公开(公告)号：US12217513B2

公开(公告)日：2025-02-04

申请号：US17656623

申请日：2022-03-25

Applicant: DENSO CORPORATION

Inventor： Naohiro Fujiwara ,  Makoto Ohkado ,  Ariya Terani ,  Itsuki Chiba

IPC: G06V20/58 ,  G06V10/74 ,  G01S13/86 ,  G01S13/89

Abstract: In an occupancy grid map generation device for generating an occupancy grid map that indicates, for each of cells of a grid into which a region is divided, an occupancy probability that an object occupies the cell, an occupancy probability updating unit is configured to, based detection result data of an object therearound, successively update the occupancy probability for each of the cells calculated at a previous time to calculate a latest occupancy probability. An updating weight calculation unit is configured to acquire data about presence or absence of an object in each of the cells therearound based on map data, and determine a weight of the detection result data used by the occupancy probability updating unit to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data.

公开(公告)号：US11976929B2

公开(公告)日：2024-05-07

申请号：US17129343

申请日：2020-12-21

Applicant: DENSO CORPORATION

Inventor： Ariya Terani ,  Itsuki Chiba ,  Naohiro Fujiwara ,  Makoto Ohkado ,  Keisuke Hachisuka

IPC: G01C21/36 ,  G01C21/00 ,  G01C21/28 ,  G01S13/86 ,  G01S13/89 ,  G06F18/25 ,  G06T7/73 ,  G06V10/771 ,  G06V10/80 ,  G06V10/98 ,  G06V20/56

CPC classification number: G01C21/3602 ,  G01C21/005 ,  G01C21/28 ,  G01S13/867 ,  G01S13/89 ,  G06F18/25 ,  G06T7/74 ,  G06V10/771 ,  G06V10/803 ,  G06V10/98 ,  G06V20/56 ,  G06T2207/10044 ,  G06T2207/30252

Abstract: In a localization apparatus for a vehicle, a landmark detector detects a landmark from camera information acquired from a camera mounted to the vehicle. An associator associates the landmark with a specific set of radar information by setting an error region in which the landmark may exist, selecting, from a radar observation point cluster formed of a set of radar observation points corresponding to a set of radar information acquired from a radar mounted to the vehicle, a radar observation point cluster formed of a set of radar observation points included in the error region, and associating the landmark with the specific set of radar information corresponding to the selected radar observation point cluster. A positional relationship calculator calculates a positional relationship between the landmark and the vehicle based on the specific set of radar information associated with the landmark.

公开(公告)号：US20220215673A1

公开(公告)日：2022-07-07

申请号：US17656623

申请日：2022-03-25

Applicant: DENSO CORPORATION

Inventor： Naohiro Fujiwara ,  Makoto Ohkado ,  Ariya Terani ,  Itsuki Chiba

IPC: G06V20/58 ,  G06V10/74

Abstract: In an occupancy grid map generation device for generating an occupancy grid map that indicates, for each of cells of a grid into which a region is divided, an occupancy probability that an object occupies the cell, an occupancy probability updating unit is configured to, based detection result data of an object therearound, successively update the occupancy probability for each of the cells calculated at a previous time to calculate a latest occupancy probability. An updating weight calculation unit is configured to acquire data about presence or absence of an object in each of the cells therearound based on map data, and determine a weight of the detection result data used by the occupancy probability updating unit to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data.