公开(公告)号：US20220317281A1

公开(公告)日：2022-10-06

申请号：US17808267

申请日：2022-06-22

Applicant: DENSO CORPORATION

Inventor： Itsuki CHIBA ,  Makoto OHKADO ,  Ariya TERANI ,  Naohiro FUJIWARA

IPC: G01S13/86 ,  G01S13/58 ,  G01S13/06 ,  G06T7/70

Abstract: A self-location estimation device includes a landmark detection unit that detects a landmark from camera information, an association unit that associates the landmark detected by the landmark detection unit with a radar information group, a landmark sorting unit that performs sorting of the landmarks detected by the landmark detection unit based on the radar information groups associated with the landmarks by the association unit, and a positional relation calculation unit that calculates a positional relation between an own vehicle and the landmark employed by the landmark sorting unit, based on the radar information group associated with the landmark.

公开(公告)号：US20210191418A1

公开(公告)日：2021-06-24

申请号：US17131218

申请日：2020-12-22

Applicant: DENSO CORPORATION

Inventor： Makoto OHKADO

IPC: G05D1/02 ,  G06K9/00

Abstract: In an apparatus for localizing a center of an intersection, a data obtainer obtains, from a surrounding monitor that monitors a surrounding situation around a vehicle traveling on a road, data indicative of the surrounding situation. A road center identifier identifies a location of a center of the road based on the data indicative of the surrounding situation around the vehicle. A traffic light detector detects, based on the data indicative of the surrounding situation around the vehicle, at least two traffic light devices located in an intersection to which the road joins. A center localization unit detects an intersection point between the location of the center of the road identified by the road center identifier and a line connecting between the at least two traffic light devices detected by the traffic light detector, thus localizing the detected intersection point as a center of the intersection.

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.

公开(公告)号：US20230014570A1

公开(公告)日：2023-01-19

申请号：US17936275

申请日：2022-09-28

Applicant: DENSO CORPORATION

Inventor： Naohiro FUJIWARA ,  Makoto OHKADO ,  Tatsuya NAMIKIRI

IPC: B60W50/00

Abstract: A route generation device includes: an autonomous route generator configured to generate, based on surrounding information around an own vehicle detected by a vehicle-mounted detector, an expected autonomous route along which the own vehicle is to travel; a map route acquirer configured to acquire an expected map route along which the own vehicle is to travel based on map data; and an integrated route generator configured to generate an integrated route using the autonomous route and the map route.

公开(公告)号：US20210231799A1

公开(公告)日：2021-07-29

申请号：US17231257

申请日：2021-04-15

Applicant: DENSO CORPORATION

Inventor： Naohiro FUJIWARA ,  Makoto OHKADO

IPC: G01S15/42 ,  G01S15/931 ,  G01S7/539

Abstract: An object detection device includes an azimuth sensor that measures an azimuth region of an object that is present around a vehicle, a plurality of distance sensors each of which measures a distance to the object, and an object determination section that calculates arcs of circles whose radii are the distances measured by the respective distance sensors and calculates intersection points of a tangent to adjacent ones of the arcs and the azimuth region measured by the azimuth sensor.