Hitachi Astemo Ltd.

Renesas Electronics Corporation

Renesas Technology Corp.

Hitachi Automotive Systems, Ltd.

Hitachi, Ltd.

Hitachi Metals, Ltd.

Akira Kuriyama

Masami Ohnishi

Takashi Sato

Keisuke Yamamoto

Hideyuki Nagaishi

Naoto Aoki

Satoshi Tanaka

Hiroshi Kuroda

Tatsuhiko Monji

Hidetoshi Matsumoto

Shigenori Hayase

Haruki Nishimura

Akira Kitayama

Shunsuke Matsuo

Taizo Yamawaki

Masanori Ichinose

Yuta Muto

Takashi Oshima

Masatoshi Hase

Tomonori Tanoue

Tatemi Ido

Hisanori Matsumoto

Eriko Takeda

Toshiharu Sugawara

Takafumi Matsumura

Hayato Nakamura

Tsukasa Fujimori

Yuki Horita

Yutaka Okuyama

Alex Masuo Kaneko

Toshihiko Fukamachi

Hideyuki Kume

Hiroshi Tsuchida

Yukinori Akamine

Takaaki Morimoto

Kanji Hayata

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.

Self-position estimation device, self-driving system including the same, and self-generated map sharing device

An electronic control unit includes: a target information acquiring section that acquires information about a target around a user's vehicle; a storage section that stores management information related to at least either an entrance position or exit position of the target in a predetermined subject area on a basis of the information about the target acquired by the target information acquiring section; and a driving trajectory planning section that plans a driving trajectory of the user's vehicle on a basis of the management information stored in the storage section.

Electronic control unit

A sensor aiming device includes: a target positional relationship processing unit for outputting positional relationship information of first and second targets; a sensor observation information processing unit configured to convert the observation result of the first and second targets into a predetermined unified coordinate system according to a coordinate conversion parameter, perform time synchronization at a predetermined timing, and extract first target information indicating a position of the first target and second target information indicating a position of the second target; a position estimation unit configured to estimate a position of the second target using the first target information, the second target information, and the positional relationship information; and a sensor correction amount estimation unit configured to calculate a deviation amount of the second sensor using the second target information and an estimated position of the second target and estimate a correction amount.

Sensor aiming device, driving control system, and correction amount estimation method

A method determines the region where a vehicle can travel without changing clarity of the position information of the object detected by a sensor. An in-vehicle control device includes an object detection unit detecting the position of an object from image information captured by an image pickup device, an object information storage unit stores a pre-processing grid map including a position of a detected object set as an object occupied region and a position where no object has been detected is as an object unoccupied region, an information processing unit generates a determination grid map in which part of the object unoccupied region of the map is replaced with the object occupied region, and a road surface region determination unit that generates an automatic driving grid map in which a closed space surrounded by the object occupied region of the determination grid map is set as a road surface region.

System for determining a road surface based on objects on the side of the road

To correct an axis deviation of a sensor. An aiming device, which calculates correction amounts of detection results of two or more sensors using the detection results of the sensors, includes: a sensor coordinate conversion unit that converts sensor data detected by the sensor from a coordinate system unique to the sensor into a predetermined unified coordinate system; a target selection unit that selects predetermined features from the sensor data detected by each of the sensors; a function fitting unit that defines functions each approximating an array state of the selected features for the respective sensors; a fitting result comparison unit that compares the functions each approximating the array state of the features detected by each of the sensors; and a correction value calculation unit that calculates a correction amount for converting coordinates of the features detected by the sensors from a result of the comparison of the functions.

Aiming device, driving control system, and method for calculating correction amount of sensor data

A vehicle control system includes an integration unit that estimates information on a position and a speed of a target existing in an external field and errors of the position and the speed of the target, based on information from a movement sensor that acquires movement information including a vehicle speed and a yaw rate of an own vehicle, and information from an external field sensor that acquires information on the external field of the own vehicle. The integration unit uses not the information from the external field sensor, but the vehicle speed and the yaw rate acquired by the movement sensor, to predict a position and a speed of the target and errors of the position and the speed of the target at a second time after a first time, from a position and a speed of the target and errors of the position and the speed at the first time.

Vehicle control system and vehicle control method

An axial deviation of the sensor is corrected. An aiming device that calculates a correction parameter for correcting a detection result of a target sensor includes an estimated-track generation unit that detects a track of a target for a period when an own vehicle moves, by using information of a movement of the own vehicle, which is detected by a movement sensor, and generates a plurality of estimated tracks having different start-point positions from the detected track of the target by using a first variable group, a corrected-track generation unit that generates a plurality of corrected tracks from the track of the target around the own vehicle, which is detected by the target sensor, by using a second variable group, and a correction parameter calculation unit that selects a combination in which a difference between the estimated track and the corrected track is small, and calculates the correction parameter for correcting a displacement of the target sensor by using a first variable related to the selected estimated track and a second variable related to the selected corrected track.

Aiming device, driving control system, and method for calculating correction amount for sensor data

To improve accuracy of a grouping process by accurately obtaining an error of an observation value of a sensor. A vehicle control system includes an integration unit that estimates information on a position and a speed of a target existing in an external field, and errors of the position and the speed based on information from a sensor that acquires information on the external field of an own vehicle. The integration unit estimates an error of a detection result from the detection result of a sensor that detects an external field of a vehicle in accordance with a characteristic of the sensor, determines correlation between detection results of a plurality of the sensors, and integrates correlated detection results and calculates the errors of the position and the speed of the target.

An electronic control device comprises a sensor information acquisition unit which acquires state quantities including a position of an object to be measured using an output of a plurality of sensors, or calculates the state quantities of the object to be measured by using the output of the plurality of sensors, a storage unit which stores position determination information as a condition of a classification related to the position, a position determination unit which classifies the object to be measured by using the position determination information, and a fusion unit which determines, by referring to the state quantities, a match among a plurality of the objects to be measured which are classified identically by the position determination unit and which were measured by different sensors, and fuses the positions of the plurality of objects to be measured determined to be a match, wherein the objects to be measured are objects that can be measured by each of the plurality of sensors.

Electronic control device and operation method

This on-vehicle system is to be mounted in a vehicle and is provided with an electronic control device and an externality recognition sensor. The externality recognition sensor is equipped with a sensing unit for acquiring pre-processing externality information through sensing operations. The on-vehicle system is further equipped with: a condition calculation unit that, on the basis of a vehicle position, a vehicle traveling direction, and map information, calculates a processing condition in which information specifying an area on a map is associated with processing priority of the pre-processing externality information acquired by the externality recognition sensor; and a processing object determination unit that, on the basis of the pre-processing externality information and the processing condition, creates externality information having a smaller amount of information compared with the pre-processing externality information.

On-vehicle system, externality recognition sensor, electronic control device

The present invention provides a object detection device for vehicle capable of performing distance measurement more reliably than in the past and having high compatibility for distance measurement. The present invention provides an object detection devicefor vehicle including a first detection unit, a second detection unit, an error quantity calculation unit, a correction quantity calculation unit, and a distance correction unit. The error quantity calculation unitcompares the distances Dand D′ of the same object detected by the first detection unitand the second detection unitto calculate the error quantity ΔD. The correction quantity calculation unitcalculates the correction quantity CAbased on the error quantity ΔD. The distance correction unitcorrects the distances D′ and D′ of the object detected by the second detection unitbased on the correction quantity CA.

Object detection device for vehicle

A vehicle control system is configured to group objects detected by a plurality of sensors. The vehicle control system includes an integration device that groups detection information from the plurality of sensors and outputs integrated detection information, and a vehicle control device that controls a vehicle on the basis of the integrated detection information. An arithmetic device of the information integration device stores first time-series information of the first detection information and second time-series information of the second detection information in a storage device, calculates a correction parameter of the first detection information by grouping the first time-series information and the second time-series information when the first sensor and the second sensor detect the same object, calculates correction information obtained by correcting the first detection information using the correction parameter, and outputs the integrated detection information by instantaneous value grouping using the correction information and the second detection information.

Vehicle control system

Provided is a recognition device that can accurately recognize a position where a vehicle is to be stopped. The recognition device according to the present invention includes: a distance calculation unitthat calculates a map information distance between a host vehicle and a target feature based on map information; a stop line detection processing unitthat, in a case where the map information distance is equal to or less than a determination value, sets a detection area for detection of the target feature based on the map information distance, detects the target feature within the detection area, and calculates an actually-measured distance between the host vehicle and the target feature; and a stop line position unifying unitthat unifies data of the map information distance and data of the actually-measured distance to calculate a unification result of a distance between the host vehicle and the target feature.

Recognition device

A vehicle electronic controller includes a peripheral obstacle identification section identifying obstacles near the vehicle, a blind spot region identification section identifying a blind spot region which is not in a detection range of the obstacle identification section, a region determination section which classifies the blind spot region into either a dangerous blind or a safe blind spot region and an obstacle region presumption section which presumes an obstacle presence region which is a region that a latent obstacle which is the latent obstacle which could be present at a previous time in the dangerous blind spot region which was classified at the previous time can be present at a present time, in which the region determination section determines that a region which overlaps with at least the obstacle presence region in the blind spot region that the blind spot region identification section identified is the dangerous blind spot region.

Electronic control device

The present invention provides an antenna comprising: a radiation unit that is formed on a substrate; a waveguide that propagates therein radio waves radiated from the radiation unit and radiates the radio waves as a beam; and a dielectric lens that is arranged in an opening of the waveguide and has an incident plane facing the radiation unit and a radiation plane radiating radio waves entered from the incident plane. The radiation plane of the dielectric lens has a plane orientation different from a flat plane perpendicular to the radiation direction of the beam.

Growing community of inventors

Kokubunji, Japan

Akira Kuriyama