公开(公告)号：US20250076077A1

公开(公告)日：2025-03-06

申请号：US18278871

申请日：2021-09-07

Applicant: Hitachi Astemo, Ltd.

Inventor： Masahiro KIYOHARA ,  Hiroki OTA ,  Takeshi OGATA

IPC: G01C21/00

Abstract: A problem to be solved by the present invention is that a host vehicle position calculated on the basis of a GNSS is affected by shielding, reflection, diffraction, and the like of a positioning radio wave due to a structure, depending on a structure environment present around a receiver and an arrangement of positioning satellites at the date and time, and a detected measured position is output in a biased manner. A map processing device 10 of the present invention processes map information used for positioning a host vehicle, and includes: a satellite orbit information acquisition unit 103 that acquires position information of a plurality of positioning satellites; a pseudo distance acquisition unit 102 that calculates a pseudo distance from the plurality of positioning satellites based on positioning radio waves respectively received from the plurality of positioning satellites; a positioning available satellite verification unit 104 that identifies, among the plurality of positioning satellites, a positioning satellite for which a distance to the host vehicle position and the pseudo distance do not match as a positioning unavailable satellite; and a map generation unit 106 that generates a map in which a direction from the host vehicle position to the positioning unavailable satellite is stored in association with the host vehicle position as a shielded range in which a positioning radio wave from the positioning unavailable satellite is shielded.

公开(公告)号：US20230243657A1

公开(公告)日：2023-08-03

申请号：US17927096

申请日：2021-02-01

Applicant: Hitachi Astemo, Ltd.

Inventor： Masahiro KIYOHARA ,  Takeshi OGATA ,  Hiroki OTA ,  Shinichi AMAYA

IPC: G01C21/30 ,  G08G1/0968

CPC classification number: G01C21/30 ,  G08G1/0968

Abstract: An object of the present invention is to provide a vehicle control device and a host vehicle position estimation method capable of appropriately learning a correction amount of a host vehicle position estimated based on a global navigation satellite system (GNSS) according to an environmental change. Therefore, a host vehicle position estimation unit of the vehicle control device according to the present invention includes: an absolute position estimation unit that estimates a first vehicle position based on absolute position information acquired from a GNSS; a relative position estimation unit that estimates a second vehicle position based on relative position information acquired from an outside of the host vehicle; a traveling state determination unit that determines a change of a traveling state of the host vehicle based on vehicle information or satellite information; a difference computation unit that computes an amount of a difference between the first vehicle position and the second vehicle position in a state where time synchronization is performed; a learning unit that accumulates the amount of the difference as time-series data for each traveling state and learns a correction amount of the first vehicle position for each traveling state based on the accumulated time-series data; and a position correction unit that corrects the first vehicle position based on the correction amount calculated by the learning unit.

公开(公告)号：US20240240965A1

公开(公告)日：2024-07-18

申请号：US18561427

申请日：2022-03-07

Applicant: HITACHI ASTEMO, LTD.

Inventor： Takeshi OGATA

IPC: G01C21/00

CPC classification number: G01C21/3822

Abstract: An object of the present invention is to determine a difference on a map by using an exterior environment recognition sensor of a traveling vehicle and host vehicle position estimation information on the basis of existing map information and to enable the difference to be transmitted to a map server. According to the present invention, there is provided an in-vehicle map information correction device that corrects map information, the map information correction device including: a map holding unit (102) that holds the map information; a position estimation unit (104) that estimates position information on a vehicle; at least one of a lane change information acquisition unit (106) that acquires lane change information indicating whether or not the vehicle has changed a lane and a dividing line information acquisition unit (105) that acquires information on a dividing line type of a road on which the vehicle is traveling; and a difference determination unit (103) that generates correction information for correcting the map information based on at least one of the position information, the lane change information, and the information on the dividing line type.

公开(公告)号：US20230221126A1

公开(公告)日：2023-07-13

申请号：US18008857

申请日：2021-02-24

Applicant: Hitachi Astemo, Ltd.

Inventor： Takeshi OGATA

IPC: G01C21/30

CPC classification number: G01C21/30

Abstract: An object of the present invention is to obtain a host vehicle position estimation device capable of estimating a highly reliable traveling road. The present invention relates to a host vehicle position estimation device (100) that estimates a position on a map of a host vehicle using information of an autonomous navigation position calculated based on vehicle information (102) and output of an inertial sensor (101), and information of a positioning position acquired from a positioning satellite, and corrects the autonomous navigation position to a position of a road on the map at predetermined travel distance intervals when the information of the positioning position is unavailable. The host vehicle position estimation device (100) includes a correction determination unit (12) that determines whether or not to perform the correction based on a position and an orientation of the host vehicle traveling on the road.