Clarion Co

Faurecia Clarion Electronics Co., Ltd.

Hitachi, Ltd.

Hitachi Automotive Systems, Ltd.

Nissan Motor Company Limited

Hitachi Construction Machinery Co., Ltd.

Hitachi Astemo Ltd.

Takehito Ogata

Masahiro Kiyohara

Noriyasu Hasejima

Yoshitaka Uchida

Shinya Tagawa

Shoji Muramatsu

Satoshi Suzuki

Naoki Shimizu

Kimiyoshi Machii

Makoto Ishinoda

Toshihisa Kuwahara

Daisuke Fukuda

Hiroshi Sakamoto

Yasuhisa Hayakawa

Osamu Fukata

Akira Morimoto

Morihiko Sakano

Kohei Mandai

Akira Utagawa

Junya Nakamura

Kazutoshi Tsuchiya

Shuzo Kaneko

Ayano Enomoto

Ryosuke Umino

Koichi Hamada

Kenji Kato

Masao Sakata

Takeshi Shima

Kota Irie

Yuji Otsuka

Junya Takahashi

Katsuyuki Nakamura

Masayuki Takemura

Wataru Tanaka

Mikio Bando

Yasuhiro Akiyama

Mirai Higuchi

Mariko Mizuochi

Shinya Ohtsuji

Takashi Tsutsui

Shinichi Uotsu

Hideyuki Kume

Keiichi Katsuta

Kosuke Sakata

Masayoshi Kuroda

Katsumi Iwano

Mitsutoshi Morinaga

Ayano Miyashita

Yuta Ohizumi

Kentaroh Maki

Takafumi Hagi

Satoshi Ito

Yongdok Ri

Sasuga Kitai

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

A measurement sensor that measures, as three-dimensional point cloud information having a plurality of vertically-adjacent layers, a surface position of an object around the work machine; and an object sensor that senses an object around the work machine on a basis of information from the measurement sensor are included, and the object sensor acquires three-dimensional point cloud information by measurement by the measurement sensor; senses, as point data, a point where microparticles are measured, based on a relation between distances, from the measurement sensor, of point data of vertically-adjacent layers and variations of distance differences, regarding a plurality of pieces of point data included in the three-dimensional point cloud information; deletes the point data of the point sensed as the point where the microparticles are measured, from the three-dimensional point cloud information; and senses an object around the work machine on a basis of the three-dimensional point cloud information.

Work machines

A parking support apparatus includes: a first parking space setting unit that sets a first parking space including information of a parking position and a parking angle of a vehicle at a parking completion position; a second parking space setting unit that calculates a second parking space, which is obtained by correcting the parking angle of the first parking space, based on information of measurement of the first parking space by using a vehicle surrounding sensor which measures a surrounding area of the vehicle; a parking space determination unit that calculates reliability of the second parking space and determines to use the first parking space or the second parking space based on the calculated reliability; and a parking route generation unit that generates a parking route to the first parking space or the second parking space determined by the parking space determination unit.

Parking support apparatus

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

In a traffic flow control system, communication is performed with a travel control device of a moving body passing through a transportation route and the traffic flow of the transportation route is controlled. The traffic control system includes an entry authority management unit and a communication unit. In a transportation route divided into virtual areas, the entry authority management unit manages entry authority for each area, managing tokens in a number that corresponds to the area, and guiding entry of the moving body to the area by attaching entry authority to a token and delivering the resulting token to the travel control device. The communication unit communicates the entry authority and tokens to the travel control device.

Traffic flow control system, traffic flow control program, traffic flow control method, and traveling controller

An on-board outside recognition apparatus extracts a feature point from an image including an environment around a user's own vehicle, measures a three-dimensional position of the feature point based on movement of the feature point tracked in time series on the image and calculates a foot position of the feature point on the image from the three-dimensional position of the feature point is performed. Then, the on-board outside recognition apparatus extracts a road surface area where the user's own vehicle can travel, from the image using a degree of similarity of a texture of the image, and judges a feature point the foot position of which is judged not to be included in the road surface area to be highly reliable.

Outside recognition apparatus for vehicle

An apparatus for recognizing a division line on a road from an image captured by a camera includes: a processing area setting unit to set a processing area to the image; a statistics calculation unit to calculate statistics of the image in the processing area; a threshold value setting unit to set a plurality of threshold values on the basis of the statistics; a division line feature point extraction unit to classify a plurality of pixels contained in the image on the basis of the white line threshold value and the road surface threshold value and extracts feature points of the division line on the basis of classification results of the plurality of pixels; and a division line decision unit configured to decide the division line on the basis of the feature points extracted by the division line feature point extraction unit.

Division line recognition apparatus

A parking assistance device includes a parking direction specification unit specifying a parking direction in a case where a subject vehicle is parked at a parking region, an obstacle detection unit detecting an obstacle, a detection range setting unit setting a detection range for detecting a bearing of the obstacle, a division unit dividing the detection range in a direction associated with the specified parking direction and generating plural divided ranges, a bearing calculation unit calculating a bearing of the detected obstacle, which is a bearing of a side surface of the obstacle which extends in the parking direction, for each of the divided ranges and calculating an average value of the bearings which are respectively calculated for the divided ranges, and a parking position setting unit setting a parking position where the subject vehicle is parked at the parking region based on the calculated average value.

Parking assistance device and control method of parking assistance device

An in-vehicle processing apparatus is capable of performing position estimation resistant to disturbance. The in-vehicle processing apparatus includes: a storage unit that stores point cloud data including a plurality of coordinates of a point representing a portion of an object in a first coordinate system; a sensor input unit that acquires an output of a sensor that acquires information regarding vicinity of a vehicle; a movement information acquisition unit that acquires information related to movement of the vehicle; a local periphery information creation unit that generates local periphery information including a position of the vehicle in a second coordinate system and a plurality of coordinates of a point representing a portion of an object in the second coordinate system on the basis of information acquired by the sensor input unit and the movement information acquisition unit; and a position estimation unit that estimates a relationship between the first coordinate system and the second coordinate system on the basis of the point cloud data and the local periphery information and then estimates the position of the vehicle in the first coordinate system.

In-vehicle processing apparatus

A section line recognition device is realized which can determine a line type of a section line in a road surface with high accuracy. In step, a feature amount is extracted from an image captured by each camera. This step corresponds to a process of a feature point extraction unit. In the next step, the extracted feature amount is transformed into bird's-eye view coordinates which is common coordinates. This step corresponds to a process of a coordinates transformation unit. Next, in step, a camera to be selected is determined. This step is a process of a camera determination unit. Next, in step, the state transition at the appearance position of the feature point on the bird's-eye view coordinates is determined using feature point coordinates of the camera selected in step. This step is a process of a state transition determination unit. Finally, in step, the line type is determined. This step is a process of a line type determination unit.

Section line recognition device

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.

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.

Parking assistance device

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

The present invention addresses the problem of enabling an accurate determination of line type using a plurality of cameras. A demarcation line recognition device of the present invention includes a plurality of cameras (); a line type determination unit () that senses demarcation line candidates from respective images obtained by the plurality of cameras and determines line types of the sensed demarcation line candidates; a demarcation line position calculation unit that calculates the positions of the sensed demarcation line candidates; a reliability level calculation unit that computes a reliability level of each demarcation line candidate by using positional relationships between the sensed demarcation line candidates; a probability computation unit () to which line types of demarcation line candidates for which the reliability level is equal to or greater than a threshold value are input and that determines the probability of each line type; and a line type decision unit () that finally decides the line types of the demarcation lines on the basis of the results of the probability computation unit.

Demarcation line recognition device

Growing community of inventors

Tokyo, Japan

Takehito Ogata