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1. 发明授权

US10480949B2 Apparatus for identifying position of own vehicle and method for identifying position of own vehicle 有权
公开(公告)号：US10480949B2
公开(公告)日：2019-11-19
申请号：US15611571
申请日：2017-06-01
申请人： DENSO CORPORATION
发明人： Kojiro Tateishi , Shunsuke Suzuki , Hiroshi Mizuno , Naoki Kawasaki , Takeshi Shikimachi
IPC分类号： 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
摘要： 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.

2. 发明授权

US09897454B2 Host-vehicle-travel-position specification apparatus and host-vehicle-travel-position specification program product 有权
公开(公告)号：US09897454B2
公开(公告)日：2018-02-20
申请号：US15109770
申请日：2015-01-21
申请人： DENSO CORPORATION
发明人： Takeshi Shikimachi
IPC分类号： G01C21/30 , G09B29/10 , G01C21/16 , G01C21/26
CPC分类号： G01C21/30 , G01C21/165 , G01C21/26 , G09B29/106
摘要： The host-vehicle-travel-position specification apparatus specifies an estimation error range of map matching reference positions based on relation between a map-matching reference trajectory and an estimation error range of estimated absolute positions. The map-matching reference trajectory is corrected to accord with the estimation error range of map matching reference positions. A vehicle travel position is specified based on the corrected map-matching reference trajectory.

3. 发明申请

US20170184396A1 ROAD CURVATURE DETECTION DEVICE 审中-公开
公开(公告)号：US20170184396A1
公开(公告)日：2017-06-29
申请号：US15386652
申请日：2016-12-21
申请人： DENSO CORPORATION
发明人： Kojiro Tateishi , Naoki Kawasaki , Shunsuke Suzuki , Hiroshi Mizuno , Takeshi Shikimachi
IPC分类号： G01B11/24 , G01C25/00 , G01C21/26
CPC分类号： G01B11/24 , B60W40/072 , G01C7/04 , G06K9/00798
摘要： 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.

4. 发明授权

US09372832B2 Road information providing apparatus 有权
标题翻译：道路信息提供装置
公开(公告)号：US09372832B2
公开(公告)日：2016-06-21
申请号：US13763748
申请日：2013-02-11
申请人： DENSO CORPORATION
发明人： Takeshi Shikimachi
IPC分类号： G06F17/00 , G01C21/36 , B60W50/00 , B60W40/10
CPC分类号： G06F17/00 , B60W40/10 , B60W50/0097 , B60W2550/402 , G01C21/3658 , Y02T10/84
摘要： A road information providing apparatus includes a position detection unit, a matching unit, a reference point ranking unit, a calculation unit, a weighting unit, and a transmit unit. The position detection unit detects a present position of a vehicle. The matching unit specifies reference points based on the present position and map data. The reference point ranking unit defines a ranking of each reference point. The calculation unit calculates a priority value of each forward road link corresponding to one of the reference points. The weighting unit recalculates a weighted priority value of each forward road link based on the priority value of corresponding forward road link and the ranking of corresponding reference point. The transmit unit transmits the weighted priority value of each forward road link in order of increasing weighted priority value to an in-vehicle device.
摘要翻译：道路信息提供装置包括位置检测单元，匹配单元，参考点排序单元，计算单元，加权单元和发送单元。位置检测单元检测车辆的当前位置。匹配单元根据当前位置和地图数据指定参考点。参考点排名单元定义每个参考点的排名。计算单元计算与其中一个参考点相对应的每个前向道路链路的优先级值。加权单元基于相应的前进道路链路的优先级值和相应参考点的等级重新计算每个前进道路链路的加权优先级值。发送单元按照向车载设备增加加权优先级值的顺序发送每个前进道路链路的加权优先级值。

5. 发明申请

US20230090861A1 VEHICLE POSITION ESTIMATION DEVICE 有权
公开(公告)号：US20230090861A1
公开(公告)日：2023-03-23
申请号：US17933252
申请日：2022-09-19
申请人： DENSO CORPORATION
发明人： SHUNYA KUMANO , Takeshi Shikimachi
IPC分类号： G01S19/45
摘要： A vehicle position estimation device includes an external information acquisition unit for acquiring external information, a vehicle parameter acquisition unit for acquiring a vehicle parameter, a satellite positioning acquisition unit for acquiring a latitude and longitude of a self-position of the vehicle, a map data acquisition unit for acquiring map data, and a position estimation unit. The position estimation unit estimates the self-position, and includes a reliability calculation unit and a lane estimation unit. The reliability calculation unit calculates a reliability of each lane based on the external information and the map data when the vehicle is traveling on a road having multiple lanes. The reliability of each lane indicates a probability of the vehicle being traveling in the lane among the lanes. The lane estimation unit estimates a lane in which the vehicle is located by using the reliability calculated by the reliability calculation unit.

6. 发明授权

US10984551B2 Traveling position detection apparatus and traveling position detection method 有权
公开(公告)号：US10984551B2
公开(公告)日：2021-04-20
申请号：US16082290
申请日：2017-02-13
申请人： DENSO CORPORATION
发明人： Takeshi Shikimachi
IPC分类号： G06K9/00 , G01C21/36 , G06T7/73
摘要： A traveling position detection apparatus is provided. The traveling position detection apparatus includes: a map information storage part that stores map information including route information indicating a road route and lane marker information; a route position decision part that decides a route position that is a position on a road route based on a traveling speed, a traveling direction, and a positioning result; an offset position detection part that detects an offset position of a subject vehicle related to a lane markings by analyzing a road image and extracting the lane marking; and a traveling position decision part that decides the traveling position on a road based on the route position, an offset position, and lane marker information. When the offset position is not detected, the traveling position detection part estimates the traveling position based on the traveling speed, a traveling direction, and the already decided traveling position.

7. 发明授权

US10928206B2 Vehicle control system, own vehicle position calculation apparatus, vehicle control apparatus, own vehicle position calculation program, and non-transitory computer readable storage medium 有权
公开(公告)号：US10928206B2
公开(公告)日：2021-02-23
申请号：US16276668
申请日：2019-02-15
申请人： DENSO CORPORATION
发明人： Takeshi Shikimachi , Kiyoshi Tsurumi
IPC分类号： G01C21/32 , G08G1/09 , B60W30/00 , G06T7/73 , G06F16/29 , G05D1/02 , G09B29/10
摘要： A vehicle control system includes an own vehicle position calculation section that calculates an own vehicle position on a map by using a coordinate system projected by a map projection method based on conformal map projection, which has conformality and represents most regions in the world with a single system, and a vehicle control section that controls a vehicle by using the own vehicle position calculated by the own vehicle position calculation section by using the coordinate system projected by the map projection method based on conformal map projection, which has conformality and represents most regions in the world with a single system.

8. 发明授权

US10697780B2 Position correction apparatus, navigation system and automatic driving system 有权
公开(公告)号：US10697780B2
公开(公告)日：2020-06-30
申请号：US16074091
申请日：2017-02-03
申请人： DENSO CORPORATION
发明人： Kiyoshi Tsurumi , Takeshi Shikimachi , Tadashi Fujimura , Tomokazu Kobayashi , Yuya Hara
IPC分类号： G01C21/28 , G01S19/40 , G01S19/42 , B60W30/10 , G01C21/16 , G01C21/34 , G01S19/49 , G05D1/02 , G01S19/14 , G01S19/47
摘要： A position correction device includes: a reception unit, a position acquisition unit, a determination unit and a position information transmission unit. The reception unit receives a position information S1 of a vehicle from a navigation apparatus. The position acquisition unit acquires a position information S2 of the vehicle with a higher accuracy than the navigation apparatus. The determination unit determines whether a difference between the position information S1 and the position information S2 exceeds a predetermined threshold, or determines whether a traveling road identified by the position information S1 matches a traveling road identified by the position information S2. At least when it is determined that the difference exceeds the threshold, or when it is determined that the identified traveling roads do not match, the position information transmission unit transmits the position information S2 to the navigation apparatus.

9. 发明授权

US10030969B2 Road curvature detection device 有权
公开(公告)号：US10030969B2
公开(公告)日：2018-07-24
申请号：US15386652
申请日：2016-12-21
申请人： DENSO CORPORATION
发明人： Kojiro Tateishi , Naoki Kawasaki , Shunsuke Suzuki , Hiroshi Mizuno , Takeshi Shikimachi
IPC分类号： G01B11/24 , G01C21/26 , G01C25/00
摘要： 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.

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