Hitachi Astemo Ltd.

Naoto Aoki

Akira Kuriyama

Shigenori Hayase

Tatsuhiko Monji

Haruki Nishimura

Shunsuke Matsuo

Hiroshi Tsuchida

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.

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

The present invention provides a sensor recognition integration device capable of preventing a rapid change in coordinates of an integrated object and preventing, for example, an erroneous determination in an autonomous driving plan determination device, even when the combination of sensors that perform detection changes. In the present invention, since an object position is estimated in a state where information of a position detected by a sensor that recognizes an object in an external field is corrected or changed, the rapid change of coordinates of an integrated object is prevented even when the combination of sensors that perform detection changes.

Growing community of inventors

Hitachinaka, Japan

Naoto Aoki