公开(公告)号：US20210394779A1

公开(公告)日：2021-12-23

申请号：US17352917

申请日：2021-06-21

Applicant: DENSO CORPORATION

Inventor： Masaya OKADA ,  Takumi UEMATSU ,  Tatsuya NAMIKIRI ,  Naru SUGIMOTO

IPC: B60W60/00 ,  G06K9/00 ,  G06T7/50 ,  G06T7/20

Abstract: A road shape recognizer includes a peripheral information recognizer that recognizes at least two items of peripheral information based on an output of a periphery detector. A reliability assigner assigns a reliability level to each of the peripheral information. A point sequence generator generates and places a point sequence representing a shape of a road on which the own vehicle travels, based on at least two items of peripheral information and the reliability level. The point sequence generator generates and places a point sequence by generating and placing points one by one toward a distant place from a point located at a prescribed relative position to the own vehicle. The point sequence generator generates and places the next point corresponding to an amount of change in shape and a position of a point generated and placed at the end of the point sequence. The amount of change in shape is represented by the peripheral information and determined per section having a prescribed distance.

公开(公告)号：US20240317275A1

公开(公告)日：2024-09-26

申请号：US18733663

申请日：2024-06-04

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Naru SUGIMOTO ,  Tadashi OMACHI ,  Masahiro YOKOI ,  Koki SUWABE ,  Yuki TEZUKA ,  Chenyu WANG

IPC: B60W60/00 ,  B60W50/14 ,  G06V20/56

CPC classification number: B60W60/005 ,  B60W50/14 ,  G06V20/588 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2420/403 ,  B60W2520/10 ,  B60W2552/53 ,  B60W2554/802

Abstract: A vehicle control device for a vehicle capable of autonomous driving and manual driving includes a surroundings information recognition unit configured to acquire, in a direction of travel of the vehicle, left and right lane boundaries of a lane, and recognizes information about surroundings of the vehicle, a notification unit configured to provide a notification of a hands-on request for switching from a hands-off state to a hands-on state, and a control determination unit configured to determine controls for the vehicle according to a result of recognition by the surroundings information recognition unit. The control determination unit is configured to determine the control to continue the hands-off state when the left and right lane boundaries are parallel in the hands-off state, and determine the control to provide a notification of the hands-on request when the left and right lane boundaries are not parallel in the hands-off state.