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Moving object trajectory estimating device

a technology for moving objects and trajectory estimation, which is applied in the direction of vehicular safety arrangements, pedestrian/occupant safety arrangements, instruments, etc., can solve the problem of not performing appropriate trajectory estimation, and achieve the effect of enhancing accuracy of trajectory estimation, estimating more accurately, and speeding up estimation processing

Inactive Publication Date: 2009-10-08
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0009]According to this aspect, by estimating the trajectory of the specified moving object based on the recognition information of the specified moving object acquired by the recognition information acquisition part, the trajectory of the specified moving object can be estimated more accurately. Therefore, estimation of the trajectory of the specified moving object from the perspective of the specified moving object allows appropriate trajectory estimation. In addition, because it is not necessary to take into consideration any information other than the information recognized by the specified moving object in this case, the speed of the estimation processing can be improved, and the accuracy of the trajectory estimation can be enhanced. The recognition information here includes not only information that is directly visible to the specified moving object but also information that is not directly visible but can be obtained through communication.

Problems solved by technology

As a result, appropriate trajectory estimation might not be performed.

Method used

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first embodiment

[0021]A moving object trajectory estimating device 1 may be applied to a controller of an automatically driven vehicle and estimates the trajectories of other vehicles.

[0022]FIG. 1 is a block diagram showing the structure of the moving object trajectory estimating device according to the first embodiment of the invention. As shown in FIG. 1, the moving object trajectory estimating device I has an object detection electronic control unit (ECU) 5, position calculation ECU 6, observable object extraction ECU 7, and object trajectory prediction ECU 8. The ECUs each execute their own control and are configured by, for example, a central processing unit (CPU), read only memory (ROM), random access memory (RAM), input signal circuit, output signal circuit, power circuit, and the like. The object detection ECU 5 is connected to a camera 2 and laser radar 3. The position calculation ECU 6 is connected with a global positioning system (GPS) receiver 4.

[0023]The camera 2 may be a monocular ca...

second embodiment

[0045]A trajectory estimating method for a moving object according to the invention is described next.

[0046]FIG. 4 is a block diagram showing the structure of a moving object trajectory estimating device according to the second embodiment. As shown in FIG. 4, a trajectory estimating method for a moving object 11 according to the second embodiment differs from the moving object trajectory estimating device 1 according to the first embodiment in that the trajectory estimating method for a moving object 11 has an observed object specifying ECU 12 and receiving device 13. Specifically, the moving object trajectory estimating device 11 has the object detection ECU 5, position calculation ECU 6, observed object specifying ECU 12, and object trajectory prediction ECU 8, and the receiving device 13 is connected with the observed object specifying ECU 12.

[0047]The receiving device 13 communicates with other vehicles around a host vehicle. For example, the receiving device 13 receives vehicle...

third embodiment

[0059]Next, a moving object trajectory estimating device according to the invention will be described.

[0060]FIG. 6 is a block diagram showing the structure of the moving object trajectory estimating device according to the third embodiment. As shown in FIG. 6, a trajectory estimating method for a moving object 16 according to the third embodiment differs from the moving object trajectory estimating device 1 according to the first embodiment in that the trajectory estimating method for a moving object 16 includes a blind spot calculation ECU 17, observed object selecting ECU 18, individual authentication ECU 19, and individual blind spot information database (DB) 20.

[0061]The individual authentication ECU 19 is connected to the object detection ECU 5 and performs individual authentication on the plurality of other vehicles detected by the object detection ECU 5. For example, the individual authentication ECU 19 authenticates the vehicle model by reading an image or license plate of t...

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Abstract

A moving object trajectory estimating device has: a surrounding information acquisition part that acquires information on surroundings of a moving object; a trajectory estimating part that specifies another moving object around the moving object based on the acquired surrounding information and estimates a trajectory of the specified moving object; and a recognition information acquisition part that acquires recognition information on a recognizable area of the specified moving object, and the trajectory estimating part estimates a trajectory of the specified moving object, based on the acquired recognition information of the specified moving object.

Description

INCORPORATION BY REFERENCE[0001]The disclosure of Japanese Patent Application No. 2008-099447 filed on Apr. 7, 2008 including the specification, drawings and abstract is incorporated herein by reference in its entirety.BACKGROUND OF THE INVENTION[0002]1. Field of the Invention[0003]The invention relates to a moving object trajectory estimating device, which estimates the trajectory of a vehicle or other moving object.[0004]2. Description of the Related Art[0005]A moving object trajectory estimating device is described in, for example, Japanese Patent Application Publication No. 2007-230454 (JP-A-2007-230454). The device estimates the trajectory that a specified object out of a plurality of object may follow; changes in positions that the plurality of objects might possibly take with the lapse of time are generated as tracks on a space-time constituted of time and space; uses the tracks to predict the trajectories of the plurality of objects; and, based on the prediction result, quan...

Claims

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Application Information

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IPC IPC(8): G06K9/00B60R21/00B60T7/12G08G1/09G08G1/16
CPCG08G1/163
Inventor SHIMIZU, HIROAKI
Owner TOYOTA JIDOSHA KK
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