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：US12189397B2

公开(公告)日：2025-01-07

申请号：US17131218

申请日：2020-12-22

Applicant: DENSO CORPORATION

Inventor： Makoto Ohkado

IPC: G05D1/00 ,  G06V20/56 ,  G06V20/58

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：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：US11954918B2

公开(公告)日：2024-04-09

申请号：US17012046

申请日：2020-09-04

Applicant: DENSO CORPORATION

Inventor： Makoto Ohkado ,  Naohiro Fujiwara

IPC: G06T7/70 ,  G01S13/931 ,  G01S17/931 ,  G06V20/58

CPC classification number: G06V20/584 ,  G01S13/931 ,  G01S17/931 ,  G06T7/70 ,  G06T2207/30261

Abstract: An object detection device includes: a camera ECU that measures the bearing of an object by detecting the object from an image captured by a camera and identifying the direction toward the object; a sonar that measures the distance to the object existing around the vehicle; and a position identification unit that identifies the position of the object by combining the measured bearing data and distance data on a grid map that is based on a polar coordinate system and identifying the grid cell where the object exists on the grid map.

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.