Mitsubishi Electric Corporation

Kyosuke Konishi

Yasushi Obata

Hiroshi Kameda

Takuji Morimoto

Takefumi Hasegawa

Yuki Takabayashi

Kentaro Ishikawa

Taku Umeda

Tadahiko Urano

A motion state determination apparatus according to the present disclosure includes a sensor for obtaining observation data on a target object, a route data storage unit, a route component predictor that calculates component parallel and vertical to the route of a motion-dimension prediction value and a prediction error, a first coordinate transformer that transforms a motion-dimension prediction value and a prediction error into those on a coordinate system the same as a first coordinate system, a filter that calculates a motion-dimension estimation value and an estimation error, a second coordinate transformer that transforms a motion-dimension estimation value and an estimation error into a component parallel to the route and a component vertical to the route and a motion-dimension prediction value and a prediction error, and a state determinator that determines a motion state of the target object. As a result, the frequency of an erroneous determination can be decreased.

Motion state determination apparatus of vehicle

Conventionally, a method in which pieces of point group information for use in position matching between a white line position detected by an object detection sensor and a white line position on a map are extracted from the white line positions according to a travel environment, has not been taken into account. In the present disclosure, a point group extraction condition is changed according to change in the travel environment so that: a process of position matching that exhibits robustness with respect to change in the travel environment can be realized; and an own position and a white line position existing at a long distance from an own vehicle can be detected with high accuracy.

Own position inferring device

The route prediction system according to the invention includes a measurement unit to measure an area including a host vehicle and other moving vehicles, a vehicle detection unit to detect the host vehicle and at least two of the surrounding vehicles having collision possibilities on the basis of observation results observed by the observation unit, a hypothesis generation unit to generate plural hypotheses for the at least two of the surrounding vehicles detected by the vehicle detection unit to avoid collision, a likelihood calculation unit to calculate a likelihood indicating probability of occurrence of each of the plural hypotheses generated by the hypothesis generation unit, and a predicted route analysis unit to analyze, on the basis of the likelihood calculated by the likelihood calculation unit, predicted routes of the at least two of the surrounding vehicles, and output the analysis result. With such a configuration, in a case where plural vehicles may collide in future, predicted routes of the plural surrounding vehicles can be calculated without contradiction, improving performance on predicting the routes of the surrounding vehicles.

Route prediction system

A configuration includes: a target-motion prediction unit () that calculates predicted movement ranges of one or more other vehicles () based on target tracking; an inter-target collision possibility estimator () that estimates a collision possibility based on overlap of predicted movement ranges of the other vehicles (); a target-motion re-prediction unit () that again calculates predicted movement ranges to avoid collision when the collision possibility between the other vehicles () exists; an own-motion prediction unit () that calculates a predicted movement range of a user's vehicle () based on an observation result; and an own-collision possibility estimator () that estimates collision possibilities between the user's vehicle () and the other vehicles () based on overlap of the final predicted movement ranges of the other vehicles () and the predicted movement range of the user's vehicle ().

Growing community of inventors

Tokyo, Japan

Kyosuke Konishi