Driving support apparatus, driving support system, driving support method, and computer readable recording medium

Patent metadata

Field	Value
Publication number	US-10410072-B2
Application number	US-201515772475-A
Country	US
Kind code	B2
Filing date	Nov 20, 2015
Priority date	Nov 20, 2015
Publication date	Sep 10, 2019
Grant date	Sep 10, 2019

Abstract

A driving support apparatus ( 10 ) converts at least one of a first map ( 43 ) and a second map ( 53 ) so that the first map ( 43 ) and the second map ( 53 ) become three-dimensional maps in a same coordinate system. The first map ( 43 ) is a three-dimensional map indicating three-dimensional positions of objects around a vehicle ( 100 ). The second map ( 53 ) is a three-dimensional map indicating three-dimensional positions of objects around an external apparatus ( 200 ) that is one of a roadside apparatus ( 201 ) and a different vehicle ( 202 ) from the vehicle ( 100 ). Then, the driving support apparatus ( 10 ) synthesizes the first map ( 43 ) and the second map ( 53 ) after the conversion, thereby generating a composite map ( 44 ).

First claim

The invention claimed is:

1. A driving support apparatus comprising:
processing circuitry
to acquire sensor data from a sensor mounted on a vehicle,
to generate a first map from the acquired sensor data, the first map being a three-dimensional map indicating three-dimensional positions of objects around the vehicle,
to receive a second map from transmission equipment mounted on an external apparatus, the second map being generated from sensor data acquired from a sensor mounted on the external apparatus, the second map being a three-dimensional map indicating three-dimensional positions of objects around the external apparatus, the external apparatus being one of a roadside apparatus and a different vehicle from the vehicle,
to convert the second map so that a second coordinate system being a coordinate system of the second map matches a first coordinate system being a coordinate system of the first map generated, and
to generate a composite map by synthesizing the first map and the second map after the conversion,
wherein the processing circuitry
repeatedly extracts, from a plurality of points indicating the three-dimensional positions of the objects in the first map, three target points, as a point a1, a point a2, and a point a3 and repeatedly extracts, from a plurality of points indicating the three-dimensional positions of the objects in the second map, three target points respectively made to correspond to the point a1, the point a2, and the point a3, as a point b1, a point b2, and a point b3,
computes a likelihood when the point a1 and the point b1 indicate a same position, the point a2 and the point b2 indicate a same position, and the point a3 and the point b3 indicate a same position,
computes a conversion amount for matching the second coordinate system to the first coordinate system, assuming that, with respect to the target points repeatedly extracted and having a high likelihood computed, the point a1 and the point b1 indicate the same position, the point a2 and the point b2 indicate the same position, and the point a3 and the point b3 indicate the same position,
converts the second map, using the conversion amount computed,
computes, using a distance between the point b1 and the point b2, the position of the point b2 when the point b1 is placed at the same position as the point a1 in the first coordinate system and the point b2 is placed on a straight line X passing through the point a1 and the point a2,
computes, using a distance between the point b2 and the point b3, the position of the point b3 when the point b3 is placed on a straight line Z in the first coordinate system, the straight line Z being obtained by moving a straight line Y passing through the point a2 and the point a3 in parallel so that the straight line Y passes through the position of the point b2 computed, and
computes a distance between the point a3 and the position of the point b3 computed, as the likelihood.

2. The driving support apparatus according to claim 1 ,
wherein the processing circuitry extracts, as the point b1, a point indicating the position of the object having an attribute being the same as an attribute of the object whose position is indicated by the point a1, extracts, as the point b2, a point indicating the position of the object having an attribute being the same as an attribute of the object whose position is indicated by the point a2, and extracts, as the point b3, a point indicating the position of the object having an attribute being the same as an attribute of the object whose position is indicated by the point a3.

3. The driving support apparatus according to claim 1 , wherein the processing circuitry
receives a plurality of the second maps from the transmission equipment mounted on the external apparatus,
identifies, among the plurality of the second maps received, the second map generated from data acquired at a same time as an acquisition time of data used for generating the first map, and
synthesizes the first map and the second map identified.

4. The driving support apparatus according to claim 3 ,
wherein when there is not the second map generated from the data acquired at the same time as the acquisition time, the processing circuitry estimates the second map to be generated from the data acquired at the same time as the acquisition time, using the plurality of the second maps, and
synthesizes the first map and the second map estimated.

5. The driving support apparatus according to claim 1 , wherein the processing circuitry
determines a travel route, based on the composite map generated, and
controls the vehicle so that the vehicle travels on the travel route determined.

6. The driving support apparatus according to claim 1 , wherein the processing circuitry
displays the composite map generated.

7. A driving support apparatus comprising:
processing circuitry
to acquire sensor data from a sensor mounted on a vehicle,
to generate a first map from the acquired sensor data, the first map being a three-dimensional map indicating three-dimensional positions of objects around the vehicle,
to receive a second map from transmission equipment mounted on an external apparatus, the second map being generated from sensor data acquired from a sensor mounted on the external apparatus, the second map being a three-dimensional map indicating three-dimensional positions of objects around the external apparatus, the external apparatus being one of a roadside apparatus and a different vehicle from the vehicle,
to convert the second map so that a second coordinate system being a coordinate system of the second map matches a first coordinate system being a coordinate system of the first map generated, and
to generate a composite map by synthesizing the first map and the second map after the conversion,
wherein the processing circuitry
repeatedly extracts, from a plurality of points indicating the three-dimensional positions of the objects in the first map, three target points, as a point a1, a point a2, and a point a3 and repeatedly extracts, from a plurality of points indicating the three-dimensional positions of the objects in the second map, three target points respectively made to correspond to the point a1, the point a2, and the point a3, as a point b1, a point b2, and a point b3,
computes a likelihood when the point a1 and the point b1 indicate a same position, the point a2 and the point b2 indicate a same position, and the point a3 and the point b3 indicate a same position,
computes a conversion amount for matching the second coordinate system to the first coordinate system, assuming that, with respect to the target points repeatedly extracted and having a high likelihood computed, the point a1 and the point b1 indicate the same position, the point a2 and the point b2 indicate the same position, and the point a3 and the point b3 indicate the same position,
converts the second map, using the conversion amount computed,
computes a rotation amount when a straight line Y passing through the point b1 and the point b2 in the second coordinate system is converted to a straight line parallel to a straight line X passing through the point a1 and the point a2 in the first coordinate system,
computes a translation amount in the conversion amount when a rotation amount in the conversion amount for matching the second coordinate system to the first coordinate system is assumed to be the rotation amount computed,
computes the positions of the point b1, the point b2, and the point b3 in the first coordinate system, based on the rotation amount computed and the translation amount computed, and
computes a sum of a distance between the point a1 and the position of the point b1 computed, a distance between the point a2 and the position of the b2 com

Assignees

• Mitsubishi Electric Corp

Inventors

• Yoshida Michinori
• Tsushima Naoyuki
• Hasegawa Takefumi
• Abukawa Masahiro

Classifications

• G08G1/096791

  where the origin of the information is another vehicle · CPC title

• G08G1/09675

  where a selection from the received information takes place in the vehicle · CPC title

• G08G1/096741

  where the source of the transmitted information selects which information to transmit to each vehicle · CPC title

• G08G1/096783

  where the origin of the information is a roadside individual element · CPC title

• G08G1/096716

  where the received information does not generate an automatic action on the vehicle control · CPC title