EP1714108A4 - Road curvature estimation system - Google Patents
Road curvature estimation systemInfo
- Publication number
- EP1714108A4 EP1714108A4 EP04815709A EP04815709A EP1714108A4 EP 1714108 A4 EP1714108 A4 EP 1714108A4 EP 04815709 A EP04815709 A EP 04815709A EP 04815709 A EP04815709 A EP 04815709A EP 1714108 A4 EP1714108 A4 EP 1714108A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- estimation system
- road curvature
- curvature estimation
- road
- estimation
- 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.)
- Withdrawn
Links
Classifications
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US53234403P | 2003-12-24 | 2003-12-24 | |
| PCT/US2004/043695 WO2005062984A2 (en) | 2003-12-24 | 2004-12-24 | Road curvature estimation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1714108A2 EP1714108A2 (en) | 2006-10-25 |
| EP1714108A4 true EP1714108A4 (en) | 2010-01-13 |
Family
ID=34738789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP04815709A Withdrawn EP1714108A4 (en) | 2003-12-24 | 2004-12-24 | Road curvature estimation system |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1714108A4 (en) |
| JP (3) | JP4990629B2 (en) |
| WO (1) | WO2005062984A2 (en) |
Families Citing this family (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7860651B2 (en) | 2005-08-30 | 2010-12-28 | Honeywell International Inc. | Enhanced inertial system performance |
| JP4229141B2 (en) | 2006-06-19 | 2009-02-25 | トヨタ自動車株式会社 | Vehicle state quantity estimation device and vehicle steering control device using the device |
| JP5056220B2 (en) * | 2006-09-29 | 2012-10-24 | 日産自動車株式会社 | Travel control device |
| DE102008020410B4 (en) | 2008-04-24 | 2016-02-11 | Ford Global Technologies, Llc (N.D.Ges.D. Staates Delaware) | Method for targeted braking of a driven wheel of a drive axle of a motor vehicle |
| WO2010084591A1 (en) | 2009-01-22 | 2010-07-29 | トヨタ自動車株式会社 | Curve radius estimation device |
| JP5291610B2 (en) * | 2009-12-21 | 2013-09-18 | 日本電信電話株式会社 | Azimuth estimation apparatus, method, and program |
| JP5821288B2 (en) * | 2011-05-31 | 2015-11-24 | 日産自動車株式会社 | Road shape prediction device |
| KR101789073B1 (en) | 2011-08-24 | 2017-10-23 | 현대모비스 주식회사 | Method and apparatus for estimating radius of curvature of vehicle |
| EP2755869B1 (en) * | 2011-09-12 | 2017-07-12 | Continental Teves AG & Co. oHG | Orientation model for a sensor system |
| RU2499278C1 (en) * | 2012-07-19 | 2013-11-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования Владивостокский государственный университет экономики и сервиса (ВГУЭС) | Method of tracking path of moving ship |
| US9255989B2 (en) * | 2012-07-24 | 2016-02-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Tracking on-road vehicles with sensors of different modalities |
| KR101839978B1 (en) * | 2013-03-18 | 2018-04-26 | 주식회사 만도 | Apparatus and method for determining traveling status of vehicle |
| JP6105509B2 (en) * | 2014-04-08 | 2017-03-29 | 株式会社日本自動車部品総合研究所 | Runway estimation device and runway estimation program |
| US9463804B2 (en) * | 2014-11-11 | 2016-10-11 | Ford Global Tehnologies, LLC | Vehicle cornering modes |
| JP6313198B2 (en) * | 2014-11-28 | 2018-04-18 | 株式会社デンソー | Vehicle control device |
| KR102277479B1 (en) * | 2015-02-25 | 2021-07-14 | 현대모비스 주식회사 | Apparatus and method for estimating radius of curvature in vehicle |
| DE102016221171B4 (en) * | 2015-11-06 | 2022-10-06 | Ford Global Technologies, Llc | Method and device for determining lane progression data |
| RU2661889C1 (en) * | 2015-12-18 | 2018-07-20 | Акционерное общество "Федеральный научно-производственный центр "Нижегородский научно-исследовательский институт радиотехники" | Radar tracking method of objects and a radar station for its implementation |
| JP6428671B2 (en) | 2016-02-17 | 2018-11-28 | 株式会社デンソー | Estimator |
| CN106114511B (en) * | 2016-07-21 | 2018-03-06 | 辽宁工业大学 | A kind of automobile cruise system core target identification method |
| JP6293213B2 (en) | 2016-08-01 | 2018-03-14 | 三菱電機株式会社 | Lane marking detection correction device, lane marking detection correction method, and automatic driving system |
| JP6770393B2 (en) * | 2016-10-04 | 2020-10-14 | 株式会社豊田中央研究所 | Tracking device and program |
| KR102375149B1 (en) * | 2017-10-18 | 2022-03-16 | 현대자동차주식회사 | Apparatus and method for estimating redius of curvature of vehicle |
| CN110525442B (en) * | 2018-05-23 | 2021-10-26 | 长城汽车股份有限公司 | Gradient detection method and system and vehicle |
| CN111047908B (en) * | 2018-10-12 | 2021-11-02 | 富士通株式会社 | Detection device and method for cross-line vehicle and video monitoring equipment |
| EP3680877A1 (en) * | 2019-01-08 | 2020-07-15 | Visteon Global Technologies, Inc. | Method for determining the location of an ego-vehicle |
| CN113382946B (en) * | 2019-02-14 | 2023-11-03 | 株式会社多田野 | Control device for lifting off ground and crane |
| WO2020166690A1 (en) * | 2019-02-14 | 2020-08-20 | 株式会社タダノ | Lifting control device and mobile crane |
| EP3726184A1 (en) * | 2019-04-16 | 2020-10-21 | PSA Automobiles SA | Method and device for determining the curve of a road |
| US11131776B2 (en) * | 2019-08-19 | 2021-09-28 | Gm Global Technology Operations, Llc | Method and apparatus for Kalman filter parameter selection using map data |
| CN112441012B (en) * | 2019-09-05 | 2023-05-12 | 北京地平线机器人技术研发有限公司 | Vehicle driving track prediction method and device |
| CN111400931B (en) * | 2020-04-09 | 2022-09-27 | 北京理工大学 | Method and system for determining yaw velocity of vehicle |
| CN111737633A (en) * | 2020-06-23 | 2020-10-02 | 上海汽车集团股份有限公司 | Method and device for calculating curvature radius of road in front of vehicle |
| CN113391287B (en) * | 2021-06-10 | 2023-09-01 | 哈尔滨工业大学 | High-frequency ground wave radar sea state data fusion method based on time sequence |
| CN114001976B (en) * | 2021-10-19 | 2024-03-12 | 杭州飞步科技有限公司 | Method, device, equipment and storage medium for determining control error |
| CN114578401B (en) * | 2022-04-29 | 2022-08-30 | 泽景(西安)汽车电子有限责任公司 | Method and device for generating lane track points, electronic equipment and storage medium |
| CN116946148B (en) * | 2023-09-20 | 2023-12-12 | 广汽埃安新能源汽车股份有限公司 | Vehicle state information and road surface information estimation method and device |
| CN117584982A (en) * | 2023-12-28 | 2024-02-23 | 上海保隆汽车科技股份有限公司 | Curve radius estimation method, system, medium, electronic equipment, vehicle machine and vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5467283A (en) * | 1992-10-21 | 1995-11-14 | Mazda Motor Corporation | Obstacle sensing apparatus for vehicles |
| US6265991B1 (en) * | 1999-12-10 | 2001-07-24 | Mitsubshi Denki Kabushiki Kaisha | Vehicular front monitoring apparatus |
| US20030154011A1 (en) * | 2002-02-13 | 2003-08-14 | Ford Global Technologies, Inc. | Method for operating a pre-crash sensing system in a vehicle having a countermeasure system using stereo cameras |
Family Cites Families (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4408745C2 (en) * | 1993-03-26 | 1997-02-27 | Honda Motor Co Ltd | Driving control device for vehicles |
| JP3288566B2 (en) * | 1994-11-10 | 2002-06-04 | 株式会社豊田中央研究所 | Travel lane recognition device |
| DE19749086C1 (en) * | 1997-11-06 | 1999-08-12 | Daimler Chrysler Ag | Device for determining data indicating the course of the lane |
| JPH11160078A (en) * | 1997-12-02 | 1999-06-18 | Toyota Motor Corp | System for estimating condition of traveling road |
| JP2000002535A (en) * | 1998-06-15 | 2000-01-07 | Daihatsu Motor Co Ltd | Method for detecting curvature of curve road and detector used therefor |
| JP3319399B2 (en) * | 1998-07-16 | 2002-08-26 | 株式会社豊田中央研究所 | Roadway recognition device |
| JP2001048035A (en) * | 1999-08-10 | 2001-02-20 | Nissan Motor Co Ltd | Lane following device |
| ATE345487T1 (en) * | 1999-09-16 | 2006-12-15 | Sirf Tech Inc | NAVIGATION SYSTEM AND METHOD FOR TRACKING THE POSITION OF AN OBJECT |
| JP3391745B2 (en) * | 1999-09-22 | 2003-03-31 | 富士重工業株式会社 | Curve approach control device |
| JP4348662B2 (en) * | 1999-09-28 | 2009-10-21 | マツダ株式会社 | Vehicle steering device |
| US6618690B1 (en) * | 1999-11-22 | 2003-09-09 | Nokia Mobile Phones Ltd | Generalized positioning system based on use of a statistical filter |
| JP2001319299A (en) * | 2000-05-12 | 2001-11-16 | Denso Corp | Road curvature estimating device for vehicle and preceding vehicle selecting device |
| JP2001328451A (en) * | 2000-05-18 | 2001-11-27 | Denso Corp | Travel route estimating device, preceding vehicle recognizing device and recording medium |
| WO2002021156A2 (en) * | 2000-09-08 | 2002-03-14 | Raytheon Company | Path prediction system and method |
| JP4606638B2 (en) * | 2001-04-20 | 2011-01-05 | 本田技研工業株式会社 | Vehicle trajectory estimation device and vehicle travel safety device using the same |
| JP4668470B2 (en) * | 2001-07-06 | 2011-04-13 | 富士重工業株式会社 | Inter-vehicle distance alarm device |
| JP3700625B2 (en) * | 2001-08-28 | 2005-09-28 | 日産自動車株式会社 | Road white line recognition device |
| US6751547B2 (en) * | 2001-11-26 | 2004-06-15 | Hrl Laboratories, Llc | Method and apparatus for estimation of forward path geometry of a vehicle based on a two-clothoid road model |
| US6643588B1 (en) * | 2002-04-11 | 2003-11-04 | Visteon Global Technologies, Inc. | Geometric based path prediction method using moving and stop objects |
| DE10218924A1 (en) * | 2002-04-27 | 2003-11-06 | Bosch Gmbh Robert | Method and device for course prediction in motor vehicles |
| JP3975922B2 (en) * | 2003-01-17 | 2007-09-12 | トヨタ自動車株式会社 | Curve radius estimation device |
| JP2004286724A (en) * | 2003-01-27 | 2004-10-14 | Denso Corp | Vehicle behavior detector, on-vehicle processing system, detection information calibrator and on-vehicle processor |
| JP2007534041A (en) * | 2003-09-23 | 2007-11-22 | ダイムラークライスラー・アクチェンゲゼルシャフト | Lane change driving recognition method and apparatus for vehicles |
-
2004
- 2004-12-24 WO PCT/US2004/043695 patent/WO2005062984A2/en not_active Application Discontinuation
- 2004-12-24 JP JP2006547495A patent/JP4990629B2/en not_active Expired - Fee Related
- 2004-12-24 EP EP04815709A patent/EP1714108A4/en not_active Withdrawn
-
2012
- 2012-01-12 JP JP2012004375A patent/JP5265787B2/en not_active Expired - Fee Related
- 2012-01-12 JP JP2012004376A patent/JP5848137B2/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5467283A (en) * | 1992-10-21 | 1995-11-14 | Mazda Motor Corporation | Obstacle sensing apparatus for vehicles |
| US6265991B1 (en) * | 1999-12-10 | 2001-07-24 | Mitsubshi Denki Kabushiki Kaisha | Vehicular front monitoring apparatus |
| US20030154011A1 (en) * | 2002-02-13 | 2003-08-14 | Ford Global Technologies, Inc. | Method for operating a pre-crash sensing system in a vehicle having a countermeasure system using stereo cameras |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2012131496A (en) | 2012-07-12 |
| WO2005062984A2 (en) | 2005-07-14 |
| WO2005062984A3 (en) | 2007-02-22 |
| JP5265787B2 (en) | 2013-08-14 |
| JP5848137B2 (en) | 2016-01-27 |
| JP2012131495A (en) | 2012-07-12 |
| JP4990629B2 (en) | 2012-08-01 |
| JP2007516906A (en) | 2007-06-28 |
| EP1714108A2 (en) | 2006-10-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
| 17P | Request for examination filed |
Effective date: 20060626 |
|
| AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR |
|
| AX | Request for extension of the european patent |
Extension state: AL BA HR LV MK YU |
|
| PUAK | Availability of information related to the publication of the international search report |
Free format text: ORIGINAL CODE: 0009015 |
|
| DAX | Request for extension of the european patent (deleted) | ||
| RBV | Designated contracting states (corrected) |
Designated state(s): DE GB |
|
| RIC1 | Information provided on ipc code assigned before grant |
Ipc: G01S 13/93 20060101AFI20070327BHEP |
|
| A4 | Supplementary search report drawn up and despatched |
Effective date: 20091214 |
|
| STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
| 18D | Application deemed to be withdrawn |
Effective date: 20100316 |