Hitachi Astemo Patente

A whoops-road determination device according to the invention 100' includes an acquisition unit 161 configured to acquire a first value corresponding to pitch information related to pitch motion in a vehicle 1 based on an output signal from a sensor 202, 204, 208 mounted on the vehicle, a calculation unit 163 configured to calculate a second value serving as a basis for determination whether a traveling road R of the vehicle 1 is a whoops-road from a time at which the first value crosses a first threshold, an accumulation unit 165 configured to accumulate the second value as an accumulation value with passage of time, and a determination unit 169 configured to determine whether the traveling road R is the whoops-road based on the accumulation value. The invention further relates to a corresponding vehicle control method.

Methods, apparatus, programs, and storage media for improving automated generation of annotated images are described. The method includes obtaining the image, wherein the image comprises a road. Positional data of a camera that has produced the image is obtained. Coordinates of road lane boundaries are obtained. The road lane boundaries are projected onto the image based on the coordinates of the road lane boundaries and the positional data of the camera. An annotated image is generated by annotating each pixel of the image inside the projected road lane boundaries as the drivable road. The annotated image is provided for further processing.

A map generation apparatus, in particular for generating a 3D HD-map, comprising: a surrounding recording sensor device configured to obtain recorded surrounding data, the surrounding recording sensor device including recording units including at least one camera unit configured to record image data as recorded surrounding data and further including at least one of a radar unit, a camera unit, and/or a lidar unit, an object detection unit configured to receive recorded image data and to perform object detection in the image data to detect objects, an environment data calibration unit configured to receive the recorded surrounding data of the different recording units for a time point t and to transform the received recorded surrounding data of a time point t of the different recording units to a common coordinate system, a matching unit.

According to one aspect of an embodiment of the present invention a vehicle control system (200) is proposed, comprising: an environment recognition unit (300) that is configured to acquire information related to a driving environment of a driving road on which a vehicle (100) travels; a vehicle motion state acquisition unit (400) that is configured to acquire information related to a motion state of the vehicle (100); a control unit (500, 600, 630, 800, 830, 850) that is configured to output a calculation result based on input information, wherein: the control unit (500, 600, 630, 800, 830, 850) is configured to calculate, while holding, for a predetermined distance from the vehicle (100), a shape of a first target trajectory calculated at a first time (t0) for calculating a target trajectory along which the vehicle (100) is to travel, a second target trajectory at a second time (t0+ΔT) which is a next calculation timing of a target trajectory, to set a total distance of a distance to be traveled by the vehicle (100) during a time (ΔT) from the first time (t0) to the second time (t0+ΔT) and a preview point distance (D) that indicates a distance to be traveled by the vehicle (100) during a preview time (Tfwd) as the predetermined distance, and to output a control command for driving the vehicle (100) based on information related to a second target position set on the second target trajectory; and an actuator unit (700) is provided that is configured to control the motion state of the vehicle (100) based on the control command.

A road-surface inclined-state detection method, applicable to a vehicle control method, includes an acquisition step of acquiring a vehicle state where pitching moment causing front wheels 32 of a vehicle 1 to move upward in a vertical direction relative to rear wheels 42 of the vehicle 1 is applied to the vehicle 1, and where rear suspensions 40 suspending the rear wheels 42 are stroked in a compressing direction, a count step of starting counting after the vehicle state acquired in the acquisition step meets a predetermined condition, and continuing the counting until the vehicle state fails to meet the predetermined condition, and an inclined-state detection step of detecting an inclined state of a road surface R on which the vehicle 1 travels, according to count values counted in the count step.

The present invention provides a a vehicle disc brake (1),comprising: a caliper body (3) disposed across a disc rotor (2); a pair of friction pads (4) disposed on both side parts of the disc rotor (2); and a pad spring (5) configured to bias the friction pads (4) inward in a disc radial direction, wherein: the caliper body (3) is provided with a ceiling opening (3f) for inserting and removing the friction pads (4) into and from a bridge part (3b) across an outer periphery of the disc rotor (2), each of the friction pads (4) is provided with a suspension piece (4f) at a central part in a disc circumferential direction (A) in a protruding manner, and is hung to be movable in a disc axial direction by inserting a hanger pin (13), which is suspended in the disc axial direction through the ceiling opening (3f), through the suspension piece (4f), and the pad spring (5) includes: a curved piece (5a) abutting against an inside in the disc radial direction of the hanger pin (13), a run-in side pad spring-back part (5b) extending from the curved piece (5a) to a disc run-in side and configured to press the friction pad (4) inward in the disc radial direction, and a locking piece (5d) provided at a tip of the run-in side pad spring-back part (5b) and locked to an inside in the disc radial direction of a disc run-in side surface of the ceiling opening (3f).

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