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MX2018000438A - Dispositivo de estimacion de la posicion propia y metodo de estimacion de la posicion propia. - Google Patents

Dispositivo de estimacion de la posicion propia y metodo de estimacion de la posicion propia.

Info

Publication number
MX2018000438A
MX2018000438A MX2018000438A MX2018000438A MX2018000438A MX 2018000438 A MX2018000438 A MX 2018000438A MX 2018000438 A MX2018000438 A MX 2018000438A MX 2018000438 A MX2018000438 A MX 2018000438A MX 2018000438 A MX2018000438 A MX 2018000438A
Authority
MX
Mexico
Prior art keywords
vehicle
position estimating
position data
positions
straight lines
Prior art date
Application number
MX2018000438A
Other languages
English (en)
Other versions
MX366083B (es
Inventor
Asai Toshihiro
Original Assignee
Nissan Motor
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 Nissan Motor filed Critical Nissan Motor
Publication of MX2018000438A publication Critical patent/MX2018000438A/es
Publication of MX366083B publication Critical patent/MX366083B/es

Links

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
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • 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
    • 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
    • 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)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

Un dispositivo de estimación de la posición propia: detecta las posiciones de los puntos de referencia presentes alrededor de un vehículo; acumula las posiciones detectadas de los puntos de referencia como datos de las posiciones de los puntos de referencia con base en una cantidad de movimiento del vehículo; extrae líneas rectas a partir de los datos de las posiciones de los puntos de referencia acumulados; selecciona las piezas de los datos de las posiciones de los puntos de referencia utilizadas para la estimación de la posición propia con base en los ángulos formados por las líneas rectas que intersecan de las líneas rectas extraídas; y estima una posición del vehículo cotejando las piezas seleccionadas de los datos de las posiciones de los puntos de referencia y las posiciones de los puntos de referencia en la información de mapa.
MX2018000438A 2015-07-13 2015-07-13 Dispositivo de estimacion de la posicion propia y metodo de estimacion de la posicion propia. MX366083B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/070008 WO2017009923A1 (ja) 2015-07-13 2015-07-13 自己位置推定装置及び自己位置推定方法

Publications (2)

Publication Number Publication Date
MX2018000438A true MX2018000438A (es) 2018-05-17
MX366083B MX366083B (es) 2019-06-27

Family

ID=57757193

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2018000438A MX366083B (es) 2015-07-13 2015-07-13 Dispositivo de estimacion de la posicion propia y metodo de estimacion de la posicion propia.

Country Status (10)

Country Link
US (1) US10145693B2 (es)
EP (1) EP3324152B1 (es)
JP (1) JP6477882B2 (es)
KR (1) KR101887335B1 (es)
CN (1) CN107850446B (es)
BR (1) BR112018000704B1 (es)
CA (1) CA2992006C (es)
MX (1) MX366083B (es)
RU (1) RU2669652C1 (es)
WO (1) WO2017009923A1 (es)

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KR101847836B1 (ko) * 2015-12-24 2018-04-11 현대자동차주식회사 도로 경계 검출 시스템 및 방법과 이를 이용한 차량
WO2017155970A1 (en) 2016-03-11 2017-09-14 Kaarta, Inc. Laser scanner with real-time, online ego-motion estimation
US11567201B2 (en) 2016-03-11 2023-01-31 Kaarta, Inc. Laser scanner with real-time, online ego-motion estimation
US10989542B2 (en) 2016-03-11 2021-04-27 Kaarta, Inc. Aligning measured signal data with slam localization data and uses thereof
US11573325B2 (en) 2016-03-11 2023-02-07 Kaarta, Inc. Systems and methods for improvements in scanning and mapping
BR112019001508B1 (pt) * 2016-07-26 2022-11-01 Nissan Motor Co., Ltd Método de estimativa de autoposição e dispositivo de estimativa de autoposição
US10520904B2 (en) 2016-09-08 2019-12-31 Mentor Graphics Corporation Event classification and object tracking
US11067996B2 (en) 2016-09-08 2021-07-20 Siemens Industry Software Inc. Event-driven region of interest management
US10678240B2 (en) 2016-09-08 2020-06-09 Mentor Graphics Corporation Sensor modification based on an annotated environmental model
US10317901B2 (en) 2016-09-08 2019-06-11 Mentor Graphics Development (Deutschland) Gmbh Low-level sensor fusion
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US20180314253A1 (en) 2017-05-01 2018-11-01 Mentor Graphics Development (Deutschland) Gmbh Embedded automotive perception with machine learning classification of sensor data
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JP2019109332A (ja) * 2017-12-18 2019-07-04 パイオニア株式会社 地図データ構造
JP7251918B2 (ja) * 2017-12-18 2023-04-04 ジオテクノロジーズ株式会社 車両位置推定装置及び車両位置推定システム
US10553044B2 (en) 2018-01-31 2020-02-04 Mentor Graphics Development (Deutschland) Gmbh Self-diagnosis of faults with a secondary system in an autonomous driving system
US11145146B2 (en) 2018-01-31 2021-10-12 Mentor Graphics (Deutschland) Gmbh Self-diagnosis of faults in an autonomous driving system
WO2019165194A1 (en) 2018-02-23 2019-08-29 Kaarta, Inc. Methods and systems for processing and colorizing point clouds and meshes
WO2019195270A1 (en) 2018-04-03 2019-10-10 Kaarta, Inc. Methods and systems for real or near real-time point cloud map data confidence evaluation
KR102611507B1 (ko) * 2018-07-04 2023-12-07 르노 에스.아.에스. 주행 지원 방법 및 주행 지원 장치
WO2020009826A1 (en) 2018-07-05 2020-01-09 Kaarta, Inc. Methods and systems for auto-leveling of point clouds and 3d models
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US11872965B2 (en) * 2020-05-11 2024-01-16 Hunter Engineering Company System and method for gyroscopic placement of vehicle ADAS targets
JP7241839B1 (ja) 2021-10-06 2023-03-17 三菱電機株式会社 自己位置推定装置

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JP4437556B2 (ja) * 2007-03-30 2010-03-24 アイシン・エィ・ダブリュ株式会社 地物情報収集装置及び地物情報収集方法
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Also Published As

Publication number Publication date
EP3324152A1 (en) 2018-05-23
MX366083B (es) 2019-06-27
CN107850446B (zh) 2019-01-01
JPWO2017009923A1 (ja) 2018-06-14
BR112018000704A2 (pt) 2018-09-18
JP6477882B2 (ja) 2019-03-06
US20180202815A1 (en) 2018-07-19
RU2669652C1 (ru) 2018-10-12
EP3324152A4 (en) 2018-08-08
BR112018000704B1 (pt) 2022-11-29
CA2992006C (en) 2018-08-21
CA2992006A1 (en) 2017-01-19
KR20180016567A (ko) 2018-02-14
EP3324152B1 (en) 2019-04-03
CN107850446A (zh) 2018-03-27
US10145693B2 (en) 2018-12-04
WO2017009923A1 (ja) 2017-01-19
KR101887335B1 (ko) 2018-08-09

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