MX349228B - Aparato de cálculo de la posición propia y método de cálculo de la posición propia. - Google Patents

Aparato de cálculo de la posición propia y método de cálculo de la posición propia.

Info

Publication number
MX349228B
MX349228B MX2016010743A MX2016010743A MX349228B MX 349228 B MX349228 B MX 349228B MX 2016010743 A MX2016010743 A MX 2016010743A MX 2016010743 A MX2016010743 A MX 2016010743A MX 349228 B MX349228 B MX 349228B
Authority
MX
Mexico
Prior art keywords
vehicle
local location
location computation
image
road surface
Prior art date
Application number
MX2016010743A
Other languages
English (en)
Other versions
MX2016010743A (es
Inventor
Yamaguchi Ichiro
Nishiuchi Hidekazu
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 MX2016010743A publication Critical patent/MX2016010743A/es
Publication of MX349228B publication Critical patent/MX349228B/es

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • 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
    • G01C21/265—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network constructional aspects of navigation devices, e.g. housings, mountings, displays
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Artificial Intelligence (AREA)
  • Data Mining & Analysis (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

Un aparato de cálculo de la posición propia incluye: un proyector 11 de luz configurado para proyectar un haz 32a de luz en patrón sobre una superficie 31 del camino alrededor de un vehículo; y una cámara 12 configurada para capturar una imagen 38 de la superficie 31 del camino alrededor del vehículo que incluye un área sobre la cual se proyecta el haz 32a de luz en patrón. El aparato de cálculo de la posición propia calcula un ángulo de orientación del vehículo 10 con relación a la superficie 31 del camino a partir de una posición del haz 32a de luz en patrón en la imagen 38 obtenida por la cámara 12, y calcula una cantidad de cambio en la orientación del vehículo con base en los cambios temporales en múltiples puntos de características en la superficie del camino que se detectan a partir de la imagen 38. El aparato de cálculo de la posición propia calcula la posición actual y el ángulo de orientación actual del vehículo sumando la cantidad de cambio en la orientación a la posición inicial y el ángulo de orientación inicial del vehículo. Si una condición bajo la cual se detectan los múltiples puntos de características no satisface un primer criterio, el aparato de cálculo de la posición propia proyecta el haz 32a de luz en patrón.
MX2016010743A 2014-02-24 2014-02-24 Aparato de cálculo de la posición propia y método de cálculo de la posición propia. MX349228B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/054311 WO2015125297A1 (ja) 2014-02-24 2014-02-24 自己位置算出装置及び自己位置算出方法

Publications (2)

Publication Number Publication Date
MX2016010743A MX2016010743A (es) 2016-10-26
MX349228B true MX349228B (es) 2017-07-19

Family

ID=53877830

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016010743A MX349228B (es) 2014-02-24 2014-02-24 Aparato de cálculo de la posición propia y método de cálculo de la posición propia.

Country Status (8)

Country Link
US (1) US10043080B2 (es)
EP (1) EP3113148B1 (es)
JP (1) JP6237875B2 (es)
CN (1) CN106062849B (es)
BR (1) BR112016019519B1 (es)
MX (1) MX349228B (es)
RU (1) RU2628035C1 (es)
WO (1) WO2015125297A1 (es)

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US9684837B2 (en) * 2014-02-24 2017-06-20 Nissan Motor Co., Ltd. Self-location calculating device and self-location calculating method
JP6299319B2 (ja) * 2014-03-25 2018-03-28 日産自動車株式会社 自己位置算出装置及び自己位置算出方法
JP6601352B2 (ja) * 2016-09-15 2019-11-06 株式会社デンソー 車両姿勢推定装置
CN108115671B (zh) * 2016-11-26 2021-04-20 沈阳新松机器人自动化股份有限公司 基于3d视觉传感器的双臂机器人控制方法及系统
JP6637936B2 (ja) * 2017-09-14 2020-01-29 株式会社Ｓｕｂａｒｕ 車両の路面判定装置
US11181368B2 (en) * 2018-08-20 2021-11-23 Simmonds Precision Products, Inc. Visibility range sensing
EP3623180B1 (en) * 2018-09-11 2021-05-05 Connaught Electronics Ltd. A method and system for determining a state of a trailer being towed by a vehicle
WO2020100835A1 (ja) * 2018-11-15 2020-05-22 パナソニックＩｐマネジメント株式会社 カメラシステム及び車両
CN109947886B (zh) * 2019-03-19 2023-01-10 腾讯科技（深圳）有限公司 图像处理方法、装置、电子设备及存储介质
DE102019123647A1 (de) * 2019-09-04 2021-03-04 Still Gesellschaft Mit Beschränkter Haftung Verfahren zur Lokalisierung eines Fahrzeugs sowie Fahrzeug zur Durchführung des Verfahrens
CN111678488B (zh) * 2020-06-17 2022-04-15 深圳地平线机器人科技有限公司 测距方法、装置、计算机可读存储介质及电子设备

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Also Published As

Publication number Publication date
EP3113148A4 (en) 2017-03-29
BR112016019519A2 (es) 2017-08-15
US10043080B2 (en) 2018-08-07
CN106062849B (zh) 2017-07-04
JP6237875B2 (ja) 2017-11-29
MX2016010743A (es) 2016-10-26
EP3113148B1 (en) 2019-01-09
WO2015125297A1 (ja) 2015-08-27
BR112016019519B1 (pt) 2022-07-26
EP3113148A1 (en) 2017-01-04
JPWO2015125297A1 (ja) 2017-03-30
US20170011268A1 (en) 2017-01-12
RU2628035C1 (ru) 2017-08-14
CN106062849A (zh) 2016-10-26

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