US 12,094,340 B2
Control device, parking lot system, and location accuracy calculation method
Masatake Wada, Kariya (JP); Koudai Yamaura, Kariya (JP); and Takamasa Hidaka, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Aug. 12, 2022, as Appl. No. 17/886,772.
Application 17/886,772 is a continuation of application No. PCT/JP2021/003565, filed on Feb. 1, 2021.
Claims priority of application No. 2020-028457 (JP), filed on Feb. 21, 2020.
Prior Publication US 2022/0392345 A1, Dec. 8, 2022
Int. Cl. G07C 1/20 (2006.01); B60W 30/06 (2006.01); G06T 7/70 (2017.01); G06V 20/52 (2022.01); G06V 20/54 (2022.01); G06V 20/58 (2022.01); G08G 1/14 (2006.01); H04W 4/12 (2009.01)
CPC G08G 1/148 (2013.01) [B60W 30/06 (2013.01); G06T 7/70 (2017.01); G06V 20/52 (2022.01); G06V 20/54 (2022.01); G06V 20/586 (2022.01); H04W 4/12 (2013.01); B60W 2556/20 (2020.02); G06T 2207/30264 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A control device for an automated valet parking lot, comprising:
a travel route determining unit configured to determine a travel route to a parking space;
a travel route transmission unit configured to transmit the travel route to a vehicle;
a position acquiring unit configured to acquire, from the vehicle, a position of the vehicle that is estimated by the vehicle while traveling; and
a positional accuracy calculation unit configured to calculate a dynamic estimation accuracy, which is an accuracy of the position of the vehicle acquired by the position acquiring unit from the vehicle while the vehicle is travelling, prior to performing automated driving of the vehicle in accordance with the travel route,
wherein
the control device is provided outside the vehicle and is configured to wirelessly communicate with the vehicle, and
the positional accuracy calculation unit includes:
a position measurement unit measures, using a sensor installed in the automated valet parking lot, the position of the vehicle while the vehicle is travelling; and
a calculation unit configured to calculate the dynamic estimation accuracy based on a difference between the position of the vehicle while travelling, which is acquired by the position acquiring unit, and the position of the vehicle measured by the position measurement unit while travelling.