Hitachi Astemo Ltd.

Masayoshi Kuroda

Kosuke Sakata

Takehito Ogata

Noriyasu Hasejima

Kimiyoshi Machii

An object of the present invention is to provide an object sensing device that classifies an observation point group output by a LiDAR into a real image and a mirror image when a road surface around an own vehicle is wet, and can use the mirror image for detecting the real image. An object sensing device that detects an object around a vehicle based on a point cloud data of an observation point observed by a LiDAR mounted on the vehicle includes: a road surface shape estimation unit that estimates a shape of a road surface; a road surface condition estimation unit that estimates a dry/wet situation of the road surface; and an observation point determination unit that determines a low observation point observed at a position lower than the estimated road surface by a predetermined amount or more when the road surface is estimated to be in a wet situation. The object is detected by using point cloud data of the observation points other than the low observation point and point cloud data of an inverted observation point obtained by inverting the low observation point with reference to a height of the road surface.

Object sensing device and object sensing method

Provided is a travel road recognition device that can accurately recognize a travel road end of a travel road on which an own vehicle travels. A travel road recognition device of the present invention is a travel road recognition device that recognizes the travel road end of the travel road on which an own vehicletravels, and includes: a laser radarthat emits a laser bean from the own vehicletoward the travel road; a road surface determination unitthat obtains a cross slope of the travel road based on coordinate values of a point cloud obtained by the laser radar; and a road end determination unitthat obtains a change point at which a slope angle changes in the cross slope of the travel road obtained by the road surface determination unit, and obtains coordinate values of at least one travel road end of both sides in a cross direction of the travel road based on the coordinate values of the change point.

Travel road recognition device

Provided are a processing apparatus and a point cloud elimination method that can suppress point cloud processing load even if the number of points included in point clouds increases due to realization of high resolution of an apparatus that acquires point clouds of an object. The processing apparatus includes a memory (storage apparatus) and a processor. The memory stores data of a point cloud of an object. The processor eliminates data of a second point (subject point) that is included in the point cloud and is next to a first point (previous point) that is included in the point cloud from the data of the point cloud when the difference between the distance to the first point and the distance to the second point is smaller than a threshold (first threshold Th) (Step: YES) (Step).

Processing apparatus and point cloud elimination method

Regardless of the irradiation method of the distance measuring sensor, degradation of recognition performance due to a change in the installation position of the distance measuring sensor is suppressed. An outside environment recognition device () that recognizes an outside environment around a vehicle according to an observation result of a LiDAR sensor () installed in the vehicle is configured to include a storage unit () that stores posture information of an installation posture of the LiDAR sensor in a three-dimensional predetermined coordinate system, a coordinate signal conversion unit () that converts a plurality of observation points obtained from the LiDAR sensor into a plurality of three-dimensional coordinate signals on the basis of the posture information in the predetermined coordinate system, a road surface candidate point extraction unit () that extracts a plurality of road surface candidate points indicating a road surface from the plurality of three-dimensional coordinate signals based on a height component of each of the three-dimensional coordinate signals, a road surface plane estimation unit () that estimates a road surface plane based on the plurality of road surface candidate points, and a calibration amount calculation unit () that calculates a calibration amount of the posture information based on a reference plane set based on the predetermined coordinate system and the road surface plane.

External environment recognition device

Noise in measurement results of a laser distance measurement sensor is smoothed, and erroneous recognition of a position and a size of an object based on the measurement result is suppressed. An object recognition device according to the present invention recognizes the object by grouping the measurement results of the laser distance measurement sensor, calculates reliability of the recognition result thereof, and changes a time for continuously retaining the measurement result according to the reliability.

Object recognizing device

To provide a vehicle-mounted radar system capable of improving object detection performance depending on a situation. The vehicle-mounted radar system includes laser radarsA toD that irradiate the surroundings of a vehiclewith a laser beam and receive light reflected by an object around the vehicle, and a control devicethat controls the laser radarsA toD and recognizes an object based on light reception results of the laser radarsA toD. The control devicedetermines whether a laser beam of any of the laser radarsA toD is blocked by the object, and thus an undetected area is created, based on a recognition result of the object. Thus, for example, when the laser beam of the laser radarB is blocked by another vehicle, and thus an undetected areais created, a detection range of the laser radarA adjacent to the laser radarB is expanded so that at least a portion of the undetected areais allowed to be detected.

Growing community of inventors

Hitachinaka, Japan

Masayoshi Kuroda