公开(公告)号：US20210190507A1

公开(公告)日：2021-06-24

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: G01C21/28 ,  G01C21/00 ,  G01C21/36 ,  G01S13/86 ,  G01S13/89 ,  G06K9/00 ,  G06K9/03 ,  G06T7/73 ,  G06K9/62

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.