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公开(公告)号：EP3327532A1
公开(公告)日：2018-05-30
申请号：EP15899539.9
申请日：2015-07-24
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , B60W30/12 , G01C21/165 , G05D1/0246 , G05D1/0272 , G05D2201/0213
摘要： A self-position estimation device includes: a target position detection unit mounted in a vehicle, the target position detection unit being configured to detect a relative position of a target present around the vehicle and the vehicle; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a target position accumulation unit configured to move the detected relative position by the estimated movement amount and to accumulate the moved relative position as target position data; a map information acquisition unit configured to acquire map information including target position information of a target present on a map; a curve start position estimation unit configured to estimate a curve start position of a travel path on which the vehicle travels; and a self-position estimation unit configured to perform comparison in which at least the target position data present around the vehicle and the target position data present between a current position of the vehicle and the estimated curve start position, of the accumulated target position data, is compared with the target position information included in the map information to estimate a self position which is the current position of the vehicle.
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公开(公告)号：EP3517381B1
公开(公告)日：2020-07-15
申请号：EP16916840.8
申请日：2016-09-26
发明人： UEDA, Hirotoshi
IPC分类号： B60W30/165 , B60W40/04 , G01C21/26 , G08G1/16
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公开(公告)号：EP3434545A1
公开(公告)日：2019-01-30
申请号：EP16895402.2
申请日：2016-03-24
发明人： UEDA, Hirotoshi
IPC分类号： B60W40/02 , B60W30/165
摘要： One aspect of the present invention is a course prediction method using a position acquisition circuit configured to acquire a position of a surrounding vehicle and a course prediction circuit configured to predict a course of a host vehicle based on a traveling path of the surrounding vehicle obtained from a history of the position of the surrounding vehicle. In the course prediction method, the course of the host vehicle is predicted by increasing or reducing the size of the traveling path of the surrounding vehicle, based on a turning direction and a lateral position of the surrounding vehicle.
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公开(公告)号：EP4406796A1
公开(公告)日：2024-07-31
申请号：EP21957723.6
申请日：2021-09-23
发明人： TANAKA, Shinya , UEDA, Hirotoshi
IPC分类号： B60W30/095 , B60W40/02 , B60W60/00
CPC分类号： B60W30/095 , B60W60/00 , B60W40/02
摘要： A travel assistance device includes a traveling boundary acquisition unit (101), a surrounding object acquisition unit (102), an obstacle determination unit (104), an avoidance determination unit (105), a blind spot determination unit (108), an avoidance section setting unit (107), and a vehicle control unit (112). The traveling boundary acquisition unit (101) is configured to acquire lane information around a subject vehicle. The surrounding object acquisition unit (102) is configured to acquire surrounding object information about an object around the subject vehicle. The obstacle determination unit (104) is configured to determine whether or not an obstacle hindering a travel of the subject vehicle on a subject lane where the subject vehicle travels is present, based on the lane information and the surrounding object information. The avoidance determination unit (105) is configured to determine whether or not the subject vehicle is allowed to avoid the obstacle by a steering control in an avoidance direction to avoid the obstacle based on the lane information when the obstacle is determined to be present by the obstacle determination unit. The blind spot determination unit (108) is configured to determine whether or not a blind spot area as a blind spot from the subject vehicle is present on an oncoming lane opposed to a travel direction of the subject vehicle when the subject vehicle is determined to be allowed to avoid the obstacle. The blind spot area is located in the avoidance direction with respect to the subject lane. The avoidance section setting unit (107) is configured to set an avoidance end position of an avoidance section to execute an avoidance control including the steering control in the avoidance direction according to a result of the determination of whether or not the blind spot area is present. The vehicle control unit (112) is configured to generate a travel route for the subject vehicle to travel from an avoidance start position to the avoidance end position of the avoidance section.
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公开(公告)号：EP3517381A1
公开(公告)日：2019-07-31
申请号：EP16916840.8
申请日：2016-09-26
发明人： UEDA, Hirotoshi
IPC分类号： B60W30/165 , B60W40/04 , G01C21/26 , G08G1/16
摘要： Provided is a route setting method capable of causing a host vehicle to continuously follow traveling tracks of other vehicles including a preceding vehicle so as to travel stably. The route setting method uses a peripheral vehicle sensor installed in the host vehicle to detect positions of other vehicles traveling around the host vehicle, and a controller for setting a route of the host vehicle according to traveling tracks of the other vehicles based on histories of positions of the other vehicles, the method including calculating a displaced amount of traveling tracks of the preceding vehicle specified from the other vehicles (S6), and setting the route of the host vehicle according to traveling tracks of another vehicle different from the preceding vehicle when the displaced amount of the traveling tracks of the preceding vehicle is a threshold or greater (S7 to S10).
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公开(公告)号：EP3333828A1
公开(公告)日：2018-06-13
申请号：EP15900392.0
申请日：2015-08-04
发明人： NANRI, Takuya , KHIAT, Abdelaziz , UEDA, Hirotoshi , FANG, Fang
IPC分类号： G08G1/16
CPC分类号： G06K9/00798 , G01C3/085 , G01C7/04 , G06K9/4633 , G08G1/16 , H04N13/204
摘要： A step detection device detects the distance and the direction to a road surface around a vehicle Vc, using a distance sensor 12 mounted on the vehicle, and sets a first step determination position Pa 1 and a second step determination position Pa 2 on the road surface. Then, the step detection device calculates the height changes of the road surfaces at the first step determination position Pa 1 and the second step determination position Pa 2 based on the distance and the direction to the road surface, and detects a step LD on the road surface based on one of the step determination positions, the gradient of the height change of the road surface at the one being larger.
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公开(公告)号：EP3330742A1
公开(公告)日：2018-06-06
申请号：EP15899600.9
申请日：2015-07-27
发明人： FANG, Fang , UEDA, Hirotoshi , NANRI, Takuya
CPC分类号： G06T7/292 , G01S7/4808 , G01S17/023 , G01S17/66 , G01S17/936 , G06K9/00805 , G06K9/6292 , G06T7/74
摘要： Multiple objects detected by multiple sensors are subjected to a determination as to whether or not the objects are identical to each other. If there is an object in the multiple objects, of which object position becomes undetectable after the point when the multiple objects detected by the multiple sensors are determined to be the identical object, a determination is made as to whether or not the continuously detected object is an object identical to the object in a previous processing based on a predicted range calculated from a previously detected object position of the object becoming undetectable, and on a range of presence estimated from an object position of the continuously detected object.
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公开(公告)号：EP3306429A1
公开(公告)日：2018-04-11
申请号：EP15893366.3
申请日：2015-05-28
发明人： YAMAGUCHI, Ichiro , UEDA, Hirotoshi
CPC分类号： G01C21/30 , G01C21/005 , G01C21/3602 , G01C21/3644 , G05D1/02
摘要： An own position estimation device of the present invention detects a landmark position of a landmark existing around a mobile body, detects a movement amount of the mobile body, and accumulates, as pieces of landmark position data, landmark positions each obtained by moving the detected landmark position by the movement amount. The device then acquires map information including landmark positions of landmarks existing on a map by the controller, matches the pieces of landmark position data in a certain range with the landmark positions included in the map information, and estimates the own position of the mobile body, the certain range being set based on movement records of the mobile body traveling to a current position.
摘要翻译： 本发明的自身位置估计装置检测存在于移动体周围的地标的地标位置，检测移动体的移动量，并且将通过移动检测到的地标而获得的地标位置存储为地标位置数据 位置移动量。 然后，设备通过控制器获取包括地图上存在的地标的地标位置的地图信息，将某一范围内的地标位置数据与包括在地图信息中的地标位置相匹配，并且估计移动体的自身位置， 该特定范围基于行进到当前位置的移动体的移动记录来设定。
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