公开(公告)号：US20240329216A1

公开(公告)日：2024-10-03

申请号：US18614820

申请日：2024-03-25

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takuya MIGISHIMA ,  Taichi KAWANAI ,  Hiroshi SAKAMOTO ,  Hayato ITO

IPC: G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931

CPC classification number: G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931

Abstract: The external recognition apparatus for an autonomous driving vehicle includes an external sensor, at least one processor, and at least one memory communicatively coupled to the at least one processor and storing executable a plurality of instructions. The plurality of instructions is configured to cause the at least one processor to estimate a self-location of an ego-vehicle, acquire registration information of a known stationary object associated with the self-location, acquire sensor information corresponding to the stationary object by the external sensor, and adjust a value of a specific parameter related to the sensor information among parameters of a recognition algorithm based on a deviation between the registration information and the sensor information.

公开(公告)号：US20210056319A1

公开(公告)日：2021-02-25

申请号：US16993664

申请日：2020-08-14

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroshi SAKAMOTO ,  Ryosuke FUKATANI ,  Hideyuki MATSUI ,  Junya UENO ,  Kazuki TAMURA

IPC: G06K9/00 ,  G06T7/70 ,  G01S7/48 ,  G01S17/86 ,  G01S17/42

Abstract: In step S11, a color image CIMG is acquired. In step S12, a distance image DIMG is acquired. In step S13, the color image CIMG is projected onto the distance image DIMG. An alignment of the color image CIMG and the distance image DIMG is performed prior to the projection of the color image CIMG. In step S14, it is determined whether or not a basic condition is satisfied. In S15, it is determined whether or not a special condition is satisfied. If a judgement result of the steps S14 or S15 is positive, then in step S16 a first data point and a second data point on the distance image DIMG are associated. If bot of the judgement results of steps S14 and S15 are negative, data points are not associated in step S17.

公开(公告)号：US20210019534A1

公开(公告)日：2021-01-21

申请号：US16926817

申请日：2020-07-13

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroshi SAKAMOTO ,  Ryosuke FUKATANI ,  Hideyuki MATSUI ,  Junya UENO

IPC: G06K9/00 ,  G06K9/62

Abstract: An object recognition apparatus include a storage device and a processor. The storage device stores peripheral information and tolerance information. The tolerance information is information in which the degree of tolerance for the undetected object is represented for each class of the object. The peripheral information is acquired by a sensor device provided in the vehicle. The processor performs object recognition process for recognizing an object around the vehicle. In the object recognition process, the processor identifies the object and its class to be detected based on the peripheral information, and calculates the likelihood that is a parameter representing the probability of detection of the object. Further, the processor calculates a likelihood threshold corresponding to the object based on the tolerance information, and determines whether to output the identification result of the object based on the comparative between the likelihood and the likelihood threshold.

公开(公告)号：US20190176816A1

公开(公告)日：2019-06-13

申请号：US16175940

申请日：2018-10-31

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroshi SAKAMOTO

IPC: B60W30/09

Abstract: A driving assistance apparatus includes a surrounding object recognition unit configured to recognize a surrounding object, a signal recognition unit configured to recognize a state of a light color of a traffic signal, and an assistance unit configured to assist driving of the host vehicle. The assistance unit is configured to determine whether or not there is a possibility that the host vehicle will come into contact with the surrounding object if the state of the light color is a state of prohibiting the host vehicle from proceeding in one or a plurality of specific directions and when the host vehicle proceeds in that specific. direction, and calculate a withdrawal route candidate for the host vehicle to leave :from the intersection without coming into contact with the surrounding object if it is determined that there is the possibility that the host vehicle will come into contact with the surrounding object.