US 12,444,304 B2
Driving assistance device and method, and storage medium in which program is stored
Manabu Yoshida, Musashino (JP); Yuki Yokohata, Musashino (JP); Kouhei Mori, Musashino (JP); Takahiro Hata, Musashino (JP); and Ippei Shake, Musashino (JP)
Assigned to NTT, Inc., Tokyo (JP)
Appl. No. 17/263,837
Filed by NTT, Inc., Tokyo (JP)
PCT Filed Jul. 25, 2019, PCT No. PCT/JP2019/029246
§ 371(c)(1), (2) Date Jan. 27, 2021,
PCT Pub. No. WO2020/026940, PCT Pub. Date Feb. 6, 2020.
Claims priority of application No. 2018-143753 (JP), filed on Jul. 31, 2018.
Prior Publication US 2021/0390847 A1, Dec. 16, 2021
Int. Cl. G08G 1/16 (2006.01); G05B 13/02 (2006.01); G06F 18/25 (2023.01); G06V 10/44 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 10/80 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); G06V 40/10 (2022.01); G08G 1/01 (2006.01); G08G 1/0967 (2006.01)
CPC G08G 1/166 (2013.01) [G05B 13/0265 (2013.01); G06F 18/253 (2023.01); G06V 10/454 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 10/806 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); G06V 40/103 (2022.01); G08G 1/0112 (2013.01); G08G 1/096791 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A driving assistance device, comprising:
one or more processors; and
non-transitory computer readable medium comprising instructions executed by the one or more processors to perform to:
acquire image data captured in a running vehicle, and sensor data relating to a driving operation by a driver of the running vehicle;
convert an image in each frame included in the image data into an image feature amount indicated by the image;
combine the image feature amount converted and the sensor data acquired, the combining including column wise aligning the image feature amounts at times with speeds of the running vehicle from the sensor data at those times;
perform, based on combined data resulting from the combining, a learning process for a driving assistance information learning model used when a target value of a steering wheel angle of the vehicle relating to the driving operation by the driver of the running vehicle is generated from the image feature amount included in the combined data;
store the driving assistance information learning model subjected to learning process;
generate, when new image data captured in the running vehicle is acquired, the target value relating to the driving operation by the driver of the running vehicle, as driving assistance information of the running vehicle, based on the image feature amount converted by the image feature amount converter from the acquired new image data and the driving assistance information learning model stored; and
automatically drive the vehicle based on the driving assistance information.