公开(公告)号：US20250076077A1

公开(公告)日：2025-03-06

申请号：US18278871

申请日：2021-09-07

Applicant: Hitachi Astemo, Ltd.

Inventor： Masahiro KIYOHARA ,  Hiroki OTA ,  Takeshi OGATA

IPC: G01C21/00

Abstract: A problem to be solved by the present invention is that a host vehicle position calculated on the basis of a GNSS is affected by shielding, reflection, diffraction, and the like of a positioning radio wave due to a structure, depending on a structure environment present around a receiver and an arrangement of positioning satellites at the date and time, and a detected measured position is output in a biased manner. A map processing device 10 of the present invention processes map information used for positioning a host vehicle, and includes: a satellite orbit information acquisition unit 103 that acquires position information of a plurality of positioning satellites; a pseudo distance acquisition unit 102 that calculates a pseudo distance from the plurality of positioning satellites based on positioning radio waves respectively received from the plurality of positioning satellites; a positioning available satellite verification unit 104 that identifies, among the plurality of positioning satellites, a positioning satellite for which a distance to the host vehicle position and the pseudo distance do not match as a positioning unavailable satellite; and a map generation unit 106 that generates a map in which a direction from the host vehicle position to the positioning unavailable satellite is stored in association with the host vehicle position as a shielded range in which a positioning radio wave from the positioning unavailable satellite is shielded.

公开(公告)号：US20230243657A1

公开(公告)日：2023-08-03

申请号：US17927096

申请日：2021-02-01

Applicant: Hitachi Astemo, Ltd.

Inventor： Masahiro KIYOHARA ,  Takeshi OGATA ,  Hiroki OTA ,  Shinichi AMAYA

IPC: G01C21/30 ,  G08G1/0968

CPC classification number: G01C21/30 ,  G08G1/0968

Abstract: An object of the present invention is to provide a vehicle control device and a host vehicle position estimation method capable of appropriately learning a correction amount of a host vehicle position estimated based on a global navigation satellite system (GNSS) according to an environmental change. Therefore, a host vehicle position estimation unit of the vehicle control device according to the present invention includes: an absolute position estimation unit that estimates a first vehicle position based on absolute position information acquired from a GNSS; a relative position estimation unit that estimates a second vehicle position based on relative position information acquired from an outside of the host vehicle; a traveling state determination unit that determines a change of a traveling state of the host vehicle based on vehicle information or satellite information; a difference computation unit that computes an amount of a difference between the first vehicle position and the second vehicle position in a state where time synchronization is performed; a learning unit that accumulates the amount of the difference as time-series data for each traveling state and learns a correction amount of the first vehicle position for each traveling state based on the accumulated time-series data; and a position correction unit that corrects the first vehicle position based on the correction amount calculated by the learning unit.