公开(公告)号：US20240210178A1

公开(公告)日：2024-06-27

申请号：US18557351

申请日：2022-02-17

Applicant: HITACHI ASTEMO, LTD.

Inventor： Hideyuki KUME ,  Morihiko SAKANO ,  Takehito OGATA ,  Yuichi KOMORIYA ,  Hidehiro TOYODA

IPC: G01C21/30 ,  B60W50/08 ,  G01C21/00 ,  G06V20/56

CPC classification number: G01C21/30 ,  B60W50/082 ,  G01C21/3837 ,  G06V20/56

Abstract: An object is to provide a map generation/self-position estimation device that can estimate the accuracy of self-position estimation using a generation map at the time of map generation without prior learning movement, installation of a known object in an environment, and addition of a sensor. Included are a data allocation unit 110 that allocates an output of a sensor to map data 210 and position estimation data 220 and calculates a true value of a relative position between data of the map data 210 and the position estimation data 220 based on a data allocation method, a map generation unit 120 that generates a generation map including a point group and a travel position of the own vehicle from the map data 210, a self-position estimation unit 130 that estimates a position attitude of the own vehicle on the generation map by associating the position estimation data 220 with the generation map, and an accuracy evaluation unit 140 that evaluates accuracy of the position attitude of the own vehicle on the generation map estimated by the self-position estimation unit 130 from the true value of the relative position between the data.

公开(公告)号：US20220126836A1

公开(公告)日：2022-04-28

申请号：US17426775

申请日：2020-01-30

Applicant: Hitachi Astemo, Ltd.

Inventor： Kimiyoshi MACHII ,  Takehito OGATA ,  Noriyasu HASEJIMA ,  Masayoshi KURODA ,  Kosuke SAKATA

IPC: B60W40/076 ,  G01S17/89 ,  G06V20/56 ,  B60W60/00

Abstract: Provided is a travel road recognition device that can accurately recognize a travel road end of a travel road on which an own vehicle travels. A travel road recognition device of the present invention is a travel road recognition device that recognizes the travel road end of the travel road on which an own vehicle 301 travels, and includes: a laser radar 101 that emits a laser bean from the own vehicle 301 toward the travel road; a road surface determination unit 203 that obtains a cross slope of the travel road based on coordinate values of a point cloud obtained by the laser radar 101; and a road end determination unit 204 that obtains a change point at which a slope angle changes in the cross slope of the travel road obtained by the road surface determination unit 203, and obtains coordinate values of at least one travel road end of both sides in a cross direction of the travel road based on the coordinate values of the change point.

公开(公告)号：US20240286618A1

公开(公告)日：2024-08-29

申请号：US18565467

申请日：2022-02-08

Applicant: Hitachi Astemo, Ltd.

Inventor： Morihiko SAKANO ,  Hideyuki KUME ,  Takehito OGATA ,  Hidehiro TOYODA

IPC: B60W40/06 ,  B60W40/11 ,  B60W40/112 ,  G06V20/56

CPC classification number: B60W40/06 ,  B60W40/11 ,  B60W40/112 ,  G06V20/588 ,  B60W2420/403 ,  B60W2520/16 ,  B60W2520/18 ,  B60W2556/35

Abstract: A sensing device includes a first common image pickup region observation unit that observes a first region in a periphery of a host vehicle from information of a common image pickup region acquired by at least a first sensor and a second sensor having the common image pickup region, a second common image pickup region observation unit that observes a second region different from the first region from information of a common image pickup region acquired by at least a third sensor and a fourth sensor having the common image pickup region, a coordinate integration unit that integrates a geometric relationship between the sensors with coordinates of pieces of information observed in the first region and the second region, and a road surface estimation unit that estimates a relative posture between each sensor and a road surface including a pitch angle and a roll angle of the host vehicle based on point group information calculated from the integrated coordinates.

公开(公告)号：US20240221506A1

公开(公告)日：2024-07-04

申请号：US18286652

申请日：2022-02-01

Applicant: HITACHI ASTEMO, LTD.

Inventor： Takehito OGATA ,  Hideyuki KUME ,  Morihiko SAKANO ,  Yuichi KOMORIYA ,  Hidehiro TOYODA

IPC: G08G1/16 ,  B60W10/20 ,  B60W30/09 ,  B60W50/14 ,  G06V20/56

CPC classification number: G08G1/166 ,  B60W10/20 ,  B60W30/09 ,  G06V20/56 ,  B60W2050/143 ,  B60W2520/10 ,  B60W2555/60 ,  B60W2720/10

Abstract: A memory stores an assistance pattern including a first periphery sensor map indicating a map in a periphery of a vehicle and an assistance content of driving assistance of the vehicle corresponding to the first periphery sensor map. A processor (sensor information acquisition unit 101) acquires sensor information indicating information on an object in the periphery of the vehicle sensed by a sensor. A processor (periphery sensor map acquisition unit 102) acquires a second periphery sensor map based on the sensor information. A processor (map similarity search unit 103, and assistance instruction unit 104) performs driving assistance of the assistance content corresponding to the first periphery sensor map when the second periphery sensor map is similar to the first periphery sensor map.