WO2012137354A1 - 道路形状推定システム - Google Patents
道路形状推定システム Download PDFInfo
- Publication number
- WO2012137354A1 WO2012137354A1 PCT/JP2011/058947 JP2011058947W WO2012137354A1 WO 2012137354 A1 WO2012137354 A1 WO 2012137354A1 JP 2011058947 W JP2011058947 W JP 2011058947W WO 2012137354 A1 WO2012137354 A1 WO 2012137354A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- curvature
- radius
- curve
- road
- variation
- Prior art date
Links
- 238000009795 derivation Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 24
- 230000002040 relaxant effect Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R99/00—Subject matter not provided for in other groups of this subclass
-
- 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
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- 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
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
Definitions
- the present invention is a road on which a moving body such as an automobile travels, and estimates the shape of a road having a curvature changing portion whose curvature radius changes according to a predetermined function and a curvature fixing portion whose curvature radius is constant.
- the present invention relates to a shape estimation system.
- CSWS curve speed excess warning system
- ACC auto cruise control
- LKA lane keeping assist system
- PCS pre-crash safety
- the car navigation system is used as a means for estimating the road shape in the above technique, there is a disadvantage that it does not function when GPS reception is interrupted (shadowing). In addition, the GPS position detection accuracy may not be sufficient. Furthermore, in order to improve the calculation accuracy of the radius of curvature, there are disadvantages that the number of node points increases and the control logic becomes complicated. In addition, there was a problem that erroneous matching occurs when there are multiple roads in the vicinity. In addition, since the navigation system itself is expensive, a lot of development costs may be required to improve the above disadvantages.
- JP 2004-272426 A Japanese Patent Laid-Open No. 11-160078 JP 2010-151691 A JP 2006-031553 A
- the present invention has been made in view of the above circumstances, and an object thereof is to provide a technique capable of estimating a curve shape of a road with a simpler method and with higher accuracy.
- the present invention relates to a road shape estimation system for estimating the shape of a road including a curve whose curvature changes based on a predetermined function and a curve whose curvature is constant.
- a road shape estimation system for estimating the shape of a road including a curve whose curvature changes based on a predetermined function and a curve whose curvature is constant.
- the distance from the starting point of the curve and the curvature radius of the curve at a predetermined point of the curve where the curvature changes are obtained based on the information from the autonomous sensor of the mobile object, and the curvature radius of the curve with a constant curvature is obtained.
- the length of the entire curve where the curvature changes is derived, and the shape of the road is estimated.
- a road shape estimation system that estimates the shape of a road on which a moving body moves, and has a curvature variation portion whose curvature radius changes according to a predetermined function and a curvature fixed portion whose curvature radius is constant.
- Curvature fixed radius acquisition means for acquiring a curvature fixed radius that is a curvature radius of the curvature fixed portion;
- a moving body information sensor mounted on the moving body for detecting behavior information of the moving body;
- the mobile body information sensor detects a curvature variation distance that is a distance from a starting point of the curvature variation portion to a predetermined point in the curvature variation portion and a curvature variation radius that is a curvature radius of a road at the predetermined point.
- Curvature variation information acquisition means for acquiring based on the information; Deriving means for deriving the length of the curvature varying portion using the predetermined function from the curvature variation distance, the curvature variation radius, and the curvature fixed radius; It is characterized by providing.
- the derivation means uses the curvature fixed radius acquired by the curvature fixed radius acquisition means and the curvature change distance and curvature change radius acquired by the curvature change information acquisition means using the mobile body information sensor.
- the length of the curvature variation part is derived using the function of Therefore, the road shape can be estimated more easily than in the case where the curvature variation distance and the curvature variation radius are acquired from the information of the car navigator and the length of the curvature variation portion is derived.
- the fixed curvature radius acquisition means may acquire a fixed curvature radius that is a curvature radius of the fixed curvature portion based on image information. By doing so, it is not necessary to use the information of the car navigator when acquiring the fixed curvature radius, so that the fixed curvature radius can be acquired more easily or more accurately.
- the image information may be an image of a road sign
- the curvature fixed radius acquisition unit may include a sign recognition camera. That is, since the road sign may display the curvature radius of the road ahead, the road sign image is obtained by the sign recognition camera, and the curvature radius of the road ahead is fixed from the road sign image. May be obtained. According to this, it becomes possible to obtain the curvature fixed radius more easily without adding a special configuration.
- the predetermined function may be a clothoid curve.
- a clothoid curve is used as a function that defines the shape of the curvature variation portion.
- the function that defines the shape of the curvature varying portion may be another function.
- a predetermined function may be a quadratic curve.
- the predetermined point may be the position of the moving body. That is, when the road shape estimation system according to the present invention is used for mounting on a moving body, and the moving body is located in the curvature varying section, the curvature variation information acquisition means is a curvature that is the distance from the origin of the curvature varying section to the moving body. You may make it acquire a fluctuation distance and the curvature fluctuation radius in the position of a moving body. If it does so, it will become possible to estimate the shape of the road in which it is traveling more accurately and more quickly, and it is possible to improve the safety and ease of traveling.
- the curvature variation information acquisition means may acquire the curvature variation distance by integrating the speed of the moving body. By doing so, it is possible to more reliably obtain the curvature variation distance without using the information of the car navigation, and more accurately obtain the curvature variation distance without being affected by the road state or the GPS reception state. it can.
- the curvature variation information acquisition means includes a white line image acquisition device that acquires a white line image on a road, and the curvature variation radius is converted into a white line image acquired by the white line image acquisition device. You may make it acquire based on. Also by this, the curvature variation radius can be acquired without using the information of the car navigation, and the curvature variation radius can be acquired more accurately without being influenced by the road state or the GPS reception state.
- the curvature variation information acquisition unit repeatedly acquires the curvature variation distance and the curvature variation radius every predetermined time while the moving body moves the curvature variation unit
- the derivation unit repeats the predetermined change period every predetermined time while the moving body moves the curvature change part based on the curvature change distance and the curvature change radius acquired by the curvature change information acquisition unit.
- a predetermined constant included in the function may be calculated, and the length of the curvature changing portion may be derived after the constant fluctuation of the constant becomes smaller than a threshold value.
- the curvature variation information and the curvature variation radius are repeatedly acquired by the curvature variation information acquisition means, and a predetermined function is obtained from the information.
- the predetermined constant included in is calculated.
- the value of the curvature fluctuation distance itself is small and the influence of the detection error is large, so that the fluctuation of the predetermined constant calculated as a result becomes large. In such a state, even if the length of the curvature variation part is derived, it may not be said that the reliability of the derived value is high.
- the predetermined constant included in the predetermined function is calculated repeatedly every predetermined time, and the fluctuation of the constant every predetermined time is smaller than the threshold value. After that, the length of the curvature fluctuation part was derived. According to this, after a certain amount of time has elapsed since the mobile body entered the curvature changing portion, and a sufficiently accurate curvature changing distance and curvature changing radius can be obtained, the curvature changing portion The length can be derived. As a result, the road shape can be estimated with higher accuracy.
- the means for solving the problems in the present invention can be used in combination as much as possible.
- Example 1 of this invention It is a block diagram which shows the road shape estimation system in Example 1 of this invention. It is a figure for demonstrating the estimation process of the road shape in Example 1 of this invention. It is a block diagram which shows the road shape estimation routine in Example 1 of this invention.
- FIG. 1 is a block diagram illustrating a schematic configuration of a road shape estimation system according to the present embodiment.
- the system includes an ECU 3 that is an electronic control computer that controls the internal combustion engine.
- the ECU 3 includes a ROM, a RAM, a CPU, an input port, an output port, and the like (not shown), and a yaw rate sensor 4, a wheel speed sensor 5, a white line recognition camera 6, and a sign recognition camera 7 are electrically connected.
- the yaw rate sensor 4, the wheel speed sensor 5, and the white line recognition camera 6 correspond to the moving body information sensor in the present embodiment.
- the white line recognition camera 6 also constitutes a white line image acquisition device in the present embodiment.
- a detection signal corresponding to the vehicle yaw rate is provided from the yaw rate sensor 4, and a wheel speed pulse synchronized with the rotation of the wheel is provided to the ECU 3 from the wheel speed sensor 12, respectively. Further, a white line that divides a traveling lane in the vicinity of the vehicle is photographed by the white line recognition camera 6, a road sign is photographed by the sign recognition camera 7, and each image information (imaging signal) is provided to the ECU 3.
- Various programs including a road shape estimation routine described later are stored in the ROM of the ECU 3 and executed by the ECU 3.
- FIG. 2 is a diagram for explaining the processing of the present invention when the vehicle 1 reaches the curve of the road 10 while traveling.
- the curve of the road 10 is connected to the straight line portion 11, the curve relaxation portion 12 as a curvature variation portion that is connected to the straight portion 11 and the curvature radius gradually decreases, and is connected to the curve relaxation portion 12 so that the curvature radius is minimum and constant.
- It comprises a perfect circle curve portion 13 as a curvature fixing portion.
- the tip of the perfect circle curve portion 13 is omitted in FIG. 1, it is connected to the exit-side straight line portion via an exit-side curve relaxation portion whose radius of curvature gradually increases.
- the shape of the curve relaxation portion 12 is determined by a clothoid curve.
- This clothoid curve is a curve in which the relationship between the distance L from the starting point of the curve and the radius of curvature R is expressed by the following equation (1).
- L ⁇ R A 2 (1)
- a 2 is a constant defining the shape of the clothoid curve.
- the vehicle 1 as a moving body is located in the curve relaxation portion 12.
- the front of the vehicle 1 is photographed by the white line recognition camera 6, and an image of the white line 10a is recognized from the photographed image information.
- the distance (white line lateral position) between the white line 10a and the vehicle 1 is calculated based on the captured image information, and the attitude of the vehicle 1 with respect to the white line 10a is calculated based on the calculation result.
- the speed V (t) of the vehicle 1 is acquired by detecting the yaw angle of the vehicle 1 from the detection signal from the yaw rate sensor 4 and detecting the wheel speed pulse from the wheel speed sensor 5.
- the distance Lp from the starting point of the curve relaxing unit 12 to the current position P of the vehicle 1 is acquired.
- Lp ⁇ V (t) dt (2)
- the shape of the white line 10a and the curvature radius Rp of the road at the current position P are calculated based on the attitude of the vehicle 1 with respect to the white line 10a and the travel locus. Since this calculation method uses a known method, the description thereof is omitted here.
- the road sign 15 is photographed by the sign recognition camera 7 in the straight line part 11 before reaching the curve, and the curvature radius Rreal of the perfect circle curve part 13 is acquired based on the photographed image information. Is done.
- the radius of curvature Rreal can be obtained more accurately by the relatively inexpensive sign recognition camera 7.
- the apparatus can be simplified and the cost can be reduced.
- the curvature radius Rreal corresponds to a curvature fixed radius in this embodiment.
- the sign recognition camera 7 and the ECU 3 constitute a curvature fixed radius acquisition unit in this embodiment.
- a 2 is theoretically a constant value in the range of the curve relaxation portion 12.
- Lp is small immediately after the start of the curve relaxing unit 12, so that the error (variation) in Lp becomes large even when compared with the positional deviation error at the start determination point of the curve relaxing unit 12. Therefore, immediately after the start of the curve alleviating portion 12 there is a possibility that A 2 is greatly changed.
- FIG. 3 shows a flowchart of the road shape estimation routine in the present embodiment.
- This routine is a program stored in the ROM of the ECU 3 as described above, and is executed by the ECU 3 at predetermined intervals while the vehicle 1 is traveling.
- this routine is executed, first, in S101, the curve curvature radius Rp as the curvature variation radius of the current position P is acquired based on the image of the white line recognition camera 6.
- S101 the curve curvature radius Rp as the curvature variation radius of the current position P is acquired based on the image of the white line recognition camera 6.
- S102 it is determined whether or not the curve relaxation unit 12 has started. Specifically, determination is made based on whether or not the absolute value of Rp acquired in S101 is smaller than a predetermined threshold value Cst.
- Cst is a threshold value that determines that the curve relaxing unit 12 has not started when the absolute value of Rp is greater than this, and may be theoretically or experimentally determined in advance.
- the vehicle speed Vs (t) is used to calculate the distance from the start point of the curve relaxation unit 12 to the current value P.
- S105 whether the value of A 2 is converged is determined. Specifically, the A 2 when the last S105 is executed, or Ca is less than or not a threshold absolute value of the difference .DELTA.A 2 of A 2 is predetermined when the S105 to the current was run Determined. If a negative determination is made here, the process returns to S101. On the other hand, if a positive determination is made, the process proceeds to S106.
- Ca is a threshold value for determining that the value of A 2 is sufficiently stable and has no problem in accuracy when the absolute value of the difference ⁇ A 2 of A 2 is smaller than this, and is theoretically or experimentally determined in advance. It may be determined.
- the length Lclo of the curve relaxation part 12 is calculated as the length of the clothoid curve as follows.
- Lclo A 2 / Rreal (9)
- the shape of the curve is calculated as follows.
- R (L) A 2 / L (0 ⁇ L ⁇ Lclo) (10)
- R (L) Rreal (L ⁇ Lclo) (11)
- the curve relaxation unit 12 uses the function of the clothoid curve from the signals detected by the autonomous sensors of the white line recognition camera 6, the yaw rate sensor 4, and the wheel speed sensor 5. The length is calculated. Therefore, the shape of the road can be estimated more easily and more accurately without using information from the car navigation system.
- the ECU 3 that executes the processes of S101 to S103 constitutes a curvature variation information acquisition unit.
- ECU3 which performs the process of S106 comprises a derivation
- the white line recognition camera 6, the yaw rate sensor 4, and the wheel speed sensor 5 are used as sensors.
- the length of the curve relaxation unit 12 is calculated without using a car navigation system or GPS. Other sensors may be used as long as they can be used.
- the curve relaxation unit 12 is defined by a function of a clothoid curve, but the present invention is also applicable to roads where the curve relaxation unit is defined by another function. Is possible. As another function, for example, a quadratic curve can be cited.
- the radius of the perfect circle curve portion 13 is obtained using the image information of the sign recognition camera 7, it is possible to obtain more information without using information from a car navigation system or GPS.
- the shape of the road can be estimated easily and accurately.
- the method for obtaining the radius Rreal of the perfect circle curve portion 13 is not particularly limited, and a car navigation system, GPS, millimeter wave, laser light, or the like may be used.
- the length of the curve relaxation unit 12 can be calculated without using a car navigation system or GPS, the shape of the road can be estimated sufficiently easily or accurately.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
Description
前記曲率固定部の曲率半径である曲率固定半径を取得する曲率固定半径取得手段と、
前記移動体に搭載され該移動体の挙動情報を検知する移動体情報センサと、
前記曲率変動部の起点から該曲率変動部における所定のポイントまでの距離である曲率変動距離と、前記所定のポイントにおける道路の曲率半径である曲率変動半径とを、前記移動体情報センサが検知した情報に基づいて取得する曲率変動情報取得手段と、
前記曲率変動距離、曲率変動半径、曲率固定半径より、前記所定の関数を用いて前記曲率変動部の長さを導出する導出手段と、
を備えることを特徴とする。
前記導出手段は、前記曲率変動情報取得手段によって取得された前記曲率変動距離と前記曲率変動半径とより、前記移動体が前記曲率変動部を移動する間に、所定時間毎に繰り返し、前記所定の関数に含まれる所定の定数を算出し、該定数の所定時間毎の変動が閾値より小さくなった後に、前記曲率変動部の長さを導出するようにしてもよい。
図1は、本実施例に係る道路形状推定システムの概略構成を示すブロック図である。本システムには、内燃機関を制御する電子制御コンピュータであるECU3が備えられている。ECU3は図示しないROM、RAM、CPU、入力ポート、出力ポート等を備え、ヨーレイトセンサ4、車輪速センサ5、白線認識カメラ6及び、標識認識カメラ7が電気的に接続されている。ここで、少なくともヨーレイトセンサ4、車輪速センサ5、白線認識カメラ6は、本実施例における移動体情報センサに相当する。また、白線認識カメラ6は、本実施例における白線画像取得装置をも構成する。
L×R=A2・・・・・(1)
ここで、A2は、クロソイド曲線の形状を定める定数である。以下、本実施例における道路形状推定の手順について説明する。
Lp=∫V(t)dt・・・・(2)
Lp×Rp=A2・・・・・・(3)
Lclo=A2/Rreal・・・・(4)
そして、最終的には、道路10のカーブ形状が以下のように特定される。
R(L)=A2/L (0≦L≦Lclo)・・・・・(5)
R(L)=Rreal (L≧Lclo)・・・・・・・(6)
Lp=∫Vs(t)dt・・・・(7)
S103の処理が終了するとS104に進む。
A2=Lp×Rp・・・・(8)
S104の処理が終了するとS105に進む。
Lclo=A2/Rreal・・・・(9)
また、最終的に、カーブの形状が以下のように算出される。
R(L)=A2/L (0≦L≦Lclo)・・・・(10)
R(L)=Rreal (L≧Lclo)・・・・・・・(11)
S106の処理が終了すると本ルーチンが一旦終了する。
3・・・ECU
4・・・ヨーレイトセンサ
5・・・車輪速センサ
6・・・白線認識カメラ
7・・・標識認識カメラ
10・・・カーブ
10a・・・白線
11・・・直線部
12・・・カーブ緩和部
13・・・真円カーブ部
15・・・道路標識
Claims (8)
- 移動体が移動する道路であって、曲率半径が所定の関数に従って変化する曲率変動部と曲率半径が一定である曲率固定部とを有する道路の形状を推定する、道路形状推定システムにおいて、
前記曲率固定部の曲率半径である曲率固定半径を取得する曲率固定半径取得手段と、
前記移動体に搭載され該移動体の挙動情報を検知する移動体情報センサと、
前記曲率変動部の起点から該曲率変動部における所定のポイントまでの距離である曲率変動距離と、前記所定のポイントにおける道路の曲率半径である曲率変動半径とを、前記移動体情報センサが検知した情報に基づいて取得する曲率変動情報取得手段と、
前記曲率変動距離、曲率変動半径、曲率固定半径より、前記所定の関数を用いて前記曲率変動部の長さを導出する導出手段と、
を備えることを特徴とする道路形状推定システム。 - 前記曲率固定半径取得手段は、画像情報に基づいて、前記曲率固定部の曲率半径である曲率固定半径を取得することを特徴とする請求項1に記載の道路形状推定システム。
- 前記画像情報は道路標識の画像であり、前記曲率固定半径取得手段は標識認識カメラを有することを特徴とする請求項2に記載の道路形状推定システム。
- 前記所定の関数は、クロソイド曲線であることを特徴とする請求項1から3のいずれか一項に記載の道路形状推定システム。
- 前記所定のポイントは、前記移動体の位置であることを特徴とする請求項1から4のいずれか一項に記載の道路形状推定システム。
- 前記曲率変動情報取得手段は、前記曲率変動距離を、移動体の速度を積分することによって取得することを特徴とする請求項5に記載の道路形状推定システム。
- 前記曲率変動情報取得手段は、道路における白線の画像を取得する白線画像取得装置を有するとともに、前記曲率変動半径を、前記白線画像取得装置によって取得された白線の画像に基づいて取得することを特徴とする請求項1から6のいずれか一項に記載の道路形状推定システム。
- 前記曲率変動情報取得手段は、前記移動体が前記曲率変動部を移動する間に、前記曲率変動距離と前記曲率変動半径とを、所定時間毎に繰り返し取得し、
前記導出手段は、前記曲率変動情報取得手段によって取得された前記曲率変動距離と前記曲率変動半径とより、前記移動体が前記曲率変動部を移動する間に、所定時間毎に繰り返し、前記所定の関数に含まれる所定の定数を算出し、該定数の所定時間毎の変動が閾値より小さくなった後に、前記曲率変動部の長さを導出することを特徴とする請求項1から7のいずれか一項に記載の道路形状推定システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2011/058947 WO2012137354A1 (ja) | 2011-04-08 | 2011-04-08 | 道路形状推定システム |
EP11863011.0A EP2696333A1 (en) | 2011-04-08 | 2011-04-08 | Road shape inferring system |
JP2013508714A JPWO2012137354A1 (ja) | 2011-04-08 | 2011-04-08 | 道路形状推定システム |
US14/110,358 US20140025227A1 (en) | 2011-04-08 | 2011-04-08 | Road shape estimating system |
CN2011800698925A CN103459227A (zh) | 2011-04-08 | 2011-04-08 | 道路形状推定系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2011/058947 WO2012137354A1 (ja) | 2011-04-08 | 2011-04-08 | 道路形状推定システム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2012137354A1 true WO2012137354A1 (ja) | 2012-10-11 |
Family
ID=46968787
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2011/058947 WO2012137354A1 (ja) | 2011-04-08 | 2011-04-08 | 道路形状推定システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20140025227A1 (ja) |
EP (1) | EP2696333A1 (ja) |
JP (1) | JPWO2012137354A1 (ja) |
CN (1) | CN103459227A (ja) |
WO (1) | WO2012137354A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103770783A (zh) * | 2012-10-19 | 2014-05-07 | 现代摩比斯株式会社 | 进入弯路预测装置和方法及利用该装置和方法的智能定速巡航系统 |
JP2014115775A (ja) * | 2012-12-07 | 2014-06-26 | Denso Corp | 道路形状特定装置 |
WO2016031753A1 (ja) * | 2014-08-25 | 2016-03-03 | 株式会社デンソー | 道路形状認識装置 |
JP2018022206A (ja) * | 2016-08-01 | 2018-02-08 | 三菱電機株式会社 | 車線区画線検知補正装置、車線区画線検知補正方法、及び自動運転システム |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3176062B1 (en) * | 2014-07-28 | 2023-11-15 | Robert Bosch GmbH | Information providing device and program for motorcycle |
CN104401328A (zh) * | 2014-11-14 | 2015-03-11 | 江苏省交通科学研究院股份有限公司 | 汽车弯道限速识别仪及其识别方法 |
JP6363518B2 (ja) * | 2015-01-21 | 2018-07-25 | 株式会社デンソー | 区画線認識装置 |
DE102016221171B4 (de) * | 2015-11-06 | 2022-10-06 | Ford Global Technologies, Llc | Verfahren und Vorrichtung zur Ermittlung von Fahrspurverlaufsdaten |
CN108242145B (zh) * | 2016-12-26 | 2020-10-16 | 阿里巴巴(中国)有限公司 | 异常轨迹点检测方法和装置 |
WO2020071133A1 (ja) * | 2018-10-04 | 2020-04-09 | 日立オートモティブシステムズ株式会社 | 標識認識装置 |
CN111380542B (zh) * | 2018-12-28 | 2023-03-17 | 沈阳美行科技股份有限公司 | 一种车辆定位、导航方法和装置及相关系统 |
CN113127956B (zh) * | 2021-04-08 | 2022-10-18 | 中国电建集团中南勘测设计研究院有限公司 | 道路交叉口三心圆边线计算方法及系统、起点确定方法 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07266920A (ja) * | 1994-03-31 | 1995-10-17 | Isuzu Motors Ltd | カーブ路警報装置 |
JPH10283597A (ja) * | 1997-04-09 | 1998-10-23 | Honda Motor Co Ltd | 車両制御装置 |
JPH11160078A (ja) | 1997-12-02 | 1999-06-18 | Toyota Motor Corp | 走行路形状推定装置 |
JP2004272426A (ja) | 2003-03-06 | 2004-09-30 | Nissan Motor Co Ltd | 道路形状認識装置 |
JP2006031553A (ja) | 2004-07-20 | 2006-02-02 | Aisin Seiki Co Ltd | 車両のレーン走行支援装置 |
JP2007233604A (ja) * | 2006-02-28 | 2007-09-13 | Toyota Motor Corp | 道路情報取得装置、及びこれを利用した車両用走行制御装置、並びに道路交通システム |
JP2010151692A (ja) * | 2008-12-25 | 2010-07-08 | Aisin Aw Co Ltd | 道路形状推測装置、道路形状推測方法及び道路形状推測プログラム |
JP2010151691A (ja) | 2008-12-25 | 2010-07-08 | Aisin Aw Co Ltd | 道路形状推測装置、道路形状推測方法及び道路形状推測プログラム |
JP2011034508A (ja) * | 2009-08-05 | 2011-02-17 | Advics Co Ltd | 道路形状データ作成方法、及び、道路形状データ取得装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4581220B2 (ja) * | 2000-10-27 | 2010-11-17 | 日産自動車株式会社 | 車両用情報提供装置 |
JP5270849B2 (ja) * | 2007-03-16 | 2013-08-21 | 日立オートモティブシステムズ株式会社 | 車両位置計算方法、および、車両位置計算装置 |
US7800532B2 (en) * | 2007-10-12 | 2010-09-21 | Seiko Epson Corporation | Position determination method, positioning device, and electronic instrument |
JP4475342B2 (ja) * | 2008-03-28 | 2010-06-09 | アイシン・エィ・ダブリュ株式会社 | 道路形状推定装置、道路形状推定方法及びプログラム |
JP4479816B2 (ja) * | 2008-03-28 | 2010-06-09 | アイシン・エィ・ダブリュ株式会社 | 道路形状推定装置、道路形状推定方法及びプログラム |
-
2011
- 2011-04-08 US US14/110,358 patent/US20140025227A1/en not_active Abandoned
- 2011-04-08 CN CN2011800698925A patent/CN103459227A/zh active Pending
- 2011-04-08 JP JP2013508714A patent/JPWO2012137354A1/ja active Pending
- 2011-04-08 EP EP11863011.0A patent/EP2696333A1/en not_active Withdrawn
- 2011-04-08 WO PCT/JP2011/058947 patent/WO2012137354A1/ja active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07266920A (ja) * | 1994-03-31 | 1995-10-17 | Isuzu Motors Ltd | カーブ路警報装置 |
JPH10283597A (ja) * | 1997-04-09 | 1998-10-23 | Honda Motor Co Ltd | 車両制御装置 |
JPH11160078A (ja) | 1997-12-02 | 1999-06-18 | Toyota Motor Corp | 走行路形状推定装置 |
JP2004272426A (ja) | 2003-03-06 | 2004-09-30 | Nissan Motor Co Ltd | 道路形状認識装置 |
JP2006031553A (ja) | 2004-07-20 | 2006-02-02 | Aisin Seiki Co Ltd | 車両のレーン走行支援装置 |
JP2007233604A (ja) * | 2006-02-28 | 2007-09-13 | Toyota Motor Corp | 道路情報取得装置、及びこれを利用した車両用走行制御装置、並びに道路交通システム |
JP2010151692A (ja) * | 2008-12-25 | 2010-07-08 | Aisin Aw Co Ltd | 道路形状推測装置、道路形状推測方法及び道路形状推測プログラム |
JP2010151691A (ja) | 2008-12-25 | 2010-07-08 | Aisin Aw Co Ltd | 道路形状推測装置、道路形状推測方法及び道路形状推測プログラム |
JP2011034508A (ja) * | 2009-08-05 | 2011-02-17 | Advics Co Ltd | 道路形状データ作成方法、及び、道路形状データ取得装置 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103770783A (zh) * | 2012-10-19 | 2014-05-07 | 现代摩比斯株式会社 | 进入弯路预测装置和方法及利用该装置和方法的智能定速巡航系统 |
JP2014115775A (ja) * | 2012-12-07 | 2014-06-26 | Denso Corp | 道路形状特定装置 |
WO2016031753A1 (ja) * | 2014-08-25 | 2016-03-03 | 株式会社デンソー | 道路形状認識装置 |
JP2016043837A (ja) * | 2014-08-25 | 2016-04-04 | 株式会社日本自動車部品総合研究所 | 道路形状認識装置 |
JP2018022206A (ja) * | 2016-08-01 | 2018-02-08 | 三菱電機株式会社 | 車線区画線検知補正装置、車線区画線検知補正方法、及び自動運転システム |
US10494021B2 (en) | 2016-08-01 | 2019-12-03 | Mitsubishi Electric Corporation | Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system |
US11370488B2 (en) | 2016-08-01 | 2022-06-28 | Mitsubishi Electric Corporation | Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system |
US11427251B2 (en) | 2016-08-01 | 2022-08-30 | Mitsubishi Electric Corporation | Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system |
US11565751B2 (en) | 2016-08-01 | 2023-01-31 | Mitsubishi Electric Cornoration | Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system |
US11577780B2 (en) | 2016-08-01 | 2023-02-14 | Mitsubishi Electric Corporation | Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system |
US11767055B2 (en) | 2016-08-01 | 2023-09-26 | Mitsubishi Electric Corporation | Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system |
US11999410B2 (en) | 2016-08-01 | 2024-06-04 | Mitsubishi Electric Corporation | Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system |
Also Published As
Publication number | Publication date |
---|---|
CN103459227A (zh) | 2013-12-18 |
EP2696333A1 (en) | 2014-02-12 |
JPWO2012137354A1 (ja) | 2014-07-28 |
US20140025227A1 (en) | 2014-01-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2012137354A1 (ja) | 道路形状推定システム | |
CN108263382B (zh) | 基于目标车辆的驾驶样式的协同自适应巡航控制系统 | |
US9527441B2 (en) | Vehicle control apparatus | |
JP5761162B2 (ja) | 車両位置推定装置 | |
JP5794298B2 (ja) | 運転支援システム | |
US9711049B2 (en) | Collision probability determination apparatus and program | |
US9126595B2 (en) | Apparatus and method for calculating inter-vehicle distance | |
US10604150B2 (en) | Vehicle stop position setting apparatus and method | |
EP2878975A1 (en) | System and method for correcting gps using image recognition information | |
US10053087B2 (en) | Driving assistance apparatus | |
US11300415B2 (en) | Host vehicle position estimation device | |
WO2007132860A1 (ja) | 対象物認識装置 | |
US20140032100A1 (en) | Gps correction system and method using image recognition information | |
KR20190056977A (ko) | 차량 제어 장치 | |
US20200339134A1 (en) | Method and apparatus for dynamic yaw rate bias estimation | |
JP6828655B2 (ja) | 自車位置推定装置 | |
WO2016194168A1 (ja) | 走行制御装置及び方法 | |
KR20190044988A (ko) | 자이로 센싱값 보상 장치, 그를 포함한 시스템 및 그 방법 | |
CN112498347A (zh) | 用于实时横向控制和转向致动评估的方法和装置 | |
KR20190040818A (ko) | 차량 내부 센서, 카메라, 및 gnss 단말기를 이용한 3차원 차량 항법 시스템 | |
KR20210037790A (ko) | 자율 주행 장치 및 방법 | |
WO2020070996A1 (ja) | 走行車線推定装置、走行車線推定方法、制御プログラム、及びコンピュータ読み取り可能な非一時的な記憶媒体 | |
JP2020003463A (ja) | 自車位置推定装置 | |
US20180347993A1 (en) | Systems and methods for verifying road curvature map data | |
JP6455292B2 (ja) | 物体検出装置及び物体検出方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11863011 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2013508714 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14110358 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2011863011 Country of ref document: EP |