Title:
VEHICLE
Document Type and Number:
WIPO Patent Application WO/2023/058343
Kind Code:
A1
Abstract:
Provided is a vehicle 1 comprising a towing vehicle 2 and a vessel 3. The vessel 3 includes a ROM 23 which stores vessel information including a vessel model and a plurality of first external world sensors 8 which detect objects in a periphery of the vessel 3. The towing vehicle 2 includes an ADAS ECU 10 which acquires the vessel model from the vessel 3 and carries out driving assistance for the vehicle 1 on the basis of the acquired vessel model and a plurality of second external world sensors 9 which detect objects in a periphery of the towing vehicle 2. The ADAS ECU 10 converts acquired detection data of each first external world sensor 8 in a sensor coordinate system of each first external world sensor to that in a vessel coordinate system, further converts the detection data in the vessel coordinate system to that in a towing vehicle coordinate system to thereby unify the detection data of the first external world sensors 8 and detection data of the second external world sensors 9 into the data in the towing vehicle coordinate system, and calculates a relative position and a relative speed of each of the detected objects on the bases of the unified detection data.
Inventors:
YAMADA TETSUYA (JP)
SEIMIYA MASASHI (JP)
SEIMIYA MASASHI (JP)
Application Number:
PCT/JP2022/031533
Publication Date:
April 13, 2023
Filing Date:
August 22, 2022
Export Citation:
Assignee:
HITACHI ASTEMO LTD (JP)
International Classes:
B60W40/12; B60W30/08; B60W30/10; G08G1/16
Domestic Patent References:
| WO2020162576A1 | 2020-08-13 | |||
| WO2020242361A1 | 2020-12-03 |
Foreign References:
| US20190056736A1 | 2019-02-21 | |||
| US20190235504A1 | 2019-08-01 | |||
| JP2020101980A | 2020-07-02 | |||
| US20170240153A1 | 2017-08-24 |
Attorney, Agent or Firm:
HIRAKI & ASSOCIATES (JP)
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