WO2018195150A1 - Automatically perceiving travel signals - Google Patents

Automatically perceiving travel signals Download PDF

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Publication number
WO2018195150A1
WO2018195150A1 PCT/US2018/028083 US2018028083W WO2018195150A1 WO 2018195150 A1 WO2018195150 A1 WO 2018195150A1 US 2018028083 W US2018028083 W US 2018028083W WO 2018195150 A1 WO2018195150 A1 WO 2018195150A1
Authority
WO
WIPO (PCT)
Prior art keywords
travel
signal
travel signal
vehicle
representation
Prior art date
Application number
PCT/US2018/028083
Other languages
English (en)
French (fr)
Inventor
Baoxing Qin
Aravindkumar Vijayalingam
Original Assignee
nuTonomy Inc.
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
Priority claimed from US15/490,599 external-priority patent/US20180299893A1/en
Priority claimed from US15/490,682 external-priority patent/US10650256B2/en
Priority claimed from US15/490,616 external-priority patent/US10643084B2/en
Priority claimed from US15/490,694 external-priority patent/US20180300566A1/en
Application filed by nuTonomy Inc. filed Critical nuTonomy Inc.
Priority to CN201880040513.1A priority Critical patent/CN111094095B/zh
Priority to EP18788068.7A priority patent/EP3612424A4/en
Publication of WO2018195150A1 publication Critical patent/WO2018195150A1/en

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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • 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
    • G06V20/58—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; 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
    • G06V20/58—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
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
PCT/US2018/028083 2017-04-18 2018-04-18 Automatically perceiving travel signals WO2018195150A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880040513.1A CN111094095B (zh) 2017-04-18 2018-04-18 自动地感知行驶信号的方法、装置及运载工具
EP18788068.7A EP3612424A4 (en) 2017-04-18 2018-04-18 AUTOMATIC TRAFFIC LIGHT COLLECTION

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US15/490,599 US20180299893A1 (en) 2017-04-18 2017-04-18 Automatically perceiving travel signals
US15/490,616 2017-04-18
US15/490,599 2017-04-18
US15/490,682 US10650256B2 (en) 2017-04-18 2017-04-18 Automatically perceiving travel signals
US15/490,694 2017-04-18
US15/490,616 US10643084B2 (en) 2017-04-18 2017-04-18 Automatically perceiving travel signals
US15/490,694 US20180300566A1 (en) 2017-04-18 2017-04-18 Automatically perceiving travel signals
US15/490,682 2017-04-18

Publications (1)

Publication Number Publication Date
WO2018195150A1 true WO2018195150A1 (en) 2018-10-25

Family

ID=63856852

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2018/028083 WO2018195150A1 (en) 2017-04-18 2018-04-18 Automatically perceiving travel signals

Country Status (3)

Country Link
EP (1) EP3612424A4 (zh)
CN (2) CN111094095B (zh)
WO (1) WO2018195150A1 (zh)

Cited By (5)

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CN110126817A (zh) * 2018-12-16 2019-08-16 初速度（苏州）科技有限公司 一种自适应任意点与固定点间泊车或召回的方法及系统
WO2021008953A1 (en) * 2019-07-15 2021-01-21 Valeo Schalter Und Sensoren Gmbh Determining a signal state of a traffic light device
CN112927524A (zh) * 2019-12-06 2021-06-08 现代自动车株式会社 交叉路口信号预测系统及其方法
WO2022078852A1 (de) * 2020-10-12 2022-04-21 Bayerische Motoren Werke Aktiengesellschaft Fahrzeugführungssystem und verfahren zum betreiben einer fahrfunktion im anschluss an einem anfahrvorgang
CN114127823B (zh) * 2019-07-15 2024-05-14 法雷奥开关和传感器有限责任公司 确定交通灯设备的信号状态

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CN111968391B (zh) * 2020-08-07 2021-08-17 武汉中海庭数据技术有限公司 一种基于贝叶斯分类的交通灯和道路关联方法
CN112026756B (zh) * 2020-08-31 2021-08-06 重庆长安汽车股份有限公司 基于跟踪目标的危险目标选择方法、系统及车辆
CN115223148B (zh) * 2022-09-20 2023-04-18 毫末智行科技有限公司 一种车辆的自动控制方法、装置、车辆、设备及存储介质

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US20100278079A1 (en) * 2008-01-11 2010-11-04 Steffen Meyer Apparatus and method for determining a coincidence of a position with a reference position
US20120045119A1 (en) * 2004-07-26 2012-02-23 Automotive Systems Laboratory, Inc. Method of identifying an object in a visual scene
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US20100278079A1 (en) * 2008-01-11 2010-11-04 Steffen Meyer Apparatus and method for determining a coincidence of a position with a reference position
US20100232709A1 (en) * 2009-03-10 2010-09-16 Liang Zhang Estimation of image relations from point correspondences between images
US20130211682A1 (en) 2012-02-13 2013-08-15 Toyota Motor Engin. & Manufact. N.A.(TEMA) System and method for traffic signal recognition
US20140277901A1 (en) 2012-04-09 2014-09-18 Google Inc. Use of Uncertainty Regarding Observations of Traffic Intersections to Modify Behavior of a Vehicle
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110126817A (zh) * 2018-12-16 2019-08-16 初速度（苏州）科技有限公司 一种自适应任意点与固定点间泊车或召回的方法及系统
WO2021008953A1 (en) * 2019-07-15 2021-01-21 Valeo Schalter Und Sensoren Gmbh Determining a signal state of a traffic light device
CN114127823A (zh) * 2019-07-15 2022-03-01 法雷奥开关和传感器有限责任公司 确定交通灯设备的信号状态
JP2022541223A (ja) * 2019-07-15 2022-09-22 ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー 交通信号機の信号状態の判定
JP7341311B2 (ja) 2019-07-15 2023-09-08 ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー 交通信号機の信号状態の判定
CN114127823B (zh) * 2019-07-15 2024-05-14 法雷奥开关和传感器有限责任公司 确定交通灯设备的信号状态
CN112927524A (zh) * 2019-12-06 2021-06-08 现代自动车株式会社 交叉路口信号预测系统及其方法
WO2022078852A1 (de) * 2020-10-12 2022-04-21 Bayerische Motoren Werke Aktiengesellschaft Fahrzeugführungssystem und verfahren zum betreiben einer fahrfunktion im anschluss an einem anfahrvorgang

Also Published As

Publication number Publication date
CN111094095B (zh) 2021-09-07
CN113665570A (zh) 2021-11-19
EP3612424A1 (en) 2020-02-26
EP3612424A4 (en) 2020-09-16
CN111094095A (zh) 2020-05-01

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