公开(公告)号：US20220075074A1

公开(公告)日：2022-03-10

申请号：US17455638

申请日：2021-11-18

Applicant: DENSO CORPORATION

Inventor： Jian KANG ,  Mitsutoshi MORINAGA

IPC: G01S17/931 ,  G01S15/931 ,  G01S7/48

Abstract: A result acquisition unit repeatedly acquires measurement results from an environment monitoring sensor that emits probe waves to a probe region and measures the distance and the direction to a reflection point at which the probe waves are reflected. A probability calculation unit calculates a detection probability for each reflection point in accordance with the measurement results acquired by the result acquisition unit. A type determination unit determines the type of the target having the reflection point in accordance with the detection probability calculated by the probability calculation unit.

公开(公告)号：US20190219673A1

公开(公告)日：2019-07-18

申请号：US16335820

申请日：2017-09-25

Applicant: DENSO CORPORATION

Inventor： Mitsutoshi MORINAGA ,  Takuya TAKAYAMA ,  Chiharu YAMANO

IPC: G01S7/40

CPC classification number: G01S7/4026 ,  G01S7/40 ,  G01S2007/403

Abstract: An acquiring unit acquires, for each of reflection points detected by a radar device, reflection point information including a horizontal angle, a vertical angle, and a relative speed. A converting unit converts each of the reflection points into three-dimensional coordinates. An extracting unit extracts stationary reflection points from the reflection points. An estimating unit uses a relational expression established among unknown parameters including a traveling direction vector and a moving speed of a moving body, three-dimensional coordinates of each of the stationary reflection points, and a relative speed of the stationary reflection point, to estimate the known parameters. A calculating unit determines an axial misalignment angle from the estimated unknown parameters.

公开(公告)号：US20220236401A1

公开(公告)日：2022-07-28

申请号：US17659307

申请日：2022-04-14

Applicant: DENSO CORPORATION

Inventor： Mitsutoshi MORINAGA ,  Koichiro SUZUKI ,  Chiharu YAMANO ,  Norikazu IKOMA

IPC: G01S13/72 ,  G01S17/58 ,  G01S13/42

Abstract: A tracking apparatus which tracks a target includes a predilection unit, correction unit, and updating unit. The prediction unit predicts the state distribution of the target at a specific time. The correction unit, for at least one observation point of the target, that is observed at the specific time, uses a likelihood function to define a degree of certainty of the state distribution predicted by the prediction unit, and corrects the likelihood function depending on the number of observation points. The updating unit updates the state distribution at the specific time based on the likelihood function corrected by the correction unit.

公开(公告)号：US20210256728A1

公开(公告)日：2021-08-19

申请号：US17313626

申请日：2021-05-06

Applicant: DENSO CORPORATION

Inventor： Masakazu IKEDA ,  Mitsutoshi MORINAGA

IPC: G06T7/70 ,  G06T7/254 ,  G01S13/58 ,  G01S13/89

Abstract: In an object detection apparatus for detecting a position of an object based on at least measured distances to the object as measurement results by a plurality of ranging sensors, a speed difference calculator calculates, for each of candidate points representing the position of the object, a relative speed difference between the relative speeds of the candidate point acquired from the plurality of ranging sensors. The candidate-point determiner determines that a candidate point of the candidate points, the relative speed difference of which is equal to or greater than a predetermined value, is a virtual image of the object. An object detector detects the position of the object based on positions of the candidate points each determined to be a real image after removal of the candidate points each determined to be a virtual image from all of the candidate points.

公开(公告)号：US20220075048A1

公开(公告)日：2022-03-10

申请号：US17455832

申请日：2021-11-19

Applicant: DENSO CORPORATION

Inventor： Masakazu IKEDA ,  Mitsutoshi MORINAGA

IPC: G01S13/46 ,  G01S13/931

Abstract: A grouping unit separates, into groups, reflection points included in plural sets of reflection-point information items based on positional parameters of the respective reflection points in a first direction. Each of the positional parameters of a corresponding one of the reflection points in the first direction represents a position of the corresponding one of the reflection points in the first direction. A measuring unit performs a two-dimensional trilateration localization for each of the groups based on at least one reflection point included in a corresponding one of the groups to thereby calculate a location of the at least one reflection point included in each of the groups in a second plane. The second plane is defined by the second direction and a group center direction of the corresponding one of the groups.

公开(公告)号：US20180361854A1

公开(公告)日：2018-12-20

申请号：US15996933

申请日：2018-06-04

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Takashi CHIBA ,  Mitsutoshi MORINAGA

IPC: B60K31/00 ,  G08G1/16 ,  B60W30/09 ,  B60W30/095 ,  G01S17/50 ,  G01S13/52 ,  G01S13/86 ,  G01S17/93 ,  G01S13/93

Abstract: A target determination apparatus mounted in a vehicle includes a first relative speed acquisition device configured to acquire a relative speed of a target forward of the vehicle with respect to the vehicle as a first relative speed using a millimeter-wave radar, a second relative speed acquisition device configured to acquire a relative speed of the target with respect to the vehicle as a second relative speed using a lidar, and a determination device configured to, in a case where the difference between the first relative speed and the second relative speed exceeds a threshold, determine the target as an upper structure located above the height of the vehicle.