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1. WO2020070996 - TRAVEL LANE ESTIMATION DEVICE, TRAVEL LANE ESTIMATION METHOD, CONTROL PROGRAM, AND COMPUTER-READABLE NON-TEMPORARY STORAGE MEDIUM

Publication Number WO/2020/070996
Publication Date 09.04.2020
International Application No. PCT/JP2019/032649
International Filing Date 21.08.2019
IPC
G08G 1/16 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
B60W 30/12 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
10Path keeping
12Lane keeping
B60W 40/06 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02related to ambient conditions
06Road conditions
G01C 21/26 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
B60T 7/12 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
7Brake-action initiating means
12for automatic initiation; for initiation not subject to will of driver or passenger
B60T 8/17 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
CPC
B60T 7/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
7Brake-action initiating means
12for automatic initiation; for initiation not subject to will of driver or passenger
B60T 8/17
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
B60W 30/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
10Path keeping
12Lane keeping
B60W 40/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
40Estimation 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
02related to ambient conditions
06Road conditions
G01C 21/26
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
G08G 1/16
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
Applicants
  • 株式会社デンソー DENSO CORPORATION [JP]/[JP]
Inventors
  • 熊野 俊也 KUMANO Shunya
  • 式町 健 SHIKIMACHI Takeshi
  • 鵜飼 拡基 UKAI Hiroki
Agents
  • 金 順姫 JIN Shunji
Priority Data
2018-18667301.10.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) TRAVEL LANE ESTIMATION DEVICE, TRAVEL LANE ESTIMATION METHOD, CONTROL PROGRAM, AND COMPUTER-READABLE NON-TEMPORARY STORAGE MEDIUM
(FR) DISPOSITIF D'ESTIMATION DE VOIE DE DÉPLACEMENT, PROCÉDÉ D'ESTIMATION DE VOIE DE DÉPLACEMENT, PROGRAMME DE COMMANDE ET SUPPORT DE STOCKAGE NON TEMPORAIRE LISIBLE PAR ORDINATEUR
(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
Abstract
(EN)
This travel lane estimation device is provided with: a forward vehicle recognition unit (204) that recognizes a vehicle in front of a host vehicle, from sensing results of a periphery monitoring sensor (7) that monitors the periphery of the host vehicle; a trajectory estimation unit (205) that estimates the travel trajectory of the forward vehicle from the position of the forward vehicle, which are sequentially recognized by the forward vehicle recognition unit; a map data acquisition unit (202) that acquires map data including number-of-lanes information; a host vehicle position identification unit (203) that identifies the host vehicle position on the map; a travel lane estimation unit (210) that estimates the travel lane of the host vehicle; and a determination unit (209) that determines a travel trajectory not appropriate for estimating the travel lane of the host vehicle by the travel lane estimation unit. The travel lane estimation unit estimates the travel lane of the host vehicle without using, from among travel trajectories of the forward vehicle estimated by the trajectory estimation unit, the travel trajectory determined to be not appropriate by the determination unit.
(FR)
La présente invention concerne un dispositif d'estimation de voie de déplacement comprenant : une unité de reconnaissance de véhicule de tête (204) qui reconnaît levéhicule devant un véhicule hôte, à partir des résultats de détection d'un capteur de surveillance de périphérie (7) qui surveille la périphérie du véhicule hôte ; une unité d'estimation de trajectoire (205) qui estime la trajectoire de déplacement du véhicule de tête à partir de la position du véhicule de tête, qui sont reconnues séquentiellement par l'unité de reconnaissance de véhicule de tête ; une unité d'acquisition de données de carte (202) qui acquiert des données de carte comprenant des informations de nombre de voies ; une unité d'identification de position de véhicule hôte (203) qui identifie la position de véhicule hôte sur la carte ; une unité d'estimation de voie de déplacement (210) qui estime la voie de déplacement du véhicule hôte ; et une unité de détermination (209) qui détermine une trajectoire de déplacement non appropriée pour estimer la voie de déplacement du véhicule hôte par l'unité d'estimation de voie de déplacement. L'unité d'estimation de voie de déplacement estime la voie de déplacement du véhicule hôte sans utiliser, parmi des trajectoires de déplacement du véhicule de tête estimées par l'unité d'estimation de trajectoire, la trajectoire de déplacement déterminée comme n'étant pas appropriée par l'unité de détermination.
(JA)
走行車線推定装置は、自車の周辺を監視する周辺監視センサ(7)でのセンシング結果から、自車の前方車両を認識する前方車両認識部(204)と、前方車両認識部で逐次認識する前方車両の位置から前方車両の走行軌跡を推定する軌跡推定部(205)と、車線数情報を含む地図データを取得する地図データ取得部(202)と、地図上の自車位置を特定する自車位置特定部(203)と、自車の走行車線を推定する走行車線推定部(210)と、走行車線推定部で自車の走行車線を推定するのに適切でない走行軌跡を判別する判別部(209)とを備える。走行車線推定部は、軌跡推定部で推定する前方車両の走行軌跡のうちの、判別部で適切でないと判別する走行軌跡を用いずに、自車の走行車線を推定する。
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