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公开(公告)号：US20240201323A1
公开(公告)日：2024-06-20
申请号：US18590672
申请日：2024-02-28
Applicant: DENSO CORPORATION
Inventor： Yasuhiro KURONO , Yutaka HASEGAWA , Takuya TAKAYAMA
IPC: G01S7/35 , G01S13/42 , G01S13/58 , G01S13/931
CPC classification number: G01S7/354 , G01S13/42 , G01S13/584 , G01S13/931
Abstract: A vehicle radar apparatus detects a position and a velocity of a target object. The radar apparatus selects, as a relay reflection target object, a moving body capable of relaying transmission and reception of the radar wave to and from another target object, from target objects detected. The radar apparatus sets a multipath ghost condition indicating the position and the velocity of the target object erroneously detected as a result of a stationary object to which the radar wave is relayed by the relay reflection target object, based on the position and the velocity of the relay reflection target object and the velocity of an own vehicle. The radar apparatus extracts a target object that meets the multipath ghost condition from the detected target objects, determines that the extracted target object is a multipath ghost, and restricts output of a detection result from the radar apparatus to an external apparatus.
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公开(公告)号：US20240168150A1
公开(公告)日：2024-05-23
申请号：US18425814
申请日：2024-01-29
Applicant: DENSO CORPORATION
Inventor： Yasuhiro KURONO , Takuya TAKAYAMA
IPC: G01S13/58 , G01S7/35 , G01S13/56 , G01S13/931 , G01S13/95
CPC classification number: G01S13/584 , G01S7/356 , G01S13/56 , G01S13/931 , G01S13/95
Abstract: A radar device for a vehicle includes a frequency analysis unit, a peak information acquisition unit, and a rainfall determination unit. The frequency analysis unit performs a two-dimensional fast Fourier transform on a beat signal, and the peak information acquisition unit extracts, from peaks of a power spectrum calculated by the two-dimensional fast Fourier transform, peaks within a predefined distance-velocity region preset as a raindrop condition, and acquire peak information. The rainfall determination unit determines whether a surrounding environment of the vehicle has rainfall, based on the peak information acquired by the peak information acquisition unit.
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公开(公告)号：US20230258773A1
公开(公告)日：2023-08-17
申请号：US18301617
申请日：2023-04-17
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Takuya TAKAYAMA
CPC classification number: G01S7/415 , G01S7/414 , G01S13/726
Abstract: A radar apparatus, mounted to a vehicle, includes: a transmitting unit that transmits a transmission signal at a set repetition cycle; and a receiving unit that receives a reflection signal reflected by at least one object. The radar apparatus calculates a velocity residual of each of at least one target object, which is a difference between a velocity prediction value and a velocity measurement value. Based on a magnitude of variation in the velocity residual in time series of each of at least one target object, the radar apparatus calculates an evaluation value of each of at least one target object, which corresponds to a probability of each of at least one target object being a folding ghost. Based on the evaluation value of each of at least one target object, the radar apparatus determines whether each of at least one target object is a folding ghost.
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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.
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公开(公告)号：US20190120953A1
公开(公告)日：2019-04-25
申请号：US16302256
申请日：2017-05-18
Applicant: DENSO CORPORATION
Inventor： Takuya TAKAYAMA
Abstract: A velocity detection apparatus includes a velocity detection section, a candidate detection section, a range setting section, and a selection section. The range setting section sets an observation range of the relative velocity with respect to a range which corresponds to the vehicle velocity detected by the velocity detection section and is less than twice a Nyquist velocity corresponding to a repetition period of the pulses. The selection section selects, as the relative velocity, a candidate which falls within the observation range set by the range setting section out of candidates for the relative velocity detected by the candidate detection section.
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Patent Agency Ranking
公开(公告)号：US20210405177A1
公开(公告)日：2021-12-30
申请号：US17473753
申请日：2021-09-13
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Takuya TAKAYAMA
Abstract: In an object tracking device, a candidate generator is configured to, given P=Kmax−Kmin+1 that defines a range of foldings of velocity by phase rotation from Kminth to Kmaxth foldings, calculate P velocity estimates for each of initial observation points. The candidate generator sets the number of foldings Kmin and the number of foldings Kmax such that Kmin |Kmax| when an absolute value of an observation angle representing a direction of the observation point is equal to or less than a first threshold value, and Kmax>0 and |Kmin|
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公开(公告)号：US20210239825A1
公开(公告)日：2021-08-05
申请号：US17237593
申请日：2021-04-22
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Takuya TAKAYAMA , Yasuyuki MIYAKE
Abstract: An object tracking apparatus generates a plurality of target candidates in which ambiguity in velocity is assumed for an object detected for a first time, calculates a current prediction value of a state quantity of each target candidate from a past estimation value of the state quantity of each target candidate, using one filter among a plurality of filters, and calculates the current estimation value of the state quantity of the target candidate from each of the calculated prediction values and a current observation value that matches each prediction value. The object tracking apparatus deletes the target candidate of which a determined likelihood is less than a preset threshold among the target candidates, and switches a used filter to a filter that has a larger number of state variables among the filters, in response to the target candidate being deleted and the total number of target candidates decreasing.
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公开(公告)号：US20210088644A1
公开(公告)日：2021-03-25
申请号：US17110335
申请日：2020-12-03
Applicant: SOKEN, INC. , DENSO CORPORATION
Inventor： Katsuhiko KONDO , Takuya TAKAYAMA
IPC: G01S13/42 , G01S13/60 , G01S13/931 , G01S13/72
Abstract: The position detecting apparatus repeatedly acquires, from a radar apparatus, object information including at least an object distance as a distance between the radar apparatus and a reflecting object and a relative speed between the radar apparatus and a reflecting object. The position detecting apparatus calculates a speed ratio as a ratio between the relative speed and the travelling speed. The position detecting apparatus calculates, based on the speed ratio, a projection distance between a projected position of the reflecting object projected onto a projection plane and a position of the radar apparatus on the projection plane, the projection plane having a predetermined angle with respect to a center axis indicating a direction along which the radar waves are transmitted by the radar apparatus and including the radar apparatus. The position detection apparatus calculates the position of the reflecting object based on the calculated projection distance.
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公开(公告)号：US20200031352A1
公开(公告)日：2020-01-30
申请号：US16524466
申请日：2019-07-29
Applicant: DENSO CORPORATION
Inventor： Ryo TAKAKI , Takuya TAKAYAMA
Abstract: In an apparatus for assisting driving a vehicle, an error calculation unit calculates errors in first information representing a driving state of the vehicle based on the first information and second information including at least one of surroundings information and external location information of the vehicle. An error correction unit corrects for the errors in the first information. If error correction performed by the error correction unit is completed, a location estimation unit estimates a location of the vehicle based on the first information corrected for the errors. A driving assistance unit performs driving assistance for the vehicle based on the location of the vehicle estimated by the location estimation unit. If error correction performed by the error correction unit is completed, a process change unit changes a process of a specific type of driving assistance performed by the driving assistance unit.
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公开(公告)号：US20190179002A1
公开(公告)日：2019-06-13
申请号：US16323876
申请日：2017-08-08
Applicant: DENSO CORPORATION
Inventor： Takuya TAKAYAMA
Abstract: A range setting unit sets, for each of tracked objects as objects being tracked, a connection range as a range in which the tracked object is estimated to be movable based on a state quantity of the tracked objects determined in the previous processing cycle. An association extraction unit extracts, for each of the tracked objects, a reflection point detected in the current processing cycle and positioned in the connection range as an associated reflection point. A state quantity update unit updates, for each of the tracked objects, the state quantity of the tracked objects in the current processing cycle, based on the previous state quantity and the state quantity of the associated reflection point.
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