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：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：US20240085213A1

公开(公告)日：2024-03-14

申请号：US18261911

申请日：2021-09-22

Applicant: HITACHI ASTEMO, LTD.

Inventor： Yuichi KOMORIYA

IPC: G01C21/00

CPC classification number: G01C21/3874

Abstract: Provided is a map storage device that generates a map by automatically determining and storing a necessary map without a user's operation. The map storage device includes: a map creation unit that creates map data of a route traveled by a vehicle; a map data temporary storage unit that temporarily stores the map data; a map data storage unit that non-temporarily stores a part of the map data temporarily stored in the map data temporary storage unit; a behavior history information storage unit that stores behavior history information that is a behavior history of the vehicle; and a vehicle behavior determination unit that determines whether or not to store, in the map data storage unit, the map data temporarily stored in the map data temporary storage unit, based on the behavior history information.

公开(公告)号：US20230242102A1

公开(公告)日：2023-08-03

申请号：US18009767

申请日：2021-06-11

Applicant: HITACHI ASTEMO, LTD.

Inventor： Yuichi KOMORIYA

IPC: B60W30/09 ,  G01C21/30 ,  B60W40/12

CPC classification number: B60W30/09 ,  G01C21/30 ,  B60W40/12 ,  B60W2554/80

Abstract: A position estimation system provided in a vehicle includes: a front sensor; a peripheral sensor; a position estimation device configured to detect a plurality of feature points of an object from a detection result of at least one of a detection result of the front sensor and a detection result of the peripheral sensor, and estimate a position of the vehicle using the plurality of detected feature points; and a control device configured to control an operation of the vehicle based on an estimation result of the position estimation device. The position estimation device is configured to: weight each of a plurality of pieces of information related to a state of the vehicle and weigh information related to a surrounding environment of the vehicle; and select whether to use a plurality of feature point groups including a part of a plurality of feature points detected by the front sensor and the peripheral sensor for the position estimation for each feature point group based on a result of the weighting. As a result, the position of the own vehicle can be estimated more accurately according to the traveling state and the traveling environment of the own vehicle.

公开(公告)号：US20250136128A1

公开(公告)日：2025-05-01

申请号：US18719358

申请日：2022-08-25

Applicant: HITACHI ASTEMO, LTD.

Inventor： Yuichi KOMORIYA

IPC: B60W50/06

Abstract: An electronic control device includes a storage device that stores target information of a target detected by a plurality of external sensors installed in an own vehicle, and a control device that processes the target information stored in the storage device. The control device acquires information on an environment of a road on which the own vehicle travels and a position of the own vehicle, sets an exclusion area, which is a region for determining the target information to be excluded from a processing object from among the target information stored in the storage device, among surrounding regions of the own vehicle based on the environment of the road on which the own vehicle travels and the position of the own vehicle, and determines whether to set the target information as a processing object or exclude the target information from the processing object based on the exclusion area and the target information.

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.