Toyota Jidosha Kabushiki Kaisha

Toshiki Matsui

Yusuke Nemoto

Norihiro Takahashi

Koki Suwabe

Akiomi Kunisa

An axial deviation detection device configured to detect axial deviation of a LIDAR system mounted on a vehicle is provided. The axial deviation detection device includes a storage device and a processor. The storage device stores reference plane information indicating a position of a reference plane, and LIDAR measurement information indicating positions of point clouds detected by the LIDAR system in a sensor coordinate system. The processor is configured to extract a road surface point cloud representing a road surface from the point clouds indicated in the LIDAR measurement information, approximate the road surface point cloud by an approximation plane and acquire the approximation plane as an estimated road plane, compare the estimated road plane with the reference plane indicated by the reference plane information, and determine that the axial deviation occurs when a deviation between the estimated road plane and the reference plane is larger than a threshold.

Axial deviation detection device and vehicle

A vehicle localization system includes: an electronic control unit estimating a vehicle position including a longitudinal position on a map in an extension direction of a road on which the vehicle is traveling and a lateral position on the map in a lateral direction of the road; and a storage device storing a map database including map information. The electronic control unit obtains a vehicle speed and a pitch angle of the vehicle, perceives a measured position of the vehicle on the map based on a measurement result of a positioning device mounted on the vehicle and the vehicle speed, and estimates the longitudinal position from comparison between a rate of change in pitch angle of the vehicle along the road and a rate of change in height on the map along the road, based on the measured position, the map information, and the pitch angle.

Vehicle localization system

To control a speed at a time of entering a curved road a vehicle to autonomously travel within a travelling lane even in a case where there is an error in an estimated longitudinal position of the vehicle. A curve travel speed calculation unitcalculates a curve travel speed for a vehicle to autonomously travelling in a travelling lane based on a curve radius and an estimated error in longitudinal position. A speed planning unitand a travel control unitdecelerate the vehicle M such that the speed of the vehicle M becomes the curve travel speed at the time of entering the curved road in front of the vehicle M in a case where the speed of the vehicle M is equal to or higher than the curve travel speed and the curve travel speed is equal to or higher than the reference speed.

Growing community of inventors

Shizuoka-ken, Japan

Toshiki Matsui