MX345393B - Dispositivo de estimación del ángulo de actitud de la posición del vehículo y método de estimación del ángulo de actitud de la posición del vehículo. - Google Patents

Dispositivo de estimación del ángulo de actitud de la posición del vehículo y método de estimación del ángulo de actitud de la posición del vehículo.

Info

Publication number
MX345393B
MX345393B MX2016001351A MX2016001351A MX345393B MX 345393 B MX345393 B MX 345393B MX 2016001351 A MX2016001351 A MX 2016001351A MX 2016001351 A MX2016001351 A MX 2016001351A MX 345393 B MX345393 B MX 345393B
Authority
MX
Mexico
Prior art keywords
vehicle position
vehicle
bearing estimation
bearing
estimation device
Prior art date
Application number
MX2016001351A
Other languages
English (en)
Other versions
MX2016001351A (es
Inventor
Yamaguchi Ichiro
Original Assignee
Nissan Motor
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 Nissan Motor filed Critical Nissan Motor
Publication of MX2016001351A publication Critical patent/MX2016001351A/es
Publication of MX345393B publication Critical patent/MX345393B/es

Links

Classifications

    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/114—Yaw movement
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • 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; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Image Processing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)

Abstract

Un dispositivo de estimación del ángulo de actitud de la posición del vehículo de la presente invención establece un rango de distribución existente de partículas a un rango predeterminado utilizando un filtro de partículas y dispersa partículas dentro del rango de distribución existente establecido para estimar la posición y el ángulo de actitud de un vehículo a partir de una imagen que captura los alrededores del vehículo. El dispositivo de estimación del ángulo de actitud de la posición del vehículo ensancha el rango de distribución existente establecido en la dirección de anchura de vehículo del vehículo cuando la velocidad del vehículo se vuelve alta.
MX2016001351A 2013-08-01 2014-06-19 Dispositivo de estimación del ángulo de actitud de la posición del vehículo y método de estimación del ángulo de actitud de la posición del vehículo. MX345393B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013160074 2013-08-01
PCT/JP2014/066311 WO2015015939A1 (ja) 2013-08-01 2014-06-19 車両位置姿勢角推定装置及び車両位置姿勢角推定方法

Publications (2)

Publication Number Publication Date
MX2016001351A MX2016001351A (es) 2016-04-07
MX345393B true MX345393B (es) 2017-01-30

Family

ID=52431481

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016001351A MX345393B (es) 2013-08-01 2014-06-19 Dispositivo de estimación del ángulo de actitud de la posición del vehículo y método de estimación del ángulo de actitud de la posición del vehículo.

Country Status (8)

Country Link
US (1) US10363940B2 (es)
EP (1) EP3029538B1 (es)
JP (1) JP6020729B2 (es)
CN (1) CN105593776B (es)
BR (1) BR112016002163A2 (es)
MX (1) MX345393B (es)
RU (1) RU2626424C1 (es)
WO (1) WO2015015939A1 (es)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
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US20160259034A1 (en) * 2015-03-04 2016-09-08 Panasonic Intellectual Property Management Co., Ltd. Position estimation device and position estimation method
JP6511406B2 (ja) * 2016-02-10 2019-05-15 クラリオン株式会社 キャリブレーションシステム、キャリブレーション装置
US11383723B2 (en) * 2017-06-13 2022-07-12 Hitachi Astemo, Ltd. Vehicle control device
WO2019111702A1 (ja) * 2017-12-05 2019-06-13 ソニー株式会社 情報処理装置、情報処理方法、およびプログラム
US11472419B2 (en) 2018-03-28 2022-10-18 Hitachi Astemo, Ltd. Vehicle control device
CN109061703B (zh) * 2018-06-11 2021-12-28 阿波罗智能技术(北京)有限公司 用于定位的方法、装置、设备和计算机可读存储介质
CN109109861B (zh) * 2018-09-24 2020-02-14 合肥工业大学 车道保持横向控制决策方法及车道保持横向控制决策装置
EP3983863A4 (en) 2019-06-14 2023-01-25 Bayerische Motoren Werke Aktiengesellschaft 3D ODOMETRY IN 6D SPACE WITH ROAD MODEL 2D COPY
JP2022535503A (ja) * 2019-06-14 2022-08-09 バイエリシエ・モトーレンウエルケ・アクチエンゲゼルシヤフト ２次元軌道計画用道路モデル多様体
WO2022141240A1 (en) * 2020-12-30 2022-07-07 SZ DJI Technology Co., Ltd. Determining vehicle positions for autonomous driving based on monocular vision and semantic map

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FR2889882B1 (fr) * 2005-08-19 2009-09-25 Renault Sas Procede et systeme de prediction de choc entre un vehicule et un pieton.
DE102006019216A1 (de) * 2006-04-21 2007-10-25 Claas Selbstfahrende Erntemaschinen Gmbh Verfahren zur Steuerung eines landwirtschaftlichen Maschinensystems
US9217788B2 (en) * 2009-03-19 2015-12-22 Cork Institute Of Technology Location and tracking system
JP2010224755A (ja) 2009-03-23 2010-10-07 Toyota Motor Corp 移動体及び移動体の位置推定方法
JP2011040993A (ja) * 2009-08-11 2011-02-24 Nikon Corp 被写体追尾プログラム、およびカメラ
CN102087109A (zh) * 2009-12-04 2011-06-08 财团法人资讯工业策进会 位置估测系统、装置及其估测方法
CN101800890B (zh) * 2010-04-08 2013-04-24 北京航空航天大学 一种高速公路监控场景下多车辆视频跟踪方法
JP5687035B2 (ja) 2010-11-18 2015-03-18 セコム株式会社 人物追跡装置
US8452535B2 (en) * 2010-12-13 2013-05-28 GM Global Technology Operations LLC Systems and methods for precise sub-lane vehicle positioning
WO2013002067A1 (ja) * 2011-06-29 2013-01-03 株式会社日立産機システム 移動ロボット、及び移動体に搭載される自己位置姿勢推定システム
JP5807518B2 (ja) * 2011-11-09 2015-11-10 富士通株式会社 推定装置、推定方法、および推定プログラム
CN102768361A (zh) * 2012-07-09 2012-11-07 东南大学 基于遗传粒子滤波与模糊神经网络的gps/ins组合定位方法
US9250324B2 (en) * 2013-05-23 2016-02-02 GM Global Technology Operations LLC Probabilistic target selection and threat assessment method and application to intersection collision alert system

Also Published As

Publication number Publication date
US20160185355A1 (en) 2016-06-30
EP3029538A1 (en) 2016-06-08
JP6020729B2 (ja) 2016-11-02
CN105593776B (zh) 2018-01-23
CN105593776A (zh) 2016-05-18
RU2626424C1 (ru) 2017-07-27
US10363940B2 (en) 2019-07-30
JPWO2015015939A1 (ja) 2017-03-02
BR112016002163A2 (pt) 2017-08-01
EP3029538A4 (en) 2016-11-16
WO2015015939A1 (ja) 2015-02-05
EP3029538B1 (en) 2018-04-04
MX2016001351A (es) 2016-04-07

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