公开(公告)号：US20230015466A1

公开(公告)日：2023-01-19

申请号：US17787703

申请日：2020-12-04

Applicant: Hitachi Astemo, Ltd.

Inventor： Trongmun JIRALERSPONG ,  Ryoh INABA ,  Hidehiro TOYODA

IPC: B60W60/00 ,  B60W30/095 ,  B60W40/04 ,  B60W40/105 ,  B60W50/14 ,  B60W50/00

Abstract: To provide a vehicle control system that is capable of planning a trajectory that can ensure more visibility and enables safe traveling when an invisible range of a sensor exists.
A vehicle control system that plans a target trajectory of a vehicle based on recognition information from an external environment sensor, the vehicle control system including a recognizing unit that recognizes an object at a periphery of the vehicle based on the recognition information; and a trajectory planning unit that plans the target trajectory such that an actual detection range of the external environment sensor becomes wide when the recognizing unit recognizes the object.

公开(公告)号：US20240286618A1

公开(公告)日：2024-08-29

申请号：US18565467

申请日：2022-02-08

Applicant: Hitachi Astemo, Ltd.

Inventor： Morihiko SAKANO ,  Hideyuki KUME ,  Takehito OGATA ,  Hidehiro TOYODA

IPC: B60W40/06 ,  B60W40/11 ,  B60W40/112 ,  G06V20/56

CPC classification number: B60W40/06 ,  B60W40/11 ,  B60W40/112 ,  G06V20/588 ,  B60W2420/403 ,  B60W2520/16 ,  B60W2520/18 ,  B60W2556/35

Abstract: A sensing device includes a first common image pickup region observation unit that observes a first region in a periphery of a host vehicle from information of a common image pickup region acquired by at least a first sensor and a second sensor having the common image pickup region, a second common image pickup region observation unit that observes a second region different from the first region from information of a common image pickup region acquired by at least a third sensor and a fourth sensor having the common image pickup region, a coordinate integration unit that integrates a geometric relationship between the sensors with coordinates of pieces of information observed in the first region and the second region, and a road surface estimation unit that estimates a relative posture between each sensor and a road surface including a pitch angle and a roll angle of the host vehicle based on point group information calculated from the integrated coordinates.

公开(公告)号：US20230242107A1

公开(公告)日：2023-08-03

申请号：US18003219

申请日：2021-02-12

Applicant: HITACHI ASTEMO, LTD.

Inventor： Yusuke NOMA ,  Shunsuke KATOH ,  Hidehiro TOYODA

IPC: B60W30/095 ,  B60W60/00 ,  B60W30/09

CPC classification number: B60W30/0956 ,  B60W60/001 ,  B60W30/09 ,  B60W2554/40

Abstract: Realized is a vehicle control device capable of performing automatic driving control that does not reduce turning accuracy of a host vehicle even when an object in a blind spot is different from an assumption and a vehicle speed decreases due to a rapid deceleration. A vehicle control device 10 includes a blind spot object estimation unit 24 that detects a blind spot region 320 of an external-field recognition sensor 12 that recognizes an external field and estimates a blind spot object 310 potential in the blind spot region 320, and a future trajectory generation unit 26 that generates a future trajectory of a host vehicle in consideration of a potential risk from the blind spot object 310 estimated by the blind spot object estimation unit 24 and surrounding information of a vehicle 1 that is the host vehicle. Furthermore, the vehicle control device 10 includes a target steering angle calculation unit 40 that calculates a curvature radius at which the vehicle 1 travels from the future trajectory generated by the future trajectory generation unit 26 and a past trajectory of the vehicle 1, and calculates a target steering angle of the vehicle 1 from the calculated curvature radius and an acceleration/deceleration of the vehicle 1.

公开(公告)号：US20230035819A1

公开(公告)日：2023-02-02

申请号：US17784485

申请日：2020-11-20

Applicant: Hitachi Astemo, Ltd.

Inventor： Hideyuki KUME ,  Hidehiro TOYODA

IPC: B60W50/16 ,  B60W30/12 ,  B60W40/105 ,  G06V20/56

Abstract: An object of the present invention is to realize lane deviation warning/control at an intersection, on a multilane road and in an environment where no lane dividing lines are present and GNSS accuracy is low. A driving assistance device includes a recording unit that records a plurality of past traveling positions of a vehicle and position estimation information relating to the past traveling positions, a relative position estimation unit that estimates a relative position of the vehicle from an output of a sensor that detects a surrounding of the vehicle, adds a history of the relative position to the past traveling position, and adds the output of the sensor, which is used to estimate the relative position, to the position estimation information, a position estimation unit that estimates a position of the vehicle with respect to the past traveling positions from the output of the sensor and the position estimation information of the recording unit, and adds a history of the estimated position to the past traveling position, a deviation determination unit that determines deviation from the plurality of past traveling positions by using a distribution of the plurality of past traveling positions, the position of the vehicle with respect to the plurality of past traveling positions, and a predetermined reference value, and a control unit that controls the vehicle to cancel a warning or deviation, when the deviation is determined.

公开(公告)号：US20220314968A1

公开(公告)日：2022-10-06

申请号：US17633639

申请日：2020-08-21

Applicant: Hitachi Astemo, Ltd.

Inventor： Yuki HORITA ,  Hidehiro TOYODA

IPC: B60W30/08 ,  G08G1/16

Abstract: An electronic control device mounted on a vehicle includes a blind spot region specifying unit, an information obtaining unit, and a blind spot region dangerous event determining unit. The blind spot region specifying unit specifies a blind spot region that is not included in a detection range of a sensor mounted on the vehicle. The information obtaining unit obtains lane information of a road around the vehicle including the blind spot region. The blind spot region dangerous event determining unit judges assumed behavior of a latent obstacle that possibly exist in the blind spot region based on the lane information of the blind spot region and a positional relationship of the blind spot region on the road with respect to the vehicle.

公开(公告)号：US20220001895A1

公开(公告)日：2022-01-06

申请号：US17290835

申请日：2019-11-20

Applicant: HITACHI ASTEMO, LTD.

Inventor： Ryoh INABA ,  Toshiharu SUGAWARA ,  Hidehiro TOYODA

IPC: B60W60/00 ,  B60W50/14 ,  B60W40/09

Abstract: Provided is a vehicle control device that can ensure riding comfort or safety. A vehicle control device includes a driving plan calculation unit that calculates a drivable area, which is a space in which an own vehicle is safely drivable, based on a driving environment around the own vehicle and a destination of the own vehicle; and a vehicle motion control unit that calculates a target track including a route and a velocity satisfying a predetermined riding comfort condition in the drivable area calculated by the driving plan calculation unit and controls the own vehicle so as to follow the target track.

公开(公告)号：US20240249528A1

公开(公告)日：2024-07-25

申请号：US18566209

申请日：2022-02-15

Applicant: HITACHI ASTEMO, LTD.

Inventor： Shunsuke KATOH ,  Yuki HORITA ,  Gabriel DANIEL ,  Hidehiro TOYODA

IPC: G06V20/56

CPC classification number: G06V20/56

Abstract: An external environment recognition device 101 estimates a blind spot region around a host vehicle based on information detected by a sensor that detects a target around the host vehicle. The external environment recognition device 101 includes a visibility index determination unit 121 that calculates a visibility index of the target based on a coordinate point and a reflection intensity of the target detected by the sensor, and assigns the visibility index to a region from the host vehicle 200 to the coordinate point of the target, a visibility map storage unit 124 that stores the visibility index as a visibility map in association with the region, and a blind spot region estimation unit 127 that estimates the blind spot region based on the visibility map.

公开(公告)号：US20230400328A1

公开(公告)日：2023-12-14

申请号：US18249273

申请日：2021-08-31

Applicant: Hitachi Astemo, Ltd.

Inventor： Hideyuki KUME ,  Yuichi KOMORIYA ,  Morihiko SAKANO ,  Hidehiro TOYODA

IPC: G01C21/00

CPC classification number: G01C21/3841

Abstract: An object is to provide a map creation/self-location estimation device capable of estimating a location/attitude of an ego vehicle with high accuracy. The map creation/self-location estimation device includes a map creation unit 110 that creates, from an output of a sensor, a map including a travelling location of an ego vehicle and a point group, a required accuracy determination unit 120 that determines location/attitude estimation accuracy (required accuracy) required for self-location estimation in the next travelling, from the output of the sensor and the map created by the map creation unit 110, a data selection unit 130 that selects a point group included in the map from the map created by the map creation unit 110 and the required accuracy determined by the required accuracy determination unit 120, a map recording unit 140 that records, as a record map, a selection map including the point group selected by the data selection unit 130, the travelling location, and the required accuracy, and a self-location estimation unit 150 that estimates the current location/attitude of a vehicle on the record map by associating the record map recorded in the map recording unit 140 with a current map including the point group selected by the data selection unit 130 and the travelling location of the ego vehicle.

公开(公告)号：US20240300523A1

公开(公告)日：2024-09-12

申请号：US18258358

申请日：2021-09-22

Applicant: HITACHI ASTEMO, LTD.

Inventor： Daniel GABRIEL ,  Yuki HORITA ,  Hidehiro TOYODA

IPC: B60W60/00 ,  B60W30/09 ,  B60W30/095 ,  B60W50/14

CPC classification number: B60W60/001 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W50/14 ,  B60W2554/4041

Abstract: A driving support system includes a storage unit that stores a plurality of pieces of invasion event information including information on an invasion position where a moving object invades a traveling region, the invasion event information being information on an invasion event in which the moving object invades the traveling region, an invasion frequent occurrence region calculation unit that specifies an invasion frequent occurrence region which is a region where the invasion event easily occurs based on the plurality of pieces of invasion event information, a position specification unit that specifies a position of the vehicle, and a driving support unit that supports driving of the vehicle by notifying an occupant of the vehicle and controlling traveling of the vehicle based on a relationship between the invasion frequent occurrence region and the position of the vehicle.

公开(公告)号：US20240210178A1

公开(公告)日：2024-06-27

申请号：US18557351

申请日：2022-02-17

Applicant: HITACHI ASTEMO, LTD.

Inventor： Hideyuki KUME ,  Morihiko SAKANO ,  Takehito OGATA ,  Yuichi KOMORIYA ,  Hidehiro TOYODA

IPC: G01C21/30 ,  B60W50/08 ,  G01C21/00 ,  G06V20/56

CPC classification number: G01C21/30 ,  B60W50/082 ,  G01C21/3837 ,  G06V20/56

Abstract: An object is to provide a map generation/self-position estimation device that can estimate the accuracy of self-position estimation using a generation map at the time of map generation without prior learning movement, installation of a known object in an environment, and addition of a sensor. Included are a data allocation unit 110 that allocates an output of a sensor to map data 210 and position estimation data 220 and calculates a true value of a relative position between data of the map data 210 and the position estimation data 220 based on a data allocation method, a map generation unit 120 that generates a generation map including a point group and a travel position of the own vehicle from the map data 210, a self-position estimation unit 130 that estimates a position attitude of the own vehicle on the generation map by associating the position estimation data 220 with the generation map, and an accuracy evaluation unit 140 that evaluates accuracy of the position attitude of the own vehicle on the generation map estimated by the self-position estimation unit 130 from the true value of the relative position between the data.