US 12,359,923 B2
Electronic control unit
Shigenori Hayase, Tokyo (JP); and Akira Kuriyama, Hitachinaka (JP)
Assigned to HITACHI ASTEMO, LTD., Hitachinaka (JP)
Appl. No. 17/622,602
Filed by HITACHI ASTEMO, LTD., Hitachinaka (JP)
PCT Filed Jul. 3, 2020, PCT No. PCT/JP2020/026215
§ 371(c)(1), (2) Date Dec. 23, 2021,
PCT Pub. No. WO2021/006210, PCT Pub. Date Jan. 14, 2021.
Claims priority of application No. 2019-128408 (JP), filed on Jul. 10, 2019.
Prior Publication US 2022/0357163 A1, Nov. 10, 2022
Int. Cl. G01C 21/34 (2006.01); G01C 21/00 (2006.01); G01C 21/36 (2006.01); G08G 1/16 (2006.01); G06V 20/58 (2022.01)
CPC G01C 21/3407 (2013.01) [G01C 21/3691 (2013.01); G01C 21/3889 (2020.08); G08G 1/166 (2013.01); G06V 20/58 (2022.01)] 5 Claims
OG exemplary drawing
 
1. An electronic control unit comprising:
at least one processor configured to:
acquire map information about a subject area around a user's vehicle, the subject area including an intersection;
acquire information about a non-user's vehicle around the user's vehicle;
decide (i) an entrance road lane, which is a road lane corresponding to an entrance position of the non-user's vehicle to the intersection through which the user's vehicle drives, and (ii) an exit road lane, which is a road lane corresponding to an exit position of the non-user's vehicle from the intersection, on a basis of the map information and the information acquired about the non-user's vehicle;
store management information related to the entrance road lane and the exit road lane;
predict a driving trajectory of the non-user's vehicle in the intersection on a basis of (i) the entrance road lane and the exit road lane represented by the management information and (ii) the information acquired about the non-user's vehicle; and
plan a driving trajectory of the user's vehicle on a basis of a positional relationship between the predicted driving trajectory of the non-user's vehicle and the user's vehicle,
wherein the driving trajectory of the user's vehicle is output from the electronic control unit to cause the user's vehicle to be driven in accordance with the driving trajectory of the user's vehicle,
wherein the predetermined subject area is determined on the basis of map information acquired about the user's vehicle,
wherein the information acquired about a non-user's vehicle includes (i) information of a relative position and a speed of the non-user's vehicle relative to the user's vehicle and (ii) an image of the non-user's vehicle captured by a camera mounted on the user's vehicle,
wherein the at least one processor is configured to decide (i) an advancing direction of the non-user's vehicle on a basis of the image and (ii) the entrance road lane and the exit road lane on a basis of the advancing direction, the map information, and the information of the relative position and the speed of the non-user's vehicle,
wherein the management information includes flag information representing whether or not the non-user's vehicle in a plurality of the non-user's vehicles each corresponding to a same entrance road lane is at an end of a line, and
wherein the at least one processor is configured to:
specify a non-user's vehicle positioned at the end of the line from among a plurality of the non-user's vehicles each driving in front of the user's vehicle and from among a plurality of the non-user's vehicles each driving in front of the user's vehicle and corresponding to a same combination of the entrance road lane and the exit road lane with the user's vehicle on a basis of the flag information, and
plan the driving trajectory of the user's vehicle such that it follows the specified non-user's vehicle.