Sensor recognition integration device
AssigneeHitachi Astemo, Ltd.
InventorsNaoto Aoki, Shigenori Hayase
Life of this patent
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Abstract
The present invention provides a sensor recognition integration device capable of preventing a rapid change in coordinates of an integrated object and preventing, for example, an erroneous determination in an autonomous driving plan determination device, even when the combination of sensors that perform detection changes. In the present invention, since an object position is estimated in a state where information of a position detected by a sensor that recognizes an object in an external field is corrected or changed, the rapid change of coordinates of an integrated object is prevented even when the combination of sensors that perform detection changes.
Claims10
A sensor recognition integration device comprising:
- a sensor object information unit that generates integration object information by integrating sensor object information regarding a sensor object obtained by a plurality of external field recognition sensors recognizing an object in an external field,
- wherein the sensor object information integration unit includes
- an integration object information storage unit that stores the integration object information,
- a prediction update unit that extracts a prediction object to be predicted from the integration object information which is previously stored in the integration object information storage unit, and predicts a position of the prediction object after a predetermined time, without using the sensor object information,
- an association unit that estimates the prediction object to be associated with the sensor object information,
- an offset parameter update unit that updates an offset parameter required for calculating an offset to be applied to the sensor object information,
- an integration target information generation unit that applies the offset to the sensor object based on the offset parameter and generates integration target information in which the prediction object and the offset-applied sensor object are linked to each other, based on an estimation result of the association unit, and
- an integration update unit that generates the integration object information including the estimated position of the object based on the integration target information.
A sensor recognition integration device that receives own-vehicle behavior information, sensor object information, sensor road information, positioning information, and map information acquired by an information acquisition device including an own-vehicle behavior recognition sensor, a plurality of external field recognition sensors, a positioning system, and a map unit, integrates the received information, and transmits a result of the integration to an autonomous driving plan determination device, the sensor recognition integration device comprising:
- a sensor object information integration unit that integrates the sensor object information regarding a sensor object obtained by the plurality of external field recognition sensors recognizing an object in an external field, as integration object information;
- and
- an own-vehicle surrounding information integration unit that integrates the integration object information, the own-vehicle behavior information, the sensor road information, the positioning information, and the map information as own-vehicle surrounding information and outputs the own-vehicle surrounding information to the autonomous driving plan determination device,
- wherein the sensor object information integration unit includes
- an integration object information storage unit that stores the integration object information,
- a prediction update unit that extracts a prediction object to be predicted from the integration object information which is previously stored in the integration object information storage unit, and predicts a position of the prediction object after a predetermined time, without using the sensor object information,
- an association unit that estimates the prediction object to be associated with the sensor object information,
- an offset parameter update unit that updates an offset parameter required for calculating an offset to be applied to the sensor object information,
- an integration target information generation unit that calculates the offset to be applied to the sensor object information based on the offset parameter to apply the calculated offset to the sensor object and generates integration target information in which the prediction object and the offset-applied sensor object are linked to each other, based on an estimation result of the association unit, and
- an integration update unit that estimates the position of the object to generate integration object information, based on the integration target information.
Dependencies are inferred from the claim text.