MX368749B - Metodo de control de desplazamiento y aparato de control de desplazamiento. - Google Patents
Metodo de control de desplazamiento y aparato de control de desplazamiento.Info
- Publication number
- MX368749B MX368749B MX2018001229A MX2018001229A MX368749B MX 368749 B MX368749 B MX 368749B MX 2018001229 A MX2018001229 A MX 2018001229A MX 2018001229 A MX2018001229 A MX 2018001229A MX 368749 B MX368749 B MX 368749B
- Authority
- MX
- Mexico
- Prior art keywords
- host vehicle
- detector
- basis
- control device
- determined
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 3
- 238000001514 detection method Methods 0.000 abstract 4
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
- G01C21/30—Map- or contour-matching
-
- 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
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W40/02—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 ambient conditions
-
- 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
-
- 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
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
-
- 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
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- 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
- 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
-
- 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
- G01S2013/93272—Sensor installation details in the back of the vehicles
-
- 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
- G01S2013/93274—Sensor installation details on the side of the vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Se proporciona un método de control de desplazamiento ejecutado por un aparato de control de desplazamiento. El aparato de control de desplazamiento incluye un receptor (130) configurado para recibir información posicional de un vehículo en cuestión a partir de un dispositivo externo, un primer detector (110) equipado en el vehículo en cuestión y configurado para detectar un estado del vehículo en cuestión, y un segundo detector (120) configurado para detectar una situación alrededor del vehículo en cuestión. El aparato de control de desplazamiento estima la posición del vehículo en cuestión. El método de control incluye una etapa de estimar la posición del vehículo en cuestión con base en un resultado de detección del primer detector (110), una etapa de detectar un carril en el cual se desplaza el vehículo en cuestión, con base en un resultado de detección del segundo detector (120), una etapa de determinar si la posición del vehículo en cuestión con base en la información posicional se incluye en el carril y proporcionar como salida la determinación como un primer resultado de determinación, y una etapa de determinar si la posición del vehículo en cuestión estimada con base en el resultado de detección del primer detector (110) se incluye en el carril y proporcionar como salida la determinación como un segundo resultado de determinación, y una etapa de realizar un proceso de estimación de la posición de estimar la posición del vehículo en cuestión con base en el resultado de detección del primer detector (110) cuando el primer resultado de determinación y el segundo resultado de determinación no son idénticos.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/071818 WO2017022019A1 (ja) | 2015-07-31 | 2015-07-31 | 走行制御装置の制御方法および走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
MX2018001229A MX2018001229A (es) | 2018-04-13 |
MX368749B true MX368749B (es) | 2019-10-15 |
Family
ID=57942531
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2018001229A MX368749B (es) | 2015-07-31 | 2015-07-31 | Metodo de control de desplazamiento y aparato de control de desplazamiento. |
Country Status (10)
Country | Link |
---|---|
US (1) | US10323947B2 (es) |
EP (1) | EP3330669B1 (es) |
JP (1) | JP6451857B2 (es) |
KR (1) | KR102086270B1 (es) |
CN (1) | CN107850444B (es) |
BR (1) | BR112018002037B1 (es) |
CA (1) | CA2994391A1 (es) |
MX (1) | MX368749B (es) |
RU (1) | RU2682137C1 (es) |
WO (1) | WO2017022019A1 (es) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11036238B2 (en) | 2015-10-15 | 2021-06-15 | Harman International Industries, Incorporated | Positioning system based on geofencing framework |
US10605920B2 (en) * | 2016-01-13 | 2020-03-31 | Ams Sensors Singapore Pte. Ltd. | Power savings through refresh control for distance sensing devices |
JP6986557B2 (ja) * | 2017-05-19 | 2021-12-22 | パイオニア株式会社 | 測定装置、測定方法およびプログラム |
EP3769507A4 (en) * | 2018-03-23 | 2022-03-30 | Netradyne, Inc. | MAPPING OF TRAFFIC BOUNDARIES |
JP6698117B2 (ja) * | 2018-04-02 | 2020-05-27 | 本田技研工業株式会社 | 車両制御装置 |
CN112262262B (zh) * | 2018-06-08 | 2022-09-06 | 皮尔伯格泵技术有限责任公司 | 电动冷却剂泵 |
US11093761B2 (en) * | 2019-03-06 | 2021-08-17 | GM Global Technology Operations LLC | Lane position sensing and tracking in a vehicle |
JP7086021B2 (ja) * | 2019-03-14 | 2022-06-17 | 本田技研工業株式会社 | 挙動予測装置 |
CN114423673B (zh) * | 2019-09-30 | 2023-04-04 | 本田技研工业株式会社 | 跨骑式车辆、跨骑式车辆的控制方法以及存储介质 |
CN111967298A (zh) * | 2020-06-28 | 2020-11-20 | 付怀普 | 一种车辆监控方法、系统及存储介质 |
JP2022108298A (ja) * | 2021-01-13 | 2022-07-26 | 日立Astemo株式会社 | 自己地図生成装置、および自己位置推定装置 |
KR20220149203A (ko) * | 2021-04-30 | 2022-11-08 | 현대자동차주식회사 | 모빌리티 장치 및 그 제어방법 |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4380026B2 (ja) * | 2000-06-05 | 2009-12-09 | 株式会社デンソー | ナビゲーション装置及び記録媒体 |
US6549846B1 (en) * | 2000-11-21 | 2003-04-15 | Trimble Navigation Limited | Accurate vehicle navigation |
JP2005037168A (ja) * | 2003-07-16 | 2005-02-10 | Aisin Aw Co Ltd | 自動車用ナビゲーション方法 |
JP2006177862A (ja) | 2004-12-24 | 2006-07-06 | Aisin Aw Co Ltd | ナビゲーション装置 |
EP1674827A1 (en) * | 2004-12-24 | 2006-06-28 | Aisin Aw Co., Ltd. | System for detecting a lane change of a vehicle |
JP2006189325A (ja) | 2005-01-06 | 2006-07-20 | Aisin Aw Co Ltd | 車両の現在地情報管理装置 |
JP4513740B2 (ja) * | 2005-12-28 | 2010-07-28 | アイシン・エィ・ダブリュ株式会社 | 経路案内システム及び経路案内方法 |
JP4680131B2 (ja) * | 2006-05-29 | 2011-05-11 | トヨタ自動車株式会社 | 自車位置測定装置 |
JP2008298699A (ja) * | 2007-06-01 | 2008-12-11 | Aisin Aw Co Ltd | 自車位置認識装置及び自車位置認識方法 |
JP5015849B2 (ja) * | 2008-04-11 | 2012-08-29 | トヨタ自動車株式会社 | 逆走警告装置、逆走警告方法 |
JP2009257900A (ja) * | 2008-04-16 | 2009-11-05 | Alpine Electronics Inc | 走行道路特定装置および走行道路特定方法 |
JP4876147B2 (ja) * | 2009-06-30 | 2012-02-15 | クラリオン株式会社 | 車線判定装置及びナビゲーションシステム |
US8363104B2 (en) | 2008-09-25 | 2013-01-29 | Clarion Co., Ltd. | Lane determining device and navigation system |
US20100121518A1 (en) * | 2008-11-11 | 2010-05-13 | Timothy Arthur Tiernan | Map enhanced positioning sensor system |
JP5461065B2 (ja) * | 2009-05-21 | 2014-04-02 | クラリオン株式会社 | 現在位置特定装置とその現在位置特定方法 |
WO2010140215A1 (ja) * | 2009-06-02 | 2010-12-09 | トヨタ自動車株式会社 | 車両用周辺監視装置 |
JP5278378B2 (ja) * | 2009-07-30 | 2013-09-04 | 日産自動車株式会社 | 車両運転支援装置及び車両運転支援方法 |
JP5286214B2 (ja) * | 2009-09-30 | 2013-09-11 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP5696444B2 (ja) * | 2009-12-24 | 2015-04-08 | 日産自動車株式会社 | 走行制御装置 |
JP2014115247A (ja) | 2012-12-12 | 2014-06-26 | Honda Motor Co Ltd | 車両位置推定装置およびセンサ情報統合装置 |
BR112017025513A2 (pt) * | 2015-05-28 | 2018-08-07 | Nissan Motor | dispositivo de estimação de posição e método de estimação de posição |
-
2015
- 2015-07-31 RU RU2018106912A patent/RU2682137C1/ru active
- 2015-07-31 JP JP2017532254A patent/JP6451857B2/ja active Active
- 2015-07-31 EP EP15900333.4A patent/EP3330669B1/en active Active
- 2015-07-31 BR BR112018002037-0A patent/BR112018002037B1/pt active IP Right Grant
- 2015-07-31 US US15/748,950 patent/US10323947B2/en active Active
- 2015-07-31 MX MX2018001229A patent/MX368749B/es active IP Right Grant
- 2015-07-31 KR KR1020187003854A patent/KR102086270B1/ko active IP Right Grant
- 2015-07-31 CA CA2994391A patent/CA2994391A1/en not_active Abandoned
- 2015-07-31 CN CN201580082069.6A patent/CN107850444B/zh active Active
- 2015-07-31 WO PCT/JP2015/071818 patent/WO2017022019A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
JPWO2017022019A1 (ja) | 2018-05-17 |
EP3330669A4 (en) | 2018-07-11 |
MX2018001229A (es) | 2018-04-13 |
KR20180030597A (ko) | 2018-03-23 |
EP3330669B1 (en) | 2019-11-27 |
US10323947B2 (en) | 2019-06-18 |
JP6451857B2 (ja) | 2019-01-16 |
EP3330669A1 (en) | 2018-06-06 |
RU2682137C1 (ru) | 2019-03-14 |
CN107850444A (zh) | 2018-03-27 |
CA2994391A1 (en) | 2017-02-09 |
KR102086270B1 (ko) | 2020-03-06 |
BR112018002037A2 (pt) | 2018-09-11 |
US20180347990A1 (en) | 2018-12-06 |
BR112018002037B1 (pt) | 2022-08-02 |
WO2017022019A1 (ja) | 2017-02-09 |
CN107850444B (zh) | 2019-01-25 |
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