RU2633641C1 - Устройство обнаружения цели и способ обнаружения цели - Google Patents

Устройство обнаружения цели и способ обнаружения цели Download PDF

Info

Publication number
RU2633641C1
RU2633641C1 RU2016146709A RU2016146709A RU2633641C1 RU 2633641 C1 RU2633641 C1 RU 2633641C1 RU 2016146709 A RU2016146709 A RU 2016146709A RU 2016146709 A RU2016146709 A RU 2016146709A RU 2633641 C1 RU2633641 C1 RU 2633641C1
Authority
RU
Russia
Prior art keywords
vehicle
target
error
detection area
relative
Prior art date
Application number
RU2016146709A
Other languages
English (en)
Russian (ru)
Inventor
Даики ЯМАНОИ
Хидекадзу НИСИУТИ
Тосиюки АНДОУ
Хироси САТОХ
Харуо МАЦУО
Original Assignee
Ниссан Мотор Ко., Лтд.
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 Ниссан Мотор Ко., Лтд. filed Critical Ниссан Мотор Ко., Лтд.
Application granted granted Critical
Publication of RU2633641C1 publication Critical patent/RU2633641C1/ru

Links

Images

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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/98—Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)
  • Instructional Devices (AREA)
RU2016146709A 2014-05-20 2014-05-20 Устройство обнаружения цели и способ обнаружения цели RU2633641C1 (ru)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/063351 WO2015177865A1 (ja) 2014-05-20 2014-05-20 物標検出装置及び物標検出方法

Publications (1)

Publication Number Publication Date
RU2633641C1 true RU2633641C1 (ru) 2017-10-16

Family

ID=54553563

Family Applications (1)

Application Number Title Priority Date Filing Date
RU2016146709A RU2633641C1 (ru) 2014-05-20 2014-05-20 Устройство обнаружения цели и способ обнаружения цели

Country Status (8)

Country Link
US (1) US9767372B2 (cg-RX-API-DMAC7.html)
EP (1) EP3147629B1 (cg-RX-API-DMAC7.html)
JP (1) JP6222353B2 (cg-RX-API-DMAC7.html)
CN (1) CN106461403B (cg-RX-API-DMAC7.html)
BR (1) BR112016026372B1 (cg-RX-API-DMAC7.html)
MX (1) MX355397B (cg-RX-API-DMAC7.html)
RU (1) RU2633641C1 (cg-RX-API-DMAC7.html)
WO (1) WO2015177865A1 (cg-RX-API-DMAC7.html)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6361366B2 (ja) * 2014-08-18 2018-07-25 株式会社デンソー 物体認識装置
EP3104189B1 (en) * 2015-06-11 2020-09-30 Veoneer Sweden AB Misalignment estimation for a vehicle radar system
JP6756101B2 (ja) * 2015-12-04 2020-09-16 トヨタ自動車株式会社 物体認識装置
JP6380422B2 (ja) * 2016-02-05 2018-08-29 トヨタ自動車株式会社 自動運転システム
EP3492870B1 (en) * 2016-07-26 2020-07-15 Nissan Motor Co., Ltd. Self-position estimation method and self-position estimation device
US11519727B2 (en) * 2017-05-19 2022-12-06 Pioneer Corporation Measurement device, measurement method and program
DE102017220139A1 (de) * 2017-11-13 2019-05-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bereitstellen einer Position wenigstens eines Objekts
WO2019185165A1 (en) * 2018-03-30 2019-10-03 Toyota Motor Europe System and method for adjusting external position information of a vehicle
US10839522B2 (en) * 2018-05-11 2020-11-17 Toyota Research Institute, Inc. Adaptive data collecting and processing system and methods
EP3904995A4 (en) * 2018-12-28 2022-02-23 Panasonic Intellectual Property Management Co., Ltd. LOCATION DEVICE
CN112149659B (zh) * 2019-06-27 2021-11-09 浙江商汤科技开发有限公司 定位方法及装置、电子设备和存储介质
JP7227112B2 (ja) * 2019-09-27 2023-02-21 日立Astemo株式会社 物体検出装置、走行制御システム、および走行制御方法
MX2022005598A (es) 2019-11-12 2023-04-18 Nissan Motor Metodo de reconocimiento de semaforo y dispositivo de reconocimiento de semaforo.
EP3825731B1 (de) * 2019-11-21 2022-01-05 Sick Ag Optoelektronischer sicherheitssensor und verfahren zur sicheren bestimmung der eigenen position
EP3929690B1 (en) 2020-06-22 2025-12-03 Carnegie Robotics, LLC A method and a system for analyzing a scene, room or venue by determining angles from imaging elements to visible navigation elements
EP3929613A1 (en) * 2020-06-22 2021-12-29 Carnegie Robotics, LLC A method for navigating a movable device along an inclined surface
EP3988899B1 (en) * 2020-10-23 2024-05-22 Atlantic Inertial Systems Limited Terrain referenced navigation system
JP2023111192A (ja) * 2022-01-31 2023-08-10 本田技研工業株式会社 画像処理装置、移動体制御装置、画像処理方法、およびプログラム
CN115993089B (zh) * 2022-11-10 2023-08-15 山东大学 基于pl-icp的在线四舵轮agv内外参标定方法
KR102731628B1 (ko) * 2024-03-04 2024-11-18 국방과학연구소 관성항법 장치의 자세 오차 보정 방법 및 시스템

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2109344C1 (ru) * 1993-08-06 1998-04-20 Николай Николаевич Токарев Способ обнаружения движущихся целей и устройство для его осуществления
JP2007309757A (ja) * 2006-05-17 2007-11-29 Toyota Motor Corp 対象物認識装置
WO2008075438A1 (ja) * 2006-12-21 2008-06-26 Pioneer Corporation ナビゲーション装置、マップマッチング方法、及び、マップマッチングプログラム
JP2008287572A (ja) * 2007-05-18 2008-11-27 Sumitomo Electric Ind Ltd 車両運転支援システム、運転支援装置、車両及び車両運転支援方法

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2526876B2 (ja) * 1986-11-17 1996-08-21 日本電装株式会社 車両走行位置表示装置
JP3449240B2 (ja) * 1998-09-24 2003-09-22 株式会社デンソー 車両用現在位置検出装置、車両用現在位置表示装置、ナビゲーション装置および記録媒体
WO2005038402A1 (ja) * 2003-10-21 2005-04-28 Waro Iwane ナビゲーション装置
JP4763250B2 (ja) * 2004-04-09 2011-08-31 株式会社デンソー 物体検出装置
JP2008501984A (ja) * 2004-06-07 2008-01-24 シャープ株式会社 情報表示制御装置、ナビゲーション装置、情報表示制御装置の制御方法、情報表示制御装置の制御プログラム、およびコンピュータ読取可能な記録媒体
WO2006121088A1 (ja) * 2005-05-10 2006-11-16 Olympus Corporation 画像処理装置、画像処理方法および画像処理プログラム
JP4631750B2 (ja) 2006-03-06 2011-02-16 トヨタ自動車株式会社 画像処理システム
JP5162103B2 (ja) * 2006-05-15 2013-03-13 トヨタ自動車株式会社 支援制御装置
EP1906339B1 (en) * 2006-09-01 2016-01-13 Harman Becker Automotive Systems GmbH Method for recognizing an object in an image and image recognition device
JP2009259215A (ja) * 2008-03-18 2009-11-05 Zenrin Co Ltd 路面標示地図生成方法
JP4453775B2 (ja) * 2008-06-27 2010-04-21 トヨタ自動車株式会社 物体検出装置
JP5372680B2 (ja) * 2009-09-24 2013-12-18 日立オートモティブシステムズ株式会社 障害物検知装置
EP2719999B1 (en) * 2011-06-13 2018-07-11 Panasonic Intellectual Property Corporation of America Geomagnetic position detection apparatus and geomagnetic pattern acquisition method
US20150025838A1 (en) * 2011-11-15 2015-01-22 Panasonic Corporation Position estimation device, position estimation method, and integrated circuit
JP5804185B2 (ja) * 2012-03-06 2015-11-04 日産自動車株式会社 移動物体位置姿勢推定装置及び移動物体位置姿勢推定方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2109344C1 (ru) * 1993-08-06 1998-04-20 Николай Николаевич Токарев Способ обнаружения движущихся целей и устройство для его осуществления
JP2007309757A (ja) * 2006-05-17 2007-11-29 Toyota Motor Corp 対象物認識装置
WO2008075438A1 (ja) * 2006-12-21 2008-06-26 Pioneer Corporation ナビゲーション装置、マップマッチング方法、及び、マップマッチングプログラム
JP2008287572A (ja) * 2007-05-18 2008-11-27 Sumitomo Electric Ind Ltd 車両運転支援システム、運転支援装置、車両及び車両運転支援方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Ботуз С.П. Позиционные системы программного управления подвижными объектами. - М.: ИПРЖ "Радиотехника", 1998. 21с. *

Also Published As

Publication number Publication date
JPWO2015177865A1 (ja) 2017-04-20
BR112016026372A2 (cg-RX-API-DMAC7.html) 2017-08-15
US9767372B2 (en) 2017-09-19
EP3147629A4 (en) 2017-04-05
CN106461403A (zh) 2017-02-22
WO2015177865A1 (ja) 2015-11-26
MX2016014733A (es) 2017-03-06
EP3147629A1 (en) 2017-03-29
JP6222353B2 (ja) 2017-11-08
EP3147629B1 (en) 2019-07-10
CN106461403B (zh) 2019-02-15
US20170177958A1 (en) 2017-06-22
MX355397B (es) 2018-04-18
BR112016026372B1 (pt) 2022-03-03

Similar Documents

Publication Publication Date Title
US20230152461A1 (en) Determining Yaw Error from Map Data, Lasers, and Cameras
EP3147629B1 (en) Object detection device and object detection method
CN109313031B (zh) 车载处理装置
JP4600357B2 (ja) 測位装置
EP3137850B1 (en) Method and system for determining a position relative to a digital map
JP5710784B2 (ja) ナビゲーションのために画像を使用するモバイルデバイス、方法、及びコンピュータプログラム
EP3147884B1 (en) Traffic-light recognition device and traffic-light recognition method
JP2018112887A (ja) 情報処理装置、情報処理方法、および情報処理プログラム
JP6901386B2 (ja) 勾配推定装置、勾配推定方法、プログラムおよび制御システム
JP2023068009A (ja) 地図情報作成方法
WO2019151110A1 (ja) 路面情報取得方法
JP2024177451A (ja) 測定装置、測定方法およびプログラム
JP7526858B2 (ja) 測定装置、測定方法およびプログラム
WO2019151109A1 (ja) 路面情報取得方法
KR101767169B1 (ko) 비전 센서 기반 자이로 드리프트 감소 장치 및 방법
JPWO2018212280A1 (ja) 測定装置、測定方法およびプログラム