Clarion Co

Hitachi, Ltd.

Hitachi Astemo Ltd.

Faurecia Clarion Electronics Co., Ltd.

Noriyasu Hasejima

Shinya Tagawa

Takehito Ogata

Makoto Ishinoda

Shigeru Matsuo

Kenichirou Kurata

Hideki Endo

Masahiro Kiyohara

Yoshitaka Uchida

Kimiyoshi Machii

Yoshitaka Atarashi

Go Sakayori

Hideyuki Kume

Kosuke Sakata

Masayoshi Kuroda

Toshihisa Kuwahara

Yuta Ohizumi

Kenji Katou

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

The present disclosure provides a vehicle coordinating device capable of improving the accuracy of following a target path of a vehicle. A vehicle coordinating devicethat coordinates automatic driving of a vehicleby a vehicle control devicemounted on the vehicleincludes a communication unit, a vehicle characteristic identification unit, and an identification accuracy estimation unit. The communication unitis communicably connected to the vehicle control device. The vehicle characteristic identification unitacquires a control command value of the automatic driving and a traveling locus of the vehiclefrom the vehicle control devicevia the communication unit, and identifies the vehicle characteristic used for the automatic driving. The identification accuracy estimation unitestimates the identification accuracy of the vehicle characteristic by the vehicle characteristic identification unit. The automatic driving coordinating unitcoordinates the automatic driving of the vehiclebased on the identification accuracy estimated by the identification accuracy estimation unit

Vehicle supervision device

An in-vehicle processing device comprises a sensor input unit which acquires sensor information as an output of a sensor which acquires information around a vehicle, a movement information acquisition unit which acquires vehicle movement information as information related to a movement of the vehicle, a log recording unit which records information based on the vehicle movement information and the sensor information in a storage unit, a map generation unit which creates an environmental map including a drivable area where the vehicle can travel based on determination of static objects that do not move and mobile objects that can move by using information based on the vehicle movement information and the sensor information recorded in the storage unit, and a route calculation unit which calculates a travel route of the vehicle by using the environmental map, wherein the environmental map includes a position of parking the vehicle.

In-vehicle processing device and movement support system

A parking assist device according to the present invention includes a backward-direction-path calculation unit that calculates a backward-direction path for taking an own vehicle out from a target parking position B based on constraint conditions of a parking space and an own-vehicle behavior, a connection-candidate-position storage unit that sets a plurality of connection candidate positions D on the backward-direction path, a forward-direction-path calculation unit that calculates a forward-direction path leadable to one of the connection candidate positions D from a current position A of the own vehicle, and a parking-path setting unit that sets a parking path by combining the backward-direction path and the forward-direction path.

Parking assistance device

A parking assistance apparatus capable of making a parking route shorter when providing parking assistance for parallel parking is obtained. The parking assistance apparatus according to the present invention is a parking assistance apparatus for assisting the parallel parking of a driver's own vehicleand has a configuration that: calculates an escapable position where the driver's own vehiclecan be made to escape from a parking area Sp; calculates a parking-space leaving route E where the driver's own vehiclecan be moved from the escapable position to an initial position Pin a passage area Sr; and sets a parking route based on the parking-space leaving route E. The parking-space leaving route E is calculated by using a first turning circle Cwhen turning from the escapable position Pto a passage side, a second turning circle Cwhen turning in a direction of a target parking position Pat the initial position Pof the driver's own vehicle, and a third turning circle which is a locus of a turning center when the driver's own vehiclehas moved along the first turning circle Cand turns in a direction different from the first turning circle C

Parking assistance apparatus

A parking support apparatus sets a plurality of candidate connection positions along a reverse direction route, calculates a first connection route, calculates a first parking route by using the first connection route and the reverse direction route, judges whether the candidate connection position exists within a recognition range or not; and if the candidate connection position does not exist within the recognition range, calculates a shortest steering wheel turning position, calculates a second connection route capable of reaching any one of the candidate connection positions calculates a second parking route by using the second connection route and the reverse direction route, when the second parking route can be calculated, the second parking route is selected as the parking route; otherwise, the first parking route is selected as the parking route.

Parking support apparatus

An object of the present invention is to provide a parking assistance device capable of computing a parking path that is suitable for given circumstances or user's needs. A parking assistance device of the present invention is a parking assistance device for assisting in parking a vehicle in a parking space provided on one side of a road, the parking assistance device being configured to compute a first parking path for starting moving the vehicle forward from the initial position thereof, and a second parking path for starting moving the vehicle backward from the initial position thereof, select one of the first parking path or the second parking path on the basis of a preset evaluation function, and set the selected path as a parking path to be used.

A parking assistance device for resetting a parking path when an obstacle is on the parking path includes a pull-out path computing unit that computes a pull-out path for pulling the vehicle out of the parking space based on parking space information and constraints regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions on the pull-out path, a reachable path computing unit that computes a reachable path for allowing the vehicle to reach at least one of the candidate connection positions from the initial position, a parking path setting unit that sets a parking path of from the initial position to the parking space by connecting the pull-out and reachable paths, and a path resetting unit that computes a parking path of from the stop position to the parking space, and sets the computed parking path as a new parking path.

An autonomous driving control device and an autonomous driving path computation method capable of computing a driving path without extremely changing a movement of a steering wheel during autonomous driving. A parking control device computes a parking path for automatically parking a vehicle, and includes an acceleration section transition curve computing unit that computes an acceleration section transition curve based on a target steering speed set in advance and an acceleration section target vehicle speed, a deceleration section transition curve computing unit that computes a deceleration section transition curve based on the target steering speed and a deceleration target vehicle speed, and a parking path computing unit that computes a parking path using the acceleration section transition curve and the deceleration section transition curve. The parking path is computed by setting the deceleration section target vehicle speed faster than the acceleration section target vehicle speed.

Autonomous driving control device and autonomous driving path computation method

A parking assistance device that can, when assisting in angle parking, park a vehicle at a position intended by a driver and in a correct vehicle attitude. The parking assistance device includes a pull-out path computing unit that computes a pull-out path for pulling a vehicle out of a parking space based on parking space information and constraint conditions regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions the pull-out path, a reachable path computing unit that computes a reachable path that allows the vehicle to reach one of the plurality of candidate connection positions from the initial position, and a parking path setting unit that sets a parking path by connecting the pull-out path and the reachable path. The pull-out path computing unit computes the pull-out path based on the angle of inclination between the road orientation and the parking orientation.

A parking assistance device assists in re-parking a vehicle that has been parked with its position and orientation deviated from ideal ones, by repositioning the vehicle to be at a correct position and in a correct orientation. A parking assistance device is adapted to assist in parking a vehicle in a parking space provided on one side of a road, and includes a parking path setting unit that sets a parking path of from the initial position of the vehicle on the road to a target parking position in the parking space, a positional deviation determination unit that determines whether there is any positional deviation between the vehicle and the parking space when the vehicle has been parked along the parking path, and a repositioning path computing unit configured to compute a repositioning path when a positional deviation is determined to be present.

A parking assist apparatusof the present invention assists parallel parking of an own vehicle. The parking assist apparatusincludes: a first route calculation unitconfigured to calculate a first route for moving the own vehiclefrom a target parking position Pto a virtual departure position Pbased on a parking space and a constraint condition of own vehicle behavior; a second route calculation unitconfigured to calculate a second route for moving the own vehiclefrom an initial position Pwhere parking assistance is started to the virtual departure position P; and a parking route setting unitconfigured to set a parking route of the own vehiclewith use of the first route and the second route.

Parking assist apparatus

A tracking device includes: an imaging unit that inputs an image into an image input unit; a first moving body detection unit that calculates an optical flow and detects a position and a direction of movement of a moving body based on the calculated optical flow; a second moving body detection unit that detects a position and a direction of movement based on a plurality of overhead images generated; a third moving body detection unit that detects a position and a direction of movement by integrating detection results from the first and second moving body detection units; a tracked moving body confirmation unit that determines a moving body to be tracked based on detection results from the first to third moving body detection units; an estimation unit that estimates a future position and direction of movement; and a tracking unit that tracks the tracked moving body and identifies a position.

Tracking device

An outside recognition device according to the present invention has an object to perform distance measurement of an obstacle detected with a surrounding monitoring camera at a low cost. The outside recognition device according to the present invention has a stereo camera that measures a distance in front of the vehicle, a surrounding monitoring camera that photographs a surrounding area of the vehicle, a three-dimensional measuring unit that measures a photographing range of the surrounding monitoring camera with the stereo camera by means for rotating the stereo camera, and generates three-dimensional information from the measurement result, a distance correction information generating unit that generates distance correction information corresponding to a photographing direction of surrounding monitoring camera from the three-dimensional information, and a distance measuring unit that measures a position of the obstacle detected with a surrounding monitoring camera.

Growing community of inventors

Tokyo, Japan

Noriyasu Hasejima