Aisin Corporation

Aisin Seiki Kabushiki Kaisha

Honda Motor Co., Ltd.

Kazutaka Hayakawa

Hiroyuki Nakashima

Tatsuro Fujiwara

Shoji Asai

Shu Asami

Yoji Inui

Takashi Suzuki

Jun Adachi

Yoshikazu Hattori

Takeshi Sasajima

Hiroshi Ishiguro

Hiroki Takaku

Koki Ueda

Makoto Bessho

Masaya Kato

Momoka Akaike

Tomokazu Sato

Hideki Nagatomo

Inui Yoji

A control device for a moving body includes an outside recognition unit, a parking candidate position detection unit, and a reception unit. The parking candidate position detection unit is configured to be able to execute a first detection process of detecting an unregistered parking candidate position and a second detection process of detecting a registered parking candidate position, start the first detection process based on an operation by the user, stop the first detection process when detecting that a movement speed of the moving body during movement of the moving body becomes equal to or less than a predetermined speed, and start the second detection process based on stopping of the first detection process.

Control device, control method, and control program

A moving body control device includes an outside recognition unit configured to acquire recognition data of an outside of a moving body, a reception unit which receives designation of a predetermined parking position from a user of the moving body, and a control unit configured to perform automatic parking control for parking the moving body at the predetermined parking position based on the recognition data of the outside and the predetermined parking position, and register the predetermined parking position as a designated parking position. The control unit is configured to register feature points related to the designated parking position by using a plurality of patterns based on illuminance of the outside calculated from the recognition data of the outside.

Moving body control device, moving body control method, and moving body control program

A control device includes an outside recognition unit, a parking control unit, and a registration processing unit. When the user selects the parking position, the registration processing unit is configured to detect feature points of the parking position, start a registration process of registering the parking position as the designated parking position, including a verification process for the feature points when the feature point is acquirable, inquire of the user whether a registration for the designated parking position is needed after starting of the verification process, and register the parking position as the designated parking position based on a reply to whether the registration is needed received from the user.

A camera parameter estimating device includes: a camera position posture acquisition unit acquiring estimated position and posture of a camera, based on a captured image acquired by the camera; a first vector calculation unit calculating a first vector corresponding to a traveling direction of the vehicle; a second vector calculation unit calculating a second vector corresponding to a normal direction of a plane corresponding to a road surface on which the vehicle travels; a third vector calculation unit calculating a third vector orthogonal to the first and second vectors; and a camera parameter estimation unit estimating an actual installation posture of the camera on the basis of the first, second and third vectors and the estimated posture of the camera when the estimated position moves along a direction indicated by the first vector.

Camera parameter estimating device, camera parameter estimating method, and camera parameter estimating program

A three-dimensional position estimation device includes: a feature point detection unit detecting feature points from images captured by an image capturing device mounted in a moving object; a position-posture change amount calculation unit calculating change amounts of a position and a posture of the moving object; a feature point association unit associating feature points using a feature amount indicating a feature of the feature point; a three-dimensional position acquisition unit acquiring three-dimensional positions of the feature points and acquires a position and a posture of the image capturing device; a graph structure data generation unit generating graph structure data configured with feature point and image nodes, and a feature point and image capturing edges; an error function setting unit setting first and second error functions; and a graph structure data optimizing unit optimizing the three-dimensional position and the position and the posture of the image capturing device.

Three-dimensional position estimation device and program

A self-position estimation apparatus includes an image capturing unit capturing driving images and reference images at a plurality of positions along a predetermined driving route, a detection unit detecting feature points on each of the driving images and feature points on each of the reference images, a storage unit storing map information which includes the feature points on each of the reference images and a position and a posture of the image capturing unit at a time each of the reference images is captured by the image capturing unit, and an estimation unit selecting a similar image similar to one of the driving images from the reference images to correlate the feature points on the one of the driving images and feature points on the similar image, the estimation unit estimating a position and a posture of an own vehicle a predetermined driving route based on a correlation result.

Self-position estimation apparatus

A camera calibration device includes: a storage unit configured to store an allowable range of a camera position posture including at least one of a position and an angle of an in-vehicle camera in association with a reference riding pattern that is a reference of an occupant's riding pattern with respect to a vehicle; an acquisition unit configured to acquire the riding pattern and the camera position posture at a preset timing; and a control unit configured to execute at least one of notification of optical axis deviation of the in-vehicle camera and correction of the optical axis deviation when the acquired camera position posture is not within the allowable range associated with the reference riding pattern that matches the acquired riding pattern in the storage unit.

Camera calibration device

A parking assistance device includes: a parking space candidate detection unit estimating positions of obstacles based on data of distance to the obstacles at both sides of a host vehicle, and detecting a parking space candidate at the sides of the vehicle; an image selection unit selecting two or more captured images in which an inner side surface of an obstacle adjacent to the parking space candidate is captured; a stereo image processing unit performing stereo image processing on the two or more captured images and calculating a three-dimensional point group of the obstacle; a position determination unit determining a position of the obstacle on the parking space candidate side based on the calculated three-dimensional point group; and a parking space correction unit correcting a position of the parking space candidate based on the determined position of the obstacle on the parking space candidate side.

Parking assistance device

An on-board camera calibration device with high productivity is provided which allows speedy calibration of the on-board camera with high precision with a simple construction. Based on an actual coordinate specified in a projecting plane of a camera coordinate system and a converted coordinate obtained by converting an initial coordinate of a calibration point with using unfixed camera adjustment values, the adjustment values corresponding to angles of rotation about one or two axes from among three axes of the camera coordinate system are calculated and the camera adjustment values are updated. Based on the actual coordinate and the converted coordinate in accordance with the updated camera adjustment values, the adjustment values corresponding to angles of rotation about the remaining axes of the camera coordinate system is calculated and the camera adjustment values are updated. When the predetermined completion condition is satisfied, the updated camera adjustment values are fixed.

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Anjo, Japan

Kazutaka Hayakawa