US 12,304,503 B2
Vehicle orientation estimation system and vehicle orientation estimation method
Zihan Yu, Hitachinaka (JP); Takakiyo Yasukawa, Hitachinaka (JP); Kota Irie, Hitachinaka (JP); and Tatsuhiko Monji, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 18/025,839
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Jun. 29, 2021, PCT No. PCT/JP2021/024521
§ 371(c)(1), (2) Date Mar. 10, 2023,
PCT Pub. No. WO2022/059289, PCT Pub. Date Mar. 24, 2022.
Claims priority of application No. 2020-155190 (JP), filed on Sep. 16, 2020.
Prior Publication US 2023/0347910 A1, Nov. 2, 2023
Int. Cl. B60W 40/11 (2012.01); B60W 40/072 (2012.01); B60W 40/112 (2012.01); G06V 20/56 (2022.01)
CPC B60W 40/112 (2013.01) [B60W 40/072 (2013.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01)] 12 Claims
OG exemplary drawing
 
7. A vehicle orientation estimation method comprising:
setting a first region and a second region that is on a same horizontal line as the first region, in a measurement region corresponding to a road surface acquired by a distance measurement device mounted on a vehicle;
calculating a distance to the road surface of each of the first region and the second region from the vehicle; and
obtaining an inclination angle of the vehicle based on the distance to the road surface of each of the first region and the second region and a positional relationship of the first region and the second region.