Vehicle control system and vehicle control method

Patent metadata

Field	Value
Publication number	US-2022227396-A1
Application number	US-202017609562-A
Country	US
Kind code	A1
Filing date	May 15, 2020
Priority date	May 23, 2019
Publication date	Jul 21, 2022
Grant date	—

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.

First claim

1 . A vehicle control system comprising:
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, wherein 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.

2 . The vehicle control system according to claim 1 , wherein the error is represented by probability distribution.

3 . The vehicle control system according to claim 1 , wherein
the integration unit predicts 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 sensor, determines correlation between the detection results of the plurality of sensors and a predicted position of the target, and integrates the detection result and the predicted position of the target, which are correlated with each other, and calculates the errors of the position and the speed of the target.

4 . The vehicle control system according to claim 1 , wherein the integration unit estimates the error of each of the detection results after converting the detection results of the plurality of sensors into one coordinate system.

5 . The vehicle control system according to claim 1 , wherein the integration unit estimates the error of the detection result in accordance with the position of the target.

6 . The vehicle control system according to claim 5 , wherein the integration unit estimates the error so that the error of the detection result increases as distance to the target increases.

7 . The vehicle control system according to claim 6 , wherein the integration unit estimates the error so that the error of the detection result is proportional to a square of the distance to the target.

8 . The vehicle control system according to claim 1 , wherein the integration unit estimates the error so that the error of the detection result increases as approaching an end of a detection range of the sensor.

9 . The vehicle control system according to claim 1 , wherein the integration unit estimates the error so that the error of the detection result increases as the characteristic of the sensor changes to a wide-angle side.

10 . A vehicle control method performed by a vehicle control system including 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 vehicle control method comprising:
by the integration unit, estimating 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; by the integration unit, determining correlation between detection results of a plurality of the sensors; and by the integration unit, integrating correlated detection results and calculates the errors of the position and the speed of the target.

Assignees

• Hitachi Astemo Ltd

Inventors

• Tsuchida Hiroshi
• Aoki Naoto
• Kuriyama Akira
• Hayase Shigenori

Classifications

• B60W2556/20

  Data confidence level · CPC title

• B60W60/0027 Primary

  using trajectory prediction for other traffic participants · CPC title

• G01S13/86

  Combinations of radar systems with non-radar systems, e.g. sonar, direction finder · CPC title

• G08G1/16

  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) · CPC title

• G01C21/28

  with correlation of data from several navigational instruments · CPC title