US 12,077,178 B2
Aiming device, driving control system, and method for calculating correction amount for sensor data
Naoto Aoki, Ibaraki (JP); Haruki Nishimura, Ibaraki (JP); Shunsuke Matsuo, Ibaraki (JP); Akira Kuriyama, Ibaraki (JP); and Tatsuhiko Monji, Ibaraki (JP)
Assigned to Hitachi Astemo, Ltd., Ibaraki (JP)
Appl. No. 17/628,498
Filed by HITACHI ASTEMO, LTD., Hitachinaka (JP)
PCT Filed Jul. 14, 2020, PCT No. PCT/JP2020/027321
§ 371(c)(1), (2) Date Jan. 19, 2022,
PCT Pub. No. WO2021/024711, PCT Pub. Date Feb. 11, 2021.
Claims priority of application No. 2019-142887 (JP), filed on Aug. 2, 2019.
Prior Publication US 2022/0281476 A1, Sep. 8, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 40/09 (2012.01); B60W 40/12 (2012.01); G01S 7/40 (2006.01); G01S 7/497 (2006.01); G01S 13/931 (2020.01); G01S 17/93 (2020.01); G06F 18/25 (2023.01); G08G 1/16 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 40/09 (2013.01); B60W 40/12 (2013.01); G06F 18/25 (2023.01); B60W 2420/408 (2024.01); B60W 2540/30 (2013.01)] 8 Claims
OG exemplary drawing
 
1. An aiming device comprising:
a movement sensor to detect a movement of an own vehicle;
a target sensor to detect a target around the own vehicle, wherein the target sensor is a millimeter-wave radar or a camera; and
one or more memory devices having a program stored thereon that, when executed by one or more processors, cause the one or more processors to:
detect a track of the target for a period when the own vehicle moves, based at least in part on the movement of the own vehicle;
generate a plurality of estimated tracks having different start-point positions from the detected track of the target based at least in part on a first variable group including a start-point position variable and a movement parameter variable, wherein the start-point position variable is a numerical string to indicate a deviation of the start-point position that causes a corresponding one of the plurality of estimated tracks to vary, and the movement parameter variable is a numerical string to indicate a deviation of a movement of the target that causes the corresponding one of the plurality of estimated tracks to vary;
generate a plurality of corrected tracks based at least in part on the track of the target and a second variable group including an axial deviation variable that is a numerical string to indicate a deviation of an angular direction that causes a corresponding one of the plurality of corrected tracks to vary;
calculate a difference for each combination between the plurality of estimated tracks and the plurality of corrected tracks;
identify one of the plurality of estimated tracks and one of the plurality of corrected tracks, a combination having a smallest value of the difference;
calculate a correction parameter for correcting a displacement of the target sensor based at least in part on a first variable related to the identified one estimated track and a second variable related to the identified one corrected track; and
correct a detection result of the target sensor based at least in part on the correction parameter.