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GB2552940B - Path identification for off-road cruise control - Google Patents

Path identification for off-road cruise control Download PDF

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Publication number
GB2552940B
GB2552940B GB1613582.4A GB201613582A GB2552940B GB 2552940 B GB2552940 B GB 2552940B GB 201613582 A GB201613582 A GB 201613582A GB 2552940 B GB2552940 B GB 2552940B
Authority
GB
United Kingdom
Prior art keywords
cruise control
path identification
road cruise
road
identification
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
GB1613582.4A
Other versions
GB2552940A (en
Inventor
Yan Hongshi
Fairgrieve Andrew
King Paul
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jaguar Land Rover Ltd
Original Assignee
Jaguar Land Rover Ltd
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 Jaguar Land Rover Ltd filed Critical Jaguar Land Rover Ltd
Priority to GB1613582.4A priority Critical patent/GB2552940B/en
Priority to DE112017003108.7T priority patent/DE112017003108B4/en
Priority to US16/305,748 priority patent/US11772647B2/en
Priority to PCT/EP2017/065337 priority patent/WO2017220705A1/en
Publication of GB2552940A publication Critical patent/GB2552940A/en
Application granted granted Critical
Publication of GB2552940B publication Critical patent/GB2552940B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • 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
    • 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
    • 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
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • 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
    • 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
    • B60W30/14—Adaptive cruise control
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/30241—Trajectory
    • 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
    • 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
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
GB1613582.4A 2016-06-24 2016-08-08 Path identification for off-road cruise control Active GB2552940B (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
GB1613582.4A GB2552940B (en) 2016-08-08 2016-08-08 Path identification for off-road cruise control
DE112017003108.7T DE112017003108B4 (en) 2016-06-24 2017-06-22 IMPROVEMENTS IN VEHICLE CONTROL
US16/305,748 US11772647B2 (en) 2016-06-24 2017-06-22 Control system for a vehicle
PCT/EP2017/065337 WO2017220705A1 (en) 2016-06-24 2017-06-22 Control system for a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1613582.4A GB2552940B (en) 2016-08-08 2016-08-08 Path identification for off-road cruise control

Publications (2)

Publication Number Publication Date
GB2552940A GB2552940A (en) 2018-02-21
GB2552940B true GB2552940B (en) 2020-01-22

Family

ID=61007891

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1613582.4A Active GB2552940B (en) 2016-06-24 2016-08-08 Path identification for off-road cruise control

Country Status (1)

Country Link
GB (1) GB2552940B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11579250B2 (en) * 2020-12-23 2023-02-14 Robert Bosch Gmbh Lane boundary detection using radar signature trace data
KR20230123072A (en) * 2022-02-15 2023-08-23 현대자동차주식회사 Method and system for controlling anti-jerk of vehicle

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100209013A1 (en) * 2009-02-13 2010-08-19 Harris Corporation Registration of 3d point cloud data to 2d electro-optical image data
US20140118716A1 (en) * 2012-10-31 2014-05-01 Raytheon Company Video and lidar target detection and tracking system and method for segmenting moving targets
WO2015106799A1 (en) * 2014-01-14 2015-07-23 Sandvik Mining And Construction Oy Mine vehicle, mine control system and mapping method
US20160104289A1 (en) * 2014-10-09 2016-04-14 Caterpillar Inc. Real-time range map generation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100209013A1 (en) * 2009-02-13 2010-08-19 Harris Corporation Registration of 3d point cloud data to 2d electro-optical image data
US20140118716A1 (en) * 2012-10-31 2014-05-01 Raytheon Company Video and lidar target detection and tracking system and method for segmenting moving targets
WO2015106799A1 (en) * 2014-01-14 2015-07-23 Sandvik Mining And Construction Oy Mine vehicle, mine control system and mapping method
US20160104289A1 (en) * 2014-10-09 2016-04-14 Caterpillar Inc. Real-time range map generation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"2D/3D Sensor Exploitation and Fusion for Enhanced Object Detection", Xu Jiejun; Kim Kyungnam; Zhang Zhiqi; Chen Hai-Wen; Owechko Yuri, 2014 IEEE Conf on Computer Vision and Pattern Recognition Workshops, 23 June 2014, pages 778-784 *

Also Published As

Publication number Publication date
GB2552940A (en) 2018-02-21

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