# US 11,993,289 B2 · Vehicle control system and vehicle control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,289 B2 - Document ID: US11993289B2 - Status: Granted - Kind: B2 - Application number: 17/609,562 - Filed: 2020-05-15 - Published: 2022-07-21 - Granted: 2024-05-28 - Earliest claimed: 2019-05-23 - Assignees: Hitachi Astemo, Ltd. - Applicants: Hitachi Astemo, Ltd. - Inventors: Hiroshi Tsuchida; Naoto Aoki; Akira Kuriyama; Shigenori Hayase - Web page: https://patentgrep.com/patent/US11993289B2 ## CPC - B60W 60/0027: {using trajectory prediction for other traffic participants} - G01C 21/28: with correlation of data from several navigational instruments - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/931: of land vehicles - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - B60W 2554/4041: Position - B60W 2554/4042: Longitudinal speed - B60W 2556/20: Data confidence level - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract To improve accuracy of a grouping process by accurately obtaining an error of an observation value of a sensor. A vehicle control system includes an integration unit that estimates information on a position and a speed of a target existing in an external field, and errors of the position and the speed based on information from a sensor that acquires information on the external field of an own vehicle. The integration unit estimates an error of a detection result from the detection result of a sensor that detects an external field of a vehicle in accordance with a characteristic of the sensor, determines correlation between detection results of a plurality of the sensors, and integrates correlated detection results and calculates the errors of the position and the speed of the target. ## Claims ### Claim 1 A vehicle control system comprising: a plurality of sensors, each of which is configured to detect an object in an external field of an own vehicle in accordance with a characteristic of each sensor; and one or more memory devices having a program stored thereon that, when executed by one or more processors, cause the one or more processors to: estimate information on a position and a speed of a target detected by at least one of the plurality of sensors, estimate, based on a detection result, the characteristic, and a type of the at least one sensor, an error of the detection result and a range of the error, based on the error and the range of the error, determine correlation between detection results for targets detected by at least two of the plurality of sensors, determine whether to recognize the targets as the object by integrating correlated detection results, and calculate the errors of the position and the speed of the target object, wherein the vehicle control system controls the own vehicle based at least in part on calculated errors of the position and the speed of the object. ### Claim 2 (depends on 1) The vehicle control system according to claim 1, wherein the error is represented by probability distribution. ### Claim 3 (depends on 1) The vehicle control system according to claim 1, wherein the one or more processors are configured to: predict a position and a speed of the target and errors of the position and the speed at a second time after a first time, from a position and a speed of the target and errors of the position and the speed at the first time without using the detection result of the at least one sensor, determine correlation between the detection results of the plurality of sensors and a predicted position of the target, integrate the detection result and the predicted position of the target, which are correlated with each other, and calculate the errors of the position and the speed of the object target. ### Claim 4 (depends on 1) The vehicle control system according to claim 1, wherein the one or more processors are configured to: estimate the error of each of the detection results after converting the detection results of the plurality of sensors into one coordinate system. ### Claim 5 (depends on 1) The vehicle control system according to claim 1, wherein the one or more processors are configured to: estimate the error of the detection result in accordance with the position of the target. ### Claim 6 (depends on 5) The vehicle control system according to claim 5, wherein the one or more processors are configured to: estimate the error such that the error of the detection result increases as a distance to the target increases. ### Claim 7 (depends on 6) The vehicle control system according to claim 6, wherein the one or more processors are configured to: estimate the error such that the error of the detection result is proportional to a square of the distance to the target. ### Claim 8 (depends on 1) The vehicle control system according to claim 1, wherein the one or more processors are configured to: estimate the error such that the error of the detection result increases as approaching an end of a detection range of the sensor. ### Claim 9 (depends on 1) The vehicle control system according to claim 1, wherein the one or more processors are configured to: estimate the error such that the error of the detection result increases as the characteristic of the sensor changes to a wide-angle side. ### Claim 10 A vehicle control method comprising: detecting, by each of a plurality of sensors, an object in an external field of an own vehicle in accordance with a characteristic of each sensor; estimating information on a position and a speed of a target detected by at least one of the plurality of sensors; estimating, based on a detection result, the characteristic, and a type of the at least one sensor, an error of the detection result and a range of the error; based on the error and the range of the error, determining correlation between detection results for targets detected by at least two of the plurality of sensors; determining whether to recognize the targets as the object by integrating correlated detection results; calculating the errors of the position and the speed of the object; and controlling the own vehicle based at least in part on calculated errors of the position and the speed of the object.