12-20 |
RU2017134401A (ru) | 2019-04-03 |
US10160448B2 (en) | 2018-12-25 |
DE102017125963A1 (de) | 2018-05-09 |
CN108062095B (zh) | 2022-08-02 |
CN108062095A (zh) | 2018-05-22 |
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