公开(公告)号：US20180059680A1

公开(公告)日：2018-03-01

申请号：US15688633

申请日：2017-08-28

Applicant: DENSO CORPORATION

Inventor： Kojiro Tateishi ,  Shunsuke Suzuki ,  Yusuke Tanaka

IPC: G05D1/02 ,  G01S17/93 ,  G01S19/42 ,  G08G1/16

CPC classification number: G05D1/0248 ,  G01C21/30 ,  G01S13/867 ,  G01S13/931 ,  G01S17/936 ,  G01S19/42 ,  G01S19/48 ,  G01S19/50 ,  G05D1/0278 ,  G05D2201/0213 ,  G08G1/163 ,  G08G1/165 ,  G08G1/166

Abstract: A vehicle location recognition device has a correction unit for correcting a position of an own vehicle detected by a vehicle position estimation unit. The correction unit corrects the position of the own vehicle so as to reduce a difference in position between a position of a road object detected by a sensor and a position of a map road object contained in map road object information stored in a memory unit. When there are plural combinations of road objects detected by the sensor and map road objects acquired from the map road object information, the correction unit uses a weight value to adjust a likelihood of each of the combinations, and corrects the position of the own vehicle based on the weighted likelihood. The weight value is increased according to increasing of a magnitude of the likelihood.

公开(公告)号：US10030969B2

公开(公告)日：2018-07-24

申请号：US15386652

申请日：2016-12-21

Applicant: DENSO CORPORATION

Inventor： Kojiro Tateishi ,  Naoki Kawasaki ,  Shunsuke Suzuki ,  Hiroshi Mizuno ,  Takeshi Shikimachi

IPC: G01B11/24 ,  G01C21/26 ,  G01C25/00

Abstract: An in-vehicle system as a road curvature detection device calculates a curvature of a road in front of a vehicle based on an acquired front scene image. The in-vehicle system receives gradient information from the data map. The gradient information corresponds to a current road section on the road on which the vehicle drives. The in-vehicle system detects a gradient accuracy of the received gradient information. When the current road section has a gradient, i.e. the road is an uphill or downhill road, the in-vehicle system selects an appropriate special detection methods based on the gradient accuracy of the received gradient information, and calculates a road curvature by using the selected special detection method. Each of the special detection methods calculates a road curvature while effectively suppressing influence of a road gradient indicated by the received gradient information.

公开(公告)号：US10916034B2

公开(公告)日：2021-02-09

申请号：US16443023

申请日：2019-06-17

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Masaki Kitago ,  Kojiro Tateishi

IPC: G06T7/73 ,  G01C21/30 ,  G06T7/50 ,  G06K9/00

Abstract: A host vehicle position estimation device includes an object determination unit configured to determine whether or not a planar object is included in a captured image, on which a host vehicle travels, a center point information acquisition unit configured to, when the planar object is included in the captured image, acquire center point information of the planar object including at least one of longitudinal center coordinate and lateral center coordinate of the planar object in the captured image, a longitudinal distance calculation unit configured to calculate a longitudinal distance as a distance between the host vehicle and the planar object in a front-rear direction of the host vehicle, and a host vehicle position estimation unit configured to estimate a host vehicle position using the positional information of the planar object on the map and the longitudinal distance.

公开(公告)号：US20200020126A1

公开(公告)日：2020-01-16

申请号：US16443023

申请日：2019-06-17

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Masaki Kitago ,  Kojiro Tateishi

IPC: G06T7/73 ,  G01C21/30 ,  G06K9/00 ,  G06T7/50

Abstract: A host vehicle position estimation device includes an object determination unit configured to determine whether or not a planar object is included in a captured image, on which a host vehicle travels, a center point information acquisition unit configured to, when the planar object is included in the captured image, acquire center point information of the planar object including at least one of longitudinal center coordinate and lateral center coordinate of the planar object in the captured image, a longitudinal distance calculation unit configured to calculate a longitudinal distance as a distance between the host vehicle and the planar object in a front-rear direction of the host vehicle, and a host vehicle position estimation unit configured to estimate a host vehicle position using the positional information of the planar object on the map and the longitudinal distance.

公开(公告)号：US20170184396A1

公开(公告)日：2017-06-29

申请号：US15386652

申请日：2016-12-21

Applicant: DENSO CORPORATION

Inventor： Kojiro Tateishi ,  Naoki Kawasaki ,  Shunsuke Suzuki ,  Hiroshi Mizuno ,  Takeshi Shikimachi

IPC: G01B11/24 ,  G01C25/00 ,  G01C21/26

CPC classification number: G01B11/24 ,  B60W40/072 ,  G01C7/04 ,  G06K9/00798

Abstract: An in-vehicle system as a road curvature detection device calculates a curvature of a road in front of a vehicle based on an acquired front scene image. The in-vehicle system receives gradient information from the data map. The gradient information corresponds to a current road section on the road on which the vehicle drives. The in-vehicle system detects a gradient accuracy of the received gradient information. When the current road section has a gradient, i.e. the road is an uphill or downhill road, the in-vehicle system selects an appropriate special detection methods based on the gradient accuracy of the received gradient information, and calculates a road curvature by using the selected special detection method. Each of the special detection methods calculates a road curvature while effectively suppressing influence of a road gradient indicated by the received gradient information.

公开(公告)号：US10480949B2

公开(公告)日：2019-11-19

申请号：US15611571

申请日：2017-06-01

Applicant: DENSO CORPORATION

Inventor： Kojiro Tateishi ,  Shunsuke Suzuki ,  Hiroshi Mizuno ,  Naoki Kawasaki ,  Takeshi Shikimachi

IPC: G01C21/30 ,  G01S5/14 ,  G01S13/89 ,  G01S19/48 ,  G01C21/36 ,  G01S17/89 ,  G01S17/93 ,  G01S7/48 ,  G01S13/93 ,  G06K9/00 ,  G08G1/0962 ,  G08G1/16 ,  G06K9/62 ,  G08G1/00

Abstract: A position identifying apparatus includes a position detecting unit; an information acquiring unit; a feature extracting unit; an index value calculating unit; a feature selecting unit; a correlating unit; a weight setting unit; and a correcting unit. The position detecting unit performs a map matching to detect a vehicle position on a map. The information acquiring unit acquires road information from the map. The feature extracting unit extracts features of a ground object. The index value calculating unit calculates an index value representing a likelihood of a stationary object. The feature selecting unit selects feature candidates among the features having the index values larger than or equal to a predetermined likelihood of the stationary object. The correlating unit correlates the feature candidates with the road information. The weight setting unit sets weights of the feature candidates. The correcting unit corrects the position of the vehicle using the weights.

公开(公告)号：US10401503B2

公开(公告)日：2019-09-03

申请号：US15648166

申请日：2017-07-12

Applicant: DENSO CORPORATION

Inventor： Kojiro Tateishi ,  Naoki Kawasaki ,  Shunsuke Suzuki ,  Hiroshi Mizuno ,  Kenji Muto ,  Mikio Shimizu ,  Yusuke Tanaka

IPC: G01S19/48 ,  B60G17/019 ,  B60W40/06 ,  G01C21/00 ,  G01C21/36 ,  G05D1/02 ,  G01S17/02 ,  G01S17/93

Abstract: In a location estimation device, a change detection unit detects a point of change in the width of a roadside structure as a width change point. A width correction unit calculates a width deviation between a first relative location of the roadside structure on a map data segment and a second relative location of the roadside structure obtained based on shape information of the roadside structure in the width direction of a vehicle. The width correction unit corrects, as a function of the width deviation and a positional accuracy of the vehicle in the travelling direction, an estimated location of the vehicle in the width direction when it is determined that there is the point of change in the width of the roadside structure in the travelling direction of the vehicle.

公开(公告)号：US20180066960A1

公开(公告)日：2018-03-08

申请号：US15697174

申请日：2017-09-06

Applicant: DENSO CORPORATION

Inventor： Kojiro Tateishi ,  Naoki Kawasaki ,  Shunsuke Suzuki ,  Hiroshi Mizuno ,  Kenji Muto ,  Yusuke Tanaka ,  Masataka Konishi

IPC: G01C21/36 ,  G01C21/30 ,  G05D1/02 ,  G05D1/00

CPC classification number: G01C21/3697 ,  G01C21/30 ,  G01C21/3461 ,  G01C21/3476 ,  G01C21/3676 ,  G05D1/0061 ,  G05D1/0274 ,  G05D2201/0213

Abstract: A method and apparatus for driving assisting provided with an ECU which includes an extraction unit extracting a shape and a distribution of a landmark on a plurality of routes leading to a destination on a map, an accuracy calculation unit calculating an estimated accuracy of a vehicle position at each sampling point positioned at predetermined intervals on each route, on the basis of the shape and distribution of each landmark, an operating ratio calculation unit calculating an operating ratio of a driving assistance control on each of the routes, on the basis of the calculated accuracy at each sampling point, and a route selection unit which enables a driver of the vehicle to select a route among the plurality of routes, after the calculated operating ratio is presented to the driver.