US 12,227,194 B2
Vehicle control device including vehicle relative position calculation device
Jumpei Kamiya, Tokyo (JP); and Masaya Endo, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Appl. No. 17/907,902
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Apr. 28, 2020, PCT No. PCT/JP2020/018073
§ 371(c)(1), (2) Date Aug. 29, 2022,
PCT Pub. No. WO2021/220387, PCT Pub. Date Nov. 4, 2021.
Prior Publication US 2023/0116247 A1, Apr. 13, 2023
Int. Cl. B60W 40/103 (2012.01); B60W 40/09 (2012.01); G06V 20/56 (2022.01)
CPC B60W 40/103 (2013.01) [B60W 40/09 (2013.01); B60W 2554/4041 (2020.02)] 4 Claims
OG exemplary drawing
 
1. A vehicle control device comprising at least one processor configured to:
state information of an own vehicle during traveling;
acquire information of a surrounding object around the own vehicle;
acquire relative-position information, which is positional data of the surrounding object relative to the own vehicle that is determined from the state information of the own vehicle and the information of the surrounding object, and convert the relative-position information using a specific position on the own vehicle as an origin;
store the converted relative-position information at a preceding time t-1; and
receive the state information of the own vehicle and based on a yaw angular momentum and a movement amount of the own vehicle during a control system from the preceding time t-1 to a present time t, convert the relative-position information from a camera coordinate system at the preceding time t-1 to a yaw rotation center coordinate system at the present time t, and then to the camera coordinate system at the present time t; and
control movement of the own vehicle based on the relative-position information in the camera coordinate system at the present time t and the state information of the own vehicle.