Nissan Motor Company Limited

Renault S.a.s.

Tomoko Kurotobi

Susumu Fujita

Naoki Kojo

Hikaru Nishira

Motonobu Aoki

Satoshi Tange

Haruo Matsuo

Kuniaki Noda

Takashi Ikegami

Masafumi Tsuji

Noriaki Fujiki

Masahiro Miura

Abdelaziz Khiat

An object recognition method uses a sensor configured to acquire a position of an object existing in a surrounding environment as point clouds including a plurality of detection points in a top view. The method includes: grouping point clouds according to a proximity; determining, when performing polygon approximation on the grouped point clouds, whether at least part of the detection points constituting the grouped point clouds are located in a blind zone of an approximate polygon acquired by the polygon approximation with respect to the sensor; recognizing the grouped point clouds as point clouds corresponding to plural objects when it is determined that the detection points are located in the blind zone with respect to the sensor; and recognizing the grouped point clouds as point clouds corresponding to a single object of the approximate polygon when it is determined that the detection points are not located in the blind zone.

Object recognition method and object recognition device

A method for correcting a travelling trajectory of a vehicle which is executed by a processor includes: generating a subject vehicle travelling route that a subject vehicle travels based on map information stored in a database; calculating a travelling trajectory of the subject vehicle to be a target trajectory when the subject vehicle travels on the subject vehicle travelling route; detecting a position of another vehicle travelling on a lane located in a width direction of the subject vehicle by a sensor provided for the subject vehicle; calculating an offset of a position of the other vehicle in another vehicle lane that the other vehicle travels based on the position of the other vehicle; and correcting the travelling trajectory of the subject vehicle in accordance with the offset.

Traveling trajectory correction method, traveling control method, and traveling trajectory correction device

A parking assist method includes acquiring recognition information on parked vehicles existing in a parking lot; extracting two or more vehicles parked side by side from the recognition information and grouping the two or more vehicles into a set of vehicles; and when a space into which parking is possible exists between the parked vehicles included in the grouped set of vehicles, estimating the space as an available parking space. The disclosure further includes setting a pathway direction reference line extending along a pathway of the parking lot; calculating reference distances between the pathway direction reference line and the parked vehicles included in the above recognition information; and extracting the two or more vehicles from the above recognition information and grouping the two or more vehicles into the set of vehicles on the basis of the calculated reference distances.

Method and device for parking assistance

A method is provided which comprises: acquiring, from a set of ranging sensors, recognition information about a plurality of parked vehicles existing in a parking frame group comprising a plurality of parking frames arranged side by side; selecting representative points of the parked vehicles from the recognition information; calculating a distance between representative points that is a distance between the representative points adjacent to each other; and calculating a width of the parking frames on the basis of the distance between representative points.

Parking support method and device

A method is provided which comprises: acquiring recognition information about parked vehicles; setting a virtual parking frame group in which a parking frame group is virtualized, the parking frame group comprising a plurality of parking frames; aligning the virtual parking frame group with respect to the recognized parked vehicles; and determining the aligned virtual parking frame group as the parking frame group comprising the plurality of parking frames. The virtual parking frame group comprises a plurality of virtual parking frames that have the same size and are arranged side by side or parallel along a predetermined straight line.

A scene determination device includes a determination configured to, when determining a driving action of a subject vehicle traveling on a route, determine a scene which the subject vehicle encounters. The determination processor extracts a plurality of events which the subject vehicle traveling on a first route encounters, on the basis of relationships between the first route on which the subject vehicle travels and second routes having points of intersections with the first route and determines the scene using a relationship between each of the extracted events and the subject vehicle.

Scene determination device, travel assistance apparatus, and scene determination method

A determination processor, when determining a driving action of a subject vehicle traveling on a route, determines a scene which the subject vehicle encounters. The determination processor extracts a plurality of events which the subject vehicle encounters when traveling on a first route, and rearranges the extracted plurality of events in the order of encounters with the subject vehicle.

A control method allows an own vehicle to proceed through a specific intersection into which vehicles are permitted to proceed in the order that the vehicles arrive. The method includes setting a determination region within a lane other than a lane in which the own vehicle travels; determining whether the own vehicle reaches a certain position at the near side of the specific intersection; allocating a priority state to the determination region when the own vehicle reaches the certain position and allocating a non-priority state to the determination region in which the vehicle does not exist when the own vehicle reaches the certain position; changing the priority state of the determination region to the non-priority state when the vehicle no longer exists in the determination region; and allowing the own vehicle to proceed into the specific intersection when the determination region of the priority state is not present.

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Kanagawa, Japan

Tomoko Kurotobi