公开(公告)号：US20240344830A1

公开(公告)日：2024-10-17

申请号：US18293878

申请日：2022-01-25

Applicant: Hitachi Astemo, Ltd.

Inventor： Morihiko SAKANO ,  Hideyuki KUME ,  Shigenori HAYASE ,  Tatsuhiko MONJI

IPC: G01C21/30 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20

CPC classification number: G01C21/30 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W2556/40 ,  B60W2556/50

Abstract: An on-board processing device includes: a past map storage unit that stores a past generated map generated in the past; a self-map generation unit that generates a traveling map on the basis of sensor data acquired while traveling; a self-position estimation unit that estimates a self-position by collating the past generated map and the traveling map; and a data selection unit that selects data, to be used by the self-position estimation unit, from the traveling map on the basis of characteristics of data included in the traveling map.

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.

公开(公告)号：US20240273920A1

公开(公告)日：2024-08-15

申请号：US18562754

申请日：2022-02-04

Applicant: Hitachi Astemo, Ltd.

Inventor： Takahiro SAKAI ,  Morihiko SAKANO ,  Hideyuki KUME ,  Hitoshi HAYAKAWA ,  Tatsuhiko MONJI

IPC: G06V20/56 ,  B60W30/12 ,  G06V10/44 ,  G06V10/60

CPC classification number: G06V20/588 ,  B60W30/12 ,  G06V10/44 ,  G06V10/60 ,  B60W2420/403 ,  B60W2552/53 ,  B60W2556/40

Abstract: A driving assistance device that recognizes a lane marking around an own vehicle with at least one sensor includes a lane marking detection unit that detects lane marking information from data acquired by the sensor, a lane marking type candidate estimation unit that recognizes a lane marking type from the detected lane marking information and calculates a likelihood of each lane marking type, a lane marking type branch point estimation unit that detects a lane marking type branch point that is a point at which a likelihood of the lane marking type changes with respect to an advancing direction of the own vehicle, and distinguishes regions before and after the lane marking type branch point as a first region and a second region, and a lane marking information integration unit that, in a case where a lane marking of the first region and a lane marking of the second region have the same lane marking type, integrates the lane marking of the first region and the lane marking of the second region into a continuously recognizable lane marking.

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：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：US20240400112A1

公开(公告)日：2024-12-05

申请号：US18713760

申请日：2021-12-01

Applicant: Hitachi Astemo, Ltd.

Inventor： Hideyuki KUME ,  Morihiko SAKANO ,  Shigenori HAYASE ,  Tatsuhiko MONJI

IPC: B60W60/00 ,  B60W50/14 ,  G01C21/00

Abstract: Provided are a driving assistance device and a driving assistance method that are capable of determining, at an appropriate timing, suspension of driving assistance and automatic driving due to a feature error of a map. The driving assistance device includes: a determination point setting unit that sets a determination point in which an assumed self-position of own vehicle that is assumed on a map, a position of a measurement target feature on the map, and an error predicted as a difference between the position on the map and an actual position of the measurement target feature are associated with each other, the measurement target feature being measurable from the assumed self-position; a target feature measurement unit that obtains a measurement position of the measurement target feature based on external information acquired by an external sensor mounted on the own vehicle; a self-position estimation unit that estimates a self-position of the own vehicle on the map based on the external information; and a driving assistance state setting unit that sets a control mode of a driving assistance system of the own vehicle based on the determination point, the measurement position of the measurement target feature measured by the target feature measurement unit, and the self-position of the own vehicle estimated by the self-position estimation unit.

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：US20220178717A1

公开(公告)日：2022-06-09

申请号：US17437316

申请日：2020-02-07

Applicant: Hitachi Astemo, Ltd.

Inventor： Hideyuki KUME ,  Alex Masuo KANEKO ,  Toshiharu SUGAWARA ,  Akira KURIYAMA

IPC: G01C21/00 ,  G08G1/0962 ,  B60W60/00

Abstract: An object is to provide a self-position estimation device capable of highly accurately estimating self-location and attitudes on a map containing information such as lane centerlines, stop lines, and traffic rules. A representative self-position estimation device according to the present invention includes a self-position estimation portion that estimates a self-location and attitude on a high-precision map from measurement results of a sensor to measure objects around a vehicle; a low-precision section detection portion that detects a low-precision section indicating low estimation accuracy based on the self-location and attitude estimated by the self-position estimation portion; and a self-map generation portion that generates a self-generated map saving a position and type of the object on the high-precision map in the low-precision section detected by the low-precision section detection portion.

公开(公告)号：US20250052594A1

公开(公告)日：2025-02-13

申请号：US18723564

申请日：2022-11-29

Applicant: HITACHI ASTEMO, LTD.

Inventor： Morihiko SAKANO ,  Hideyuki KUME ,  Shigenori HAYASE ,  Tatsuhiko MONJI

IPC: G01C21/00

Abstract: A computing device includes: a sensor information acquiring unit which acquires sensor information output by a sensor which is mounted on a vehicle and measures a surrounding environment; a storage unit which stores a reference map which is created in advance and is a map of a reference coordinate system which is a predetermined world coordinate system; an odometry information acquiring unit which acquires movement information which is information regarding movement of the vehicle on the basis of an output of the sensor mounted on the vehicle; a periphery map generating unit which generates a periphery map, which is a map in a vehicle coordinate system which is a coordinate system different from the reference coordinate system, on the basis of the sensor information and the movement information; a partial map extracting unit which extracts partial maps, which are regions not overlapping each other, from the periphery map; and a gap parameter calculating unit which calculates, for a coordinate conversion parameter for converting each of the partial maps into a converted partial map which is a map in the reference coordinate system, a gap parameter which is information regarding at least a correlation of the coordinate conversion parameter between the partial maps adjacent to each other, and the partial map extracting unit generates a new partial map when an amount of offset from the reference map is equal to or larger than a predetermined threshold.

公开(公告)号：US20240221506A1

公开(公告)日：2024-07-04

申请号：US18286652

申请日：2022-02-01

Applicant: HITACHI ASTEMO, LTD.

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

IPC: G08G1/16 ,  B60W10/20 ,  B60W30/09 ,  B60W50/14 ,  G06V20/56

CPC classification number: G08G1/166 ,  B60W10/20 ,  B60W30/09 ,  G06V20/56 ,  B60W2050/143 ,  B60W2520/10 ,  B60W2555/60 ,  B60W2720/10

Abstract: A memory stores an assistance pattern including a first periphery sensor map indicating a map in a periphery of a vehicle and an assistance content of driving assistance of the vehicle corresponding to the first periphery sensor map. A processor (sensor information acquisition unit 101) acquires sensor information indicating information on an object in the periphery of the vehicle sensed by a sensor. A processor (periphery sensor map acquisition unit 102) acquires a second periphery sensor map based on the sensor information. A processor (map similarity search unit 103, and assistance instruction unit 104) performs driving assistance of the assistance content corresponding to the first periphery sensor map when the second periphery sensor map is similar to the first periphery sensor map.