公开(公告)号：US20170350712A1

公开(公告)日：2017-12-07

申请号：US15611571

申请日：2017-06-01

Applicant: DENSO CORPORATION

Inventor： Kojiro TATEISHI ,  Shunsuke SUZUKI ,  Hiroshi MIZUNO ,  Naoki KAWASAKI ,  Takeshi SHIKIMACHI

IPC: G01C21/30 ,  G01S13/89 ,  G01S19/48 ,  G01S5/14 ,  G08G1/00

CPC classification number: G01C21/30 ,  G01C21/3602 ,  G01S5/14 ,  G01S7/4808 ,  G01S13/89 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S19/48 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/6215 ,  G08G1/00 ,  G08G1/09626 ,  G08G1/165

Abstract: A position identifying apparatus includes a position detecting unit; an information acquiring unit; a feature extracting unit; an index value calculating unit; a feature selecting unit; a correlating unit; a weight setting unit; and a correcting unit.The position detecting unit performs a map matching to detect a vehicle position on a map. The information acquiring unit acquires road information from the map. The feature extracting unit extracts features of ground object. The index value calculating unit calculates an index value representing a likelihood of a stationary object. The feature selecting unit selects feature candidates among the features having the index values larger than or equal to a predetermined likelihood of the stationary object. The correlating unit correlates the feature candidates with the road information. The weight setting unit sets weights of the feature candidates. The correcting unit corrects the position of the vehicle using the weights.

公开(公告)号：US20180003505A1

公开(公告)日：2018-01-04

申请号：US15637156

申请日：2017-06-29

Applicant: DENSO CORPORATION

Inventor： Kojiro TATEISHI ,  Naoki KAWASAKI ,  Shunsuke SUZUKI ,  Hiroshi MIZUNO

IPC: G01C21/00 ,  G06K9/00 ,  G01C21/34 ,  G06K9/46 ,  G06T7/70

CPC classification number: G01C21/005 ,  G01C21/30 ,  G01C21/34 ,  G01C21/3602 ,  G06K9/00805 ,  G06K9/4604 ,  G06T7/70 ,  G06T7/73 ,  G06T7/77 ,  G06T2207/30244 ,  G06T2207/30256

Abstract: A vehicle localization system is provided which localizes a system-equipped vehicle. The vehicle localization system determines a position of the system-equipped vehicle on a map using a map matching technique. The vehicle localization system also calculates a variation in arrangement of feature points (e.g., edge points) of a roadside object around the system-equipped vehicle in a captured image and corrects the calculated position of the system-equipped vehicle on the map using the variation in arrangement of the feature points. This ensures a required accuracy in localizing the system-equipped vehicle.

公开(公告)号：US20180017683A1

公开(公告)日：2018-01-18

申请号：US15648166

申请日：2017-07-12

Applicant: DENSO CORPORATION

Inventor： Kojiro TATEISHI ,  Naoki KAWASAKI ,  Shunsuke SUZUKI ,  Hiroshi MIZUNO ,  Kenji MUTO ,  Mikio SHIMIZU ,  Yusuke TANAKA

IPC: G01S19/48 ,  G01C21/00 ,  B60G17/019 ,  B60W40/06 ,  G05D1/02 ,  G01C21/36

CPC classification number: G01S19/48 ,  B60G17/01908 ,  B60W40/06 ,  G01C21/005 ,  G01C21/30 ,  G01C21/3602 ,  G01S17/023 ,  G01S17/936 ,  G05D1/0268

Abstract: In a location estimation device, a change detection unit detects a point of change in the width of a roadside structure as a width change point. A width correction unit calculates a width deviation between a first relative location of the roadside structure on a map data segment and a second relative location of the roadside structure obtained based on shape information of the roadside structure in the width direction of a vehicle. The width correction unit corrects, as a function of the width deviation and a positional accuracy of the vehicle in the travelling direction, an estimated location of the vehicle in the width direction when it is determined that there is the point of change in the width of the roadside structure in the travelling direction of the vehicle.