公开(公告)号：US20220126836A1

公开(公告)日：2022-04-28

申请号：US17426775

申请日：2020-01-30

Applicant: Hitachi Astemo, Ltd.

Inventor： Kimiyoshi MACHII ,  Takehito OGATA ,  Noriyasu HASEJIMA ,  Masayoshi KURODA ,  Kosuke SAKATA

IPC: B60W40/076 ,  G01S17/89 ,  G06V20/56 ,  B60W60/00

Abstract: Provided is a travel road recognition device that can accurately recognize a travel road end of a travel road on which an own vehicle travels. A travel road recognition device of the present invention is a travel road recognition device that recognizes the travel road end of the travel road on which an own vehicle 301 travels, and includes: a laser radar 101 that emits a laser bean from the own vehicle 301 toward the travel road; a road surface determination unit 203 that obtains a cross slope of the travel road based on coordinate values of a point cloud obtained by the laser radar 101; and a road end determination unit 204 that obtains a change point at which a slope angle changes in the cross slope of the travel road obtained by the road surface determination unit 203, and obtains coordinate values of at least one travel road end of both sides in a cross direction of the travel road based on the coordinate values of the change point.

公开(公告)号：US20210389469A1

公开(公告)日：2021-12-16

申请号：US17295706

申请日：2019-11-29

Applicant: Hitachi Astemo, Ltd.

Inventor： Kosuke SAKATA ,  Masayoshi KURODA

IPC: G01S17/931 ,  G01S7/481 ,  G01S17/42 ,  G01S7/497 ,  B60W40/06 ,  B60W50/06 ,  B60W40/08 ,  B60W50/14

Abstract: Regardless of the irradiation method of the distance measuring sensor, degradation of recognition performance due to a change in the installation position of the distance measuring sensor is suppressed. An outside environment recognition device (12) that recognizes an outside environment around a vehicle according to an observation result of a LiDAR sensor (11) installed in the vehicle is configured to include a storage unit (21) that stores posture information of an installation posture of the LiDAR sensor in a three-dimensional predetermined coordinate system, a coordinate signal conversion unit (23) that converts a plurality of observation points obtained from the LiDAR sensor into a plurality of three-dimensional coordinate signals on the basis of the posture information in the predetermined coordinate system, a road surface candidate point extraction unit (24) that extracts a plurality of road surface candidate points indicating a road surface from the plurality of three-dimensional coordinate signals based on a height component of each of the three-dimensional coordinate signals, a road surface plane estimation unit (25) that estimates a road surface plane based on the plurality of road surface candidate points, and a calibration amount calculation unit (26) that calculates a calibration amount of the posture information based on a reference plane set based on the predetermined coordinate system and the road surface plane.

公开(公告)号：US20230418659A1

公开(公告)日：2023-12-28

申请号：US18252779

申请日：2021-09-28

Applicant: HITACHI ASTEMO, LTD.

Inventor： Kosuke SAKATA ,  Masayoshi KURODA

IPC: G06F9/48

CPC classification number: G06F9/4831

Abstract: An object recognition device (3) includes: a processor (4) that inputs point cloud sensor data sensed by a sensor (externality recognition sensor (1)) to a software pipeline formed of a plurality of stages and executes object recognition processing; and a memory. The processor (4) has a plurality of processing units (5) that executes processing constituting the object recognition processing allocated to each of stages A to C. The memory has a plurality of task queue regions (task queues A to C) that temporarily stores the output data of each of the stages. In a case where the output data of each of the stages is not valid upon input to the subsequent stage, the processor (4) rejects the output data without storing same in the respective task queue regions.

公开(公告)号：US20230221410A1

公开(公告)日：2023-07-13

申请号：US17916475

申请日：2021-01-22

Applicant: Hitachi Astemo, Ltd.

Inventor： Kosuke SAKATA ,  Masayoshi KURODA

IPC: G01S7/48 ,  G01S17/89 ,  G01S17/931 ,  G01S17/86 ,  G06V20/58 ,  G06V20/56 ,  G06T7/55 ,  G06T7/521

CPC classification number: G01S7/4802 ,  G01S17/89 ,  G01S17/931 ,  G01S17/86 ,  G06V20/58 ,  G06V20/588 ,  G06T7/55 ,  G06T7/521 ,  G06T2207/30256 ,  G06T2207/10028

Abstract: An object of the present invention is to provide an object sensing device that classifies an observation point group output by a LiDAR into a real image and a mirror image when a road surface around an own vehicle is wet, and can use the mirror image for detecting the real image. An object sensing device that detects an object around a vehicle based on a point cloud data of an observation point observed by a LiDAR mounted on the vehicle includes: a road surface shape estimation unit that estimates a shape of a road surface; a road surface condition estimation unit that estimates a dry/wet situation of the road surface; and an observation point determination unit that determines a low observation point observed at a position lower than the estimated road surface by a predetermined amount or more when the road surface is estimated to be in a wet situation. The object is detected by using point cloud data of the observation points other than the low observation point and point cloud data of an inverted observation point obtained by inverting the low observation point with reference to a height of the road surface.

公开(公告)号：US20230168378A1

公开(公告)日：2023-06-01

申请号：US17922637

申请日：2021-02-02

Applicant: Hitachi Astemo, Ltd.

Inventor： Kimiyoshi MACHII ,  Masayoshi KURODA ,  Kosuke SAKATA

IPC: G01S17/89 ,  G01S17/931

CPC classification number: G01S17/89 ,  G01S17/931

Abstract: Provided is an object detection device capable of improving efficiency while ensuring detection accuracy.
An object detection device 1 includes a point cloud acquisition unit 201 that acquires point cloud data of an object according to a scanning result of a LiDAR 101, an object detection unit 204 that detects an object based on the point cloud data, and a reliability determination unit 205 that determines a reliability in a detection result of the object detection unit 204. The point cloud acquisition unit 201 controls the scanning range and the irradiation density of the LiDAR 101 on the basis of the reliability.

公开(公告)号：US20230034208A1

公开(公告)日：2023-02-02

申请号：US17788579

申请日：2020-09-08

Applicant: Hitachi Astemo, Ltd.

Inventor： Masayoshi KURODA ,  Kosuke SAKATA

IPC: G01S17/89 ,  G01S17/931

Abstract: Provided are a processing apparatus and a point cloud elimination method that can suppress point cloud processing load even if the number of points included in point clouds increases due to realization of high resolution of an apparatus that acquires point clouds of an object. The processing apparatus includes a memory (storage apparatus) and a processor. The memory stores data of a point cloud of an object. The processor eliminates data of a second point (subject point) that is included in the point cloud and is next to a first point (previous point) that is included in the point cloud from the data of the point cloud when the difference between the distance to the first point and the distance to the second point is smaller than a threshold (first threshold Th1) (Step 1903: YES) (Step 1908).