公开(公告)号：US20230082823A1

公开(公告)日：2023-03-16

申请号：US18055170

申请日：2022-11-14

Applicant: DENSO CORPORATION

Inventor： Koichi SATO ,  Hiroyuki HOTTA ,  Hiroto NAKATANI ,  Yuuji KATOU

IPC: G01S7/40 ,  G01S13/931 ,  G01S13/58

Abstract: An axis-misalignment estimation device estimates an axis-misalignment angle of a radar device mounted to a moving object. The axis-misalignment estimation device estimates the axis-misalignment angle using a plurality of different axis-misalignment angle estimation methods based on detection results of the radar device. The axis-misalignment estimation device determines whether a predefined employment condition is met, based on a plurality of axis-misalignment angle estimates estimated using respective ones of the plurality of axis-misalignment angle estimation methods. In response to determining that the employment condition is met, the axis-misalignment estimation device employs at least one of the plurality of axis-misalignment angle estimates.

公开(公告)号：US20230073814A1

公开(公告)日：2023-03-09

申请号：US18054456

申请日：2022-11-10

Applicant: DENSO CORPORATION

Inventor： Hiroyuki HOTTA ,  Koichi SATO ,  Hiroto NAKATANI ,  Yuuji KATOU

IPC: G01S7/40 ,  G01S13/28 ,  G01S13/931

Abstract: An axial displacement angle estimation device repeatedly calculates an axial displacement angle based on the detection result of the radar apparatus. The axial displacement angle estimation device extracts the axial displacement angle included in a predetermined extraction angle range among a plurality of axial displacement angles, and calculate an average value of the extracted plurality of axial displacement angles to be an axial displacement angle average value. The axial displacement angle estimation device determines, based on the axial displacement angle average value, whether a predetermined allowable condition is met. The axial displacement angle estimation device utilizes, when determined that the predetermined allowable condition is met, the axial displacement angle average value as an estimation result of the axial displacement angle.

公开(公告)号：US20230074625A1

公开(公告)日：2023-03-09

申请号：US18054847

申请日：2022-11-11

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroyuki HOTTA ,  Koichi SATO ,  Hiroto NAKATANI ,  Yuuji KATOU ,  Ichiro AIZAWA ,  Naoki SUGIMOTO ,  Takahiro KOHARA

IPC: G01S13/58 ,  G01S13/931

Abstract: An axial displacement estimation device estimates an axial displacement angle of a radar apparatus mounted on a mobile body. The axial displacement estimation device uses a plurality of detection values acquired by mutually different plurality of modulation methods to estimate an axial displacement angle for each of the plurality of modulation methods. The axial displacement estimation device determines whether a predetermined allowable condition is met based on a plurality of axial displacement angle estimation results estimated using a plurality of detection values corresponding to respective plurality of modulation methods. The axial displacement estimation device utilizes at least one of a plurality of axial displacement angle estimation results when determined that the predetermined allowable condition is met.

公开(公告)号：US20230061836A1

公开(公告)日：2023-03-02

申请号：US18054454

申请日：2022-11-10

Applicant: DENSO CORPORATION

Inventor： Hiroyuki HOTTA ,  Koichi SATO ,  Hiroto NAKATANI ,  Yuuji KATOU

IPC: G01S13/68

Abstract: An axial displacement angle estimation device repeatedly calculates an axial displacement angle based on the detection result of the radar apparatus. The axial displacement angle estimation device extracts the axial displacement angle included in a predetermined extraction angle range among a plurality of axial displacement angles, and calculate an average value and a median value of the extracted plurality of axial displacement angles to be an axial displacement angle average value and an axial displacement median value. The axial displacement angle estimation device determines, based on the axial displacement angle average value and the axial displacement angle median value, whether a predetermined allowable condition is met. The axial displacement angle estimation device utilizes, when determined that the predetermined allowable condition is met, the axial displacement angle average value as an estimation result of the axial displacement angle.

公开(公告)号：US20170227634A1

公开(公告)日：2017-08-10

申请号：US15501786

申请日：2015-08-04

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yusuke MATSUMOTO ,  Ryo TAKAKI ,  Akira ISOGAI ,  Ichiro AIZAWA ,  Jun TSUCHIDA ,  Koichi SATO

IPC: G01S13/86 ,  G01S17/93 ,  G01S13/93 ,  G01S17/02 ,  G06K9/78 ,  G06K9/00 ,  G06T7/246 ,  G06K9/03 ,  G06K9/62 ,  G01S7/41 ,  G06K9/20

Abstract: A vehicle as a moving body is provided with an imaging device as first object detecting means and a radar apparatus as second object detecting means. The object recognition apparatus is provided with axis displacement learning means for learning an axis displacement of the reference axis X1 of the first object detecting means; axis displacement determining means for performing, based on an object detecting result of the first object detecting means and the second object detecting means, an axis displacement determination process for determining whether or not an axis displacement has occurred in the reference axis of the second object detecting means; and disabling means for disabling, based on a learning result of the axis displacement by the axis displacement learning means, information about an axis displacement of the second object detecting means acquired by the axis displacement determination process.