Towed vehicle status detection device, towed vehicle driving support system, and towed vehicle status detection method

Abstract

The present invention provides a towed vehicle status detection device capable of detecting the status of a towed vehicle for the purpose of controlling a towing vehicle. [Solution] The towed vehicle state detection device 100 includes: a surrounding information acquisition unit 11 that acquires surrounding information of the towed vehicle V, including information of the towed vehicle TR towed by the towed vehicle V; a vehicle information acquisition unit 12 that acquires vehicle information including at least one of the position information and speed information of the towed vehicle V; a towed vehicle state estimation unit 13 that estimates the towed vehicle state from targets constituting the towed vehicle TR in the surrounding information; a towed vehicle state correction unit 14 that corrects the estimated towed vehicle state based on the vehicle information; and a towed vehicle state output unit 15 that outputs the towed vehicle state based on the correction information corrected by the towed vehicle state correction unit 14.

Claims

1. A surrounding information acquisition unit that acquires surrounding information of the towing vehicle, including information of the towed vehicle being towed by the towing vehicle, A vehicle information acquisition unit that acquires vehicle information including at least one of the location information and speed information of the towing vehicle, A towed vehicle state estimation unit estimates the state of the towed vehicle from the objects constituting the towed vehicle in the surrounding information, A towed vehicle state correction unit corrects the estimated towed vehicle state based on the aforementioned vehicle information, A towed vehicle status output unit outputs the towed vehicle status based on the correction information corrected by the towed vehicle status correction unit. A towed vehicle status detection device equipped with the following features.

2. The towed vehicle state detection device according to claim 1, wherein the towed vehicle state correction unit analyzes targets that are estimated to constitute the towed vehicle but do not correspond to the towed vehicle, and corrects the state to that of a towed vehicle by removing the targets that do not correspond to the towed vehicle.

3. The towed vehicle state detection device according to claim 1, wherein the surrounding information acquisition unit acquires the surrounding information using at least one of video footage captured by a camera mounted on the towing vehicle and point cloud data generated by an optical sensor.

4. At least one of the towed vehicle state estimation unit and the towed vehicle state correction unit calculates the structures constituting the towed vehicle based on the surrounding information, The towed vehicle state detection device according to claim 1, wherein the towed vehicle state correction unit corrects the towed vehicle state relating to the structure calculated using the surrounding information and the vehicle information.

5. The towed vehicle state detection device according to claim 4, wherein the towed vehicle state correction unit corrects one or more of the size, shape, and orientation of the towed vehicle as the towed vehicle state based on the characteristics of the structure.

6. The towed vehicle state detection device according to claim 4, wherein the towed vehicle state correction unit corrects the angle of one or more of the container, tires, and wheel axles of the towed vehicle as the towed vehicle state based on the characteristics of the structure.

7. The towed vehicle state detection device according to claim 4, wherein the towed vehicle state correction unit corrects the towed vehicle state based on pre-stored reference data relating to the state of the structure when the towing vehicle is towing the towed vehicle.

8. It includes a data storage unit that stores the surrounding information and the vehicle information, The towed vehicle state detection device according to claim 1, wherein the towed vehicle state correction unit generates time-series data from the stored data stored in the data storage unit and the acquired surrounding information and vehicle information, and analyzes the time-series data to correct the towed vehicle state.

9. The towed vehicle state correction unit generates the time-series data when the surrounding information includes a target relating to at least one of an obstacle, a pedestrian, and the structure of the towed vehicle, and determines whether or not a target corresponds to the towed vehicle based on one or more differences in speed and position between each target and the towed vehicle.

10. The towed vehicle status detection device according to claim 1, characterized in that the surrounding information acquisition unit acquires the surrounding information from a roadside unit installed on the road on which the towing vehicle travels.

11. The towed vehicle state detection device according to claim 1, wherein at least one of the towed vehicle state estimation unit and the towed vehicle state correction unit comprises a sensor fusion unit that integrates sensor data from a plurality of sensors.

12. The towed vehicle state detection device according to claim 1, wherein the towed vehicle state correction unit classifies the surrounding information into regions by semantic segmentation, separates the towed vehicle from targets other than the towed vehicle, and calculates the state of the towed vehicle.

13. A surrounding detection device that detects surrounding information of the towing vehicle, including information of the towed vehicle being towed by the towing vehicle, A towed vehicle status detection device according to any one of claims 1 to 12, which acquires the surrounding information from the surrounding detection device, A towing vehicle control device that acquires the towed vehicle status output from the towed vehicle status detection device and controls the movement of the towing vehicle. A towing vehicle driving control system equipped with the following features.

14. The steps include: acquiring information about the towing vehicle, including information about the towed vehicle being towed by the towing vehicle; The steps include obtaining vehicle information, which includes at least one of the location information and speed information of the towing vehicle, The steps include: estimating the state of the towed vehicle from the objects constituting the towed vehicle in the surrounding information; The steps include correcting the estimated towed vehicle state based on the vehicle information, A step of outputting the towed vehicle status based on the corrected correction information. A method for detecting the state of a towed vehicle, comprising the following features.

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