专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

21. 发明授权

EP3113146B1 LOCATION COMPUTATION DEVICE AND LOCATION COMPUTATION METHOD 有权
公开(公告)号：EP3113146B1
公开(公告)日：2018-07-04
申请号：EP14882984.9
申请日：2014-02-24
申请人： NISSAN MOTOR CO., LTD.
发明人： YAMAGUCHI, Ichiro , NISHIUCHI, Hidekazu
IPC分类号： G08G1/16 , G01C21/28
CPC分类号： G06K9/00798 , G01C21/28 , G06K9/00771 , G06T7/73 , G06T2207/30244
摘要： A self-location calculating device of the present invention projects a patterned light onto a road surface around a vehicle, captures and obtains an image of the road surface around the vehicle. When determining that a condition of the road surface around the vehicle changes as much as or more than a threshold value, the self-location calculating device calculates a current position and a current attitude angle of the vehicle in present by adding an amount of change in the attitude to a current position and a current attitude angle of the vehicle which are calculated in a previous information process cycle.

22. 发明公开

EP3306429A1 POSITION ESTIMATION DEVICE AND POSITION ESTIMATION METHOD 有权
标题翻译：位置估计装置和位置估计方法
公开(公告)号：EP3306429A1
公开(公告)日：2018-04-11
申请号：EP15893366.3
申请日：2015-05-28
申请人： Nissan Motor Co., Ltd.
发明人： YAMAGUCHI, Ichiro , UEDA, Hirotoshi
IPC分类号： G05D1/02 , G01C21/30
CPC分类号： G01C21/30 , G01C21/005 , G01C21/3602 , G01C21/3644 , G05D1/02
摘要： An own position estimation device of the present invention detects a landmark position of a landmark existing around a mobile body, detects a movement amount of the mobile body, and accumulates, as pieces of landmark position data, landmark positions each obtained by moving the detected landmark position by the movement amount. The device then acquires map information including landmark positions of landmarks existing on a map by the controller, matches the pieces of landmark position data in a certain range with the landmark positions included in the map information, and estimates the own position of the mobile body, the certain range being set based on movement records of the mobile body traveling to a current position.
摘要翻译：本发明的自身位置估计装置检测存在于移动体周围的地标的地标位置，检测移动体的移动量，并且将通过移动检测到的地标而获得的地标位置存储为地标位置数据位置移动量。然后，设备通过控制器获取包括地图上存在的地标的地标位置的地图信息，将某一范围内的地标位置数据与包括在地图信息中的地标位置相匹配，并且估计移动体的自身位置，该特定范围基于行进到当前位置的移动体的移动记录来设定。

23. 发明授权

EP2933790B1 MOVING OBJECT LOCATION/ATTITUDE ANGLE ESTIMATION DEVICE AND MOVING OBJECT LOCATION/ATTITUDE ANGLE ESTIMATION METHOD 有权
标题翻译：移动物体位置/姿态角度估计装置和移动物体位置/姿态角度估计方法
公开(公告)号：EP2933790B1
公开(公告)日：2017-09-27
申请号：EP13862177.6
申请日：2013-11-18
申请人： NISSAN MOTOR CO., LTD.
发明人： YAMAGUCHI, Ichiro
IPC分类号： G06T7/73 , G01C21/28
CPC分类号： G06K9/00798 , B60R1/00 , G01C21/28 , G02B13/0015 , G06K9/209 , G06K9/4604 , G06T5/006 , G06T7/20 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30252

24. 发明公开

EP3179462A1 POSITION SELF-CALCULATION DEVICE AND POSITION SELF-CALCULATION METHOD 有权
标题翻译： VORRICHTUNG ZUR位置在VERFAHREN ZUR位置上的音乐播放器
公开(公告)号：EP3179462A1
公开(公告)日：2017-06-14
申请号：EP14899118.5
申请日：2014-08-04
申请人： NISSAN MOTOR CO., LTD.
发明人： YAMAGUCHI, Ichiro , NISHIUCHI, Hidekazu , HIRAIZUMI, Norihisa , MATSUMOTO, Jun
IPC分类号： G08G1/16 , G01B11/00 , G01B11/26 , G01C21/28
CPC分类号： G01B11/26 , G01B11/002 , G01C21/28 , G06K9/00798 , G06K9/4604 , G06T7/246 , G06T7/73 , G06T2207/30208 , G06T2207/30244 , G06T2207/30252 , G08G1/16 , H04N7/183
摘要： Provided is a self-position calculating apparatus capable of accurately detecting a patterned light beam projected onto a road surface, and capable of accurately calculating the self-position of a vehicle. The self-position calculating apparatus includes: a light projector (11) configured to project the patterned light beam onto the road surface around a vehicle; an image capturing unit (12) configured to capture an image of an area onto which the patterned light beam is projected; a patterned light beam extractor (21) configured to extract a position of the patterned light beam from the image; an orientation angle calculator (22) configured to calculate an orientation angle of the vehicle relative to the road surface from the position of the patterned light beam; an orientation change amount calculator (24) configured to calculate an amount of change in orientation of the vehicle based on temporal changes in multiple feature points on the road surface on the image; and a self-position calculator (26) configured to calculate a current position and a current orientation angle of the vehicle by adding the amount of change in the orientation to an initial position and an initial orientation angle of the vehicle. If a detected condition of the patterned light beam is equal to or greater than a threshold value, the patterned light beam extractor (21) extracts the position of the patterned light beam from a superimposed image by superimposing images in frames obtained with the image capturing unit (12).
摘要翻译：提供一种能够精确地检测投影到路面上的图案化光束并且能够精确地计算车辆的自身位置的自身位置计算装置。所述自身位置计算装置包括：投影仪（11），被配置为将所述图案化光束投射到车辆周围的路面上; 被配置为捕获图案化光束被投影的区域的图像的图像拍摄单元（12）被配置为从图像中提取图案化光束的位置的图案化光束提取器（21）定向角计算器，被构造成从所述图案化光束的位置计算所述车辆相对于所述路面的取向角; 姿态变化量计算部，基于图像上的路面上的多个特征点的时间变化来计算车辆的姿势变化量; 以及自身位置计算器，被配置为通过将所述方向上的变化量与所述车辆的初始位置和初始定向角相加来计算所述车辆的当前位置和当前定向角度。如果图案化光束的检测条件等于或大于阈值，则图案化光束提取器（21）通过将由图像捕获单元获得的帧中的图像叠加从叠加图像中提取图案化光束的位置（12）。

25. 发明公开

EP3113148A1 LOCAL LOCATION COMPUTATION DEVICE AND LOCAL LOCATION COMPUTATION METHOD 有权
标题翻译：局部位置计算装置和局部位置计算方法
公开(公告)号：EP3113148A1
公开(公告)日：2017-01-04
申请号：EP14883101.9
申请日：2014-02-24
申请人： NISSAN MOTOR CO., LTD.
发明人： YAMAGUCHI, Ichiro , NISHIUCHI, Hidekazu
IPC分类号： G08G1/16 , G01C21/28
CPC分类号： G06K9/00798 , B60Q1/085 , B60Q2400/50 , B60R1/00 , G01B11/26 , G01C21/265 , G01C21/28 , G06K9/2036 , G06K9/6201 , G06T7/20 , G06T7/70 , G06T2207/30252
摘要： A self-position calculating apparatus includes: a light projector 11 configured to project a patterned light beam 32a onto a road surface 31 around a vehicle; and a camera 12 configured to capture an image 38 of the road surface 31 around the vehicle including an area onto which the patterned light beam 32a is projected. The self-position calculating apparatus calculates an orientation angle of the vehicle 10 relative to the road surface 31 from a position of the patterned light beam 32a on the image 38 obtained by the camera 12, and calculates an amount of change in the orientation of the vehicle based on temporal changes in multiple feature points on the road surface which are detected from the image 38. The self-position calculating apparatus calculates current position and orientation angle of the vehicle by adding the amount of change in the orientation to initial position and orientation angle of the vehicle. If a condition under which the multiple feature points are detected does not satisfy a first criterion, the self-position calculating apparatus projects the patterned light beam 32a.
摘要翻译：自身位置计算设备包括：光投射器11，被配置为将图案化光束32a投射到车辆周围的路面31上; 以及照相机12，该照相机12拍摄车辆周边的路面31的图像38，该图像包括投影了图案化光束32a的区域。自身位置计算装置根据由照相机12获得的图像38上的图案化光束32a的位置来计算车辆10相对于路面31的方位角，并且计算车辆10的方位改变量基于从图像38检测到的路面上的多个特征点的时间变化来确定车辆的位置和姿势角。自身位置计算设备通过将姿势的变化量加上初始位置和姿势来计算车辆的当前位置和姿态角车辆的角度。如果检测到多个特征点的条件不满足第一标准，则自身位置计算装置投射图案化光束32a。

26. 发明公开

EP2933790A1 MOVING OBJECT LOCATION/ATTITUDE ANGLE ESTIMATION DEVICE AND MOVING OBJECT LOCATION/ATTITUDE ANGLE ESTIMATION METHOD 有权
标题翻译： DEVICE FOR AN OBJECT IN MOTION和方法的地点/位置角的用于计算的对象在运动地点/位置角的计算
公开(公告)号：EP2933790A1
公开(公告)日：2015-10-21
申请号：EP13862177.6
申请日：2013-11-18
申请人： Nissan Motor Co., Ltd
发明人： YAMAGUCHI, Ichiro
IPC分类号： G08G1/04 , G01C21/28 , G06T1/00
CPC分类号： G06K9/00798 , B60R1/00 , G01C21/28 , G02B13/0015 , G06K9/209 , G06K9/4604 , G06T5/006 , G06T7/20 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30252
摘要： A moving object location/attitude angle estimation device (10) of the present invention acquires a fish-eye lens image capturing a surrounding environment of a moving object with a fish-eye lens, and acquires a less distorted pinhole image for a predetermined region of the fish-eye lens image. Then, a bend degree of a driving road in a travelling direction of the moving object is detected. When the detected bend degree is less than a predetermined value, the pinhole image is selected. On the other hand, when the bend degree is not less than the predetermined value, the fish-eye lens image is selected. Thereafter, a location and an attitude angle of the moving object are estimated by matching an edge information of the selected image with a three-dimensional map data.
摘要翻译：本发明的移动体的位置/姿态角估算设备（10）获取一个鱼眼透镜图像捕获的鱼眼透镜的移动物体的周围环境，并且获取失真程度较小的针孔图像的预定区域中鱼眼透镜的图像。然后，在检测到运动对象的行进方向行驶道路的弯曲度。当检测到的弯曲度小于预定值时，针孔图像被选择。在另一方面，当弯曲度不小于预定值以下时，鱼眼透镜的图像被选择。有后，位置和移动体的姿势角通过与三维地图数据所选择的图像的边缘信息的匹配估计。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式