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1. 发明公开

EP3527448A1 PARKING ASSIST METHOD AND PARKING ASSIST DEVICE 有权转让
公开(公告)号：EP3527448A1
公开(公告)日：2019-08-21
申请号：EP16918946.1
申请日：2016-10-13
申请人： Nissan Motor Co., Ltd. , Renault S.A.S.
发明人： YAMAGUCHI, Ichiro , HAYAKAWA, Yasuhisa , OKI, Takahiko
IPC分类号： B60W30/06 , B60W30/08 , B60W50/10 , G08G1/16
摘要： Provided is a parking assistance method capable of storing surrounding situation of a parking target position appropriate to be referred to during autonomous parking. The parking assistance method of storing the surrounding situation of the parking target position when parking at the parking target position and executing the autonomous parking using the stored surrounding situation, includes a step (S12) of detecting the surrounding situation; a step (S14) of indicating the detected surrounding situation; a step (S14) of receiving a determination of whether the indicated surrounding situation are appropriate input by an occupant; and a step (S15 and S16) of storing the surrounding situation when the determination of appropriateness is input by the occupant.

2. 发明授权

EP3179462B1 DEVICE AND METHOD FOR CALCULATING A POSITION OF A VEHICLE 有权
公开(公告)号：EP3179462B1
公开(公告)日：2018-10-31
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： G01B11/00 , G06T7/246 , G06T7/73
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).

3. 发明授权

EP3113150B1 LOCAL LOCATION COMPUTATION DEVICE AND LOCAL LOCATION COMPUTATION METHOD 有权
公开(公告)号：EP3113150B1
公开(公告)日：2018-06-27
申请号：EP14883481.5
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 , G06T7/73 , G06T7/521
CPC分类号： G01B11/26 , B60Q1/24 , G01B11/002 , G01C21/28 , G06T7/521 , G06T7/73 , G06T2207/10152 , G06T2207/30244 , G06T2207/30252
摘要： A self-position calculating apparatus includes: a light projector 11 configured to project a patterned light beam onto a road surface around a vehicle; an image capturing unit 12 installed in the vehicle, and configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam; an orientation angle calculator 22 configured to calculate an orientation angle of the vehicle relative to the road surface from a shape of the patterned light beam on the image obtained with the image capturing unit 12; a feature point detector 23 configured to detect multiple feature points on the road surface from the image obtained with the image capturing unit 12; an orientation change amount calculator 24 configured to calculate an amount of change in the orientation of the vehicle based on temporal changes in the multiple feature points on the road surface detected by the feature point detector 23; and a self-position calculator 25 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 relative to the road surface. Depending on how the feature points on the road surface are detected by the feature point detector, the light projector 11 selectively projects the patterned light beam onto a specific patterned light beam-projected region out of the multiple patterned light beam-projected regions.

4. 发明公开

EP3113147A1 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：EP3113147A1
公开(公告)日：2017-01-04
申请号：EP14883047.4
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 , B60K31/00 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2420/42 , B60Y2400/3015 , G01C21/165 , G01C21/26 , G06K9/2036
摘要： A self-location calculating device of the present invention projects a patterned light onto a road surface around a vehicle, as well as thereby captures and obtains an image of the road surface around the vehicle. Furthermore, the self-location calculating device detects a running condition of the vehicle. When it is determined that the vehicle is a running stable state, the self-location calculating device calculates a current position and a current attitude angle of the vehicle by adding an amount of change in an attitude to a predetermined initial attitude angle of the vehicle.
摘要翻译：本发明的自身位置计算装置将图案化的光投影到车辆周围的路面上，从而捕获并获得车辆周围的路面的图像。此外，自定位计算装置检测车辆的行驶状况。当确定车辆处于行驶稳定状态时，自身位置计算装置通过将姿势的变化量与车辆的预定初始姿态角相加来计算车辆的当前位置和当前姿态角。

5. 发明公开

EP3029538A1 VEHICLE POSITION/BEARING ESTIMATION DEVICE AND VEHICLE POSITION/BEARING ESTIMATION METHOD 有权
标题翻译：车辆位置/轴承估算装置和车辆位置/轴承估算方法
公开(公告)号：EP3029538A1
公开(公告)日：2016-06-08
申请号：EP14831869.4
申请日：2014-06-19
申请人： Nissan Motor Co., Ltd.
发明人： YAMAGUCHI, Ichiro
IPC分类号： G05D1/02
CPC分类号： B60W40/114 , B60W40/105 , B60W2420/42 , B60W2520/12 , B60W2520/14 , G01C21/165 , G06T7/277 , G06T7/70 , G06T2207/30244 , G06T2207/30252
摘要： A vehicle position attitude-angle estimation device of the present invention sets a particle existent distribution range to a predetermined range by using a particle filter and disperses particles within the set existent distribution range to estimate the position and attitude angle of a vehicle from an image capturing the surroundings of the vehicle. The vehicle position attitude-angle estimation device widens the set existent distribution range in the vehicle width direction of the vehicle when the speed of the vehicle becomes high.
摘要翻译：本发明的车辆位置姿态角估计装置通过使用粒子滤波器将粒子存在分布范围设定到预定范围，并将粒子分散在设定的现有分布范围内，以从图像捕获估计车辆的位置和姿态角车辆的周围环境。当车辆的速度变高时，车辆位置姿态角估计装置在车辆的车辆宽度方向上扩大设定的现有分布范围。

6. 发明授权

EP3113147B1 SELF-LOCATION CALCULATING DEVICE AND SELF-LOCATION CALCULATING METHOD 有权
公开(公告)号：EP3113147B1
公开(公告)日：2018-11-28
申请号：EP14883047.4
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 , G01C21/16 , B60W40/11 , B60W40/112 , B60W40/114 , B60K31/00 , G01C21/26 , G06K9/00 , G06K9/20
CPC分类号： G06K9/00798 , B60K31/00 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2420/42 , B60Y2400/3015 , G01C21/165 , G01C21/26 , G06K9/2036
摘要： A self-location calculating device of the present invention projects a patterned light onto a road surface around a vehicle, as well as thereby captures and obtains an image of the road surface around the vehicle. Furthermore, the self-location calculating device detects a running condition of the vehicle. When it is determined that the vehicle is a running stable state, the self-location calculating device calculates a current position and a current attitude angle of the vehicle by adding an amount of change in an attitude to a predetermined initial attitude angle of the vehicle.

7. 发明公开

EP3327532A1 HOST-POSITION ESTIMATION DEVICE AND HOST-POSITION ESTIMATION METHOD 有权
公开(公告)号：EP3327532A1
公开(公告)日：2018-05-30
申请号：EP15899539.9
申请日：2015-07-24
申请人： Nissan Motor Co., Ltd.
发明人： UEDA, Hirotoshi , YAMAGUCHI, Ichiro , TSUCHIYA, Chikao
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , B60W30/12 , G01C21/165 , G05D1/0246 , G05D1/0272 , G05D2201/0213
摘要： A self-position estimation device includes: a target position detection unit mounted in a vehicle, the target position detection unit being configured to detect a relative position of a target present around the vehicle and the vehicle; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a target position accumulation unit configured to move the detected relative position by the estimated movement amount and to accumulate the moved relative position as target position data; a map information acquisition unit configured to acquire map information including target position information of a target present on a map; a curve start position estimation unit configured to estimate a curve start position of a travel path on which the vehicle travels; and a self-position estimation unit configured to perform comparison in which at least the target position data present around the vehicle and the target position data present between a current position of the vehicle and the estimated curve start position, of the accumulated target position data, is compared with the target position information included in the map information to estimate a self position which is the current position of the vehicle.

8. 发明授权

EP3029538B1 VEHICLE POSITION/BEARING ESTIMATION DEVICE AND VEHICLE POSITION/BEARING ESTIMATION METHOD 有权
标题翻译：车辆位置/轴承估算装置和车辆位置/轴承估算方法
公开(公告)号：EP3029538B1
公开(公告)日：2018-04-04
申请号：EP14831869.4
申请日：2014-06-19
申请人： Nissan Motor Co., Ltd.
发明人： YAMAGUCHI, Ichiro
IPC分类号： B60W40/105 , B60W40/114 , G01C21/16 , G06T7/277 , G06T7/70
CPC分类号： B60W40/114 , B60W40/105 , B60W2420/42 , B60W2520/12 , B60W2520/14 , G01C21/165 , G06T7/277 , G06T7/70 , G06T2207/30244 , G06T2207/30252
摘要： A vehicle position attitude-angle estimation device of the present invention sets a particle existent distribution range to a predetermined range by using a particle filter and disperses particles within the set existent distribution range to estimate the position and attitude angle of a vehicle from an image capturing the surroundings of the vehicle. The vehicle position attitude-angle estimation device widens the set existent distribution range in the vehicle width direction of the vehicle when the speed of the vehicle becomes high.

9. 发明公开

EP3113149A1 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：EP3113149A1
公开(公告)日：2017-01-04
申请号：EP14883102.7
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： G05D1/0248 , G01C11/02 , G01C21/28 , G06F17/11 , G06F17/16 , G06K9/00791 , G06K9/4671 , G06K2209/25 , G06T7/73 , G06T2207/30244 , G06T2207/30256
摘要： A self-position calculating apparatus includes: a light projector 11 configured to project a patterned light beam onto a road surface around a vehicle; an image capturing unit 12 installed in the vehicle, and configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam; an orientation angle calculator 22 configured to calculate an orientation angle of the vehicle relative to the road surface from a position of the patterned light beam on the image obtained by the image capturing unit 12; a feature point detector 23 configured to set a feature-point detection region surrounding the area of the projected patterned light beam on the image obtained by the image capturing unit 12, and to detect multiple feature points on the road surface within the feature-point detection region; an orientation change amount calculator 24 configured to calculate an amount of change in the orientation of the vehicle based on temporal changes in the multiple feature points on the road surface; and a self-position calculator 25 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 relative to the road surface.
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投射到车辆周围的路面上; 图像捕捉单元12，其安装在车辆中并且被配置为捕捉并获得覆盖投影的图案化光束的区域的车辆周围的路面的图像; 方位角计算器22，用于根据图像获取单元12获取的图像上图形化光束的位置计算车辆相对于路面的方位角; 特征点检测器23，其被配置为在由图像捕获单元12获得的图像上设置围绕投影的图案化光束的区域的特征点检测区域，并且检测特征点检测内的路面上的多个特征点地区; 方位改变量计算器24，其被配置为基于路面上的多个特征点的时间变化来计算车辆的方位的变化量; 以及自身位置计算器25，其被配置为通过将所述方向上的所述改变量加上所述车辆相对于所述路面的初始位置和初始方位角来计算所述车辆的当前位置和当前方位角。

10. 发明公开

EP3113146A1 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：EP3113146A1
公开(公告)日：2017-01-04
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.
摘要翻译：本发明的自定位计算装置将图案化的光投影到车辆周围的路面上，捕获并获得车辆周围的路面的图像。当确定车辆周围的路面的状况变化等于或大于阈值时，自身位置计算装置通过将车辆当前位置和当前的姿态角度相加在先前的信息处理周期中计算的对当前位置和当前姿态角度的姿态。

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