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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：US20200346653A1
公开(公告)日：2020-11-05
申请号：US16931350
申请日：2020-07-16
Applicant: DENSO CORPORATION
Inventor： Katsuhiko KONDO , Yusuke AKAMINE , Yasuyuki MIYAKE
IPC: B60W40/00 , G01S13/08 , G01S13/931 , G01S7/02
Abstract: A vehicle radar system includes at least one radar, a detection section, an extraction section, a pair determination section, and a target position determination section. The extraction section extracts at least one observation point pair from a plurality of detected observation points. The observation point pair is a pair of the observation points located in the same direction. The target position determination section calculates a surface direction of a reflection surface from a reflection surface observation point of the observation point pair and observation points around the reflection surface observation point, and determines a position of the target from the calculated surface direction and the at least one observation point pair.
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公开(公告)号：US20190212430A1
公开(公告)日：2019-07-11
申请号：US16315291
申请日：2017-07-07
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Mitsuyasu MATSUURA , Yasuyuki MIYAKE
CPC classification number: G01S13/341 , B60R21/00 , G01S7/352 , G01S13/34 , G01S13/93 , G01S13/931 , G01S2013/9353 , G08G1/16
Abstract: A dual-frequency CW processing unit (12) calculates an observation-point orientation of an observation point. An FMCW processing unit (11) calculates at least a power spectrum of a beat signal, which has been generated based on radar waves that have come from the calculated observation-point orientation, in terms of an up-modulation time interval and a down-modulation time interval (termed orientation power spectrum hereinafter). The FMCW processing unit (11) shifts the orientation power spectra of the up- and down-modulation time intervals to positive and negative directions, respectively, by an amount corresponding to a Doppler shift frequency. The FMCW processing unit (11) calculates a differential power spectrum by differentiating the orientation power spectra of the shifted up- and down-modulation time intervals, and detects a peak frequency where intensity is maximum.
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公开(公告)号：US20220236402A1
公开(公告)日：2022-07-28
申请号：US17659151
申请日：2022-04-13
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Akiyoshi MIZUTANI
IPC: G01S13/72 , G01S7/41 , G01S13/931
Abstract: An object tracking device according to one aspect of the present disclosure includes a detection unit, a prediction unit, a first region setting unit, an estimation unit, a registration unit, a prohibition region setting unit, and a registration prohibition unit. The registration prohibition unit prohibits observed values of at least one observed value detected by the detection unit and that are within a prohibition region set by the prohibition region setting unit from being registered as new targets by the registration unit.
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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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Patent Agency Ranking
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：US20200041638A1
公开(公告)日：2020-02-06
申请号：US16339939
申请日：2017-10-03
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Mitsuyasu MATSUURA , Yasuyuki MIYAKE
Abstract: A vehicle information providing apparatus (hereinafter, apparatus) repeatedly acquires observation point information. The apparatus calculates at least one position of the predicted point. When the observation point information is acquired, the apparatus extracts a predicted point that can be connected to the observation point from the calculated predicted points. The apparatus calculates the position of the current filtered point based on the position of the current observation point and the position of the latest predicted point. When the observation point information of a new object (an object having no latest predicted point connectable to the observation point) is acquired, the device sets initial vectors. The apparatus calculates the position of the predicted point at time instants succeeding the current time instant for each of the traveling directions indicated by the initial vectors.
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公开(公告)号：US20220236398A1
公开(公告)日：2022-07-28
申请号：US17659154
申请日：2022-04-13
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Takuya TAKAYAMA
Abstract: An object tracking apparatus acquires detection information from a sensor mounted to a moving body, detects an object, and calculates a distance, a relative velocity, and an orientation thereof. For the initially detected object, the apparatus calculates aliased velocities of which aliasing from the relative velocity is assumed, and generates target candidates corresponding to the aliased velocities. For each target candidate, the apparatus estimates a current state of the target candidate from a past state thereof and observation information, and selects the target candidate estimated to be a true target from the target candidates for the same object. The apparatus calculates, as a reference velocity, an aliased velocity of the relative velocity that is equal to or greater than a velocity lower-limit value and is most negative or smallest in magnitude. The apparatus calculates the aliased velocities being the reference velocity aliased 0 to n times in a positive direction.
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公开(公告)号：US20210133465A1
公开(公告)日：2021-05-06
申请号：US17144874
申请日：2021-01-08
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Katsuhiko KONDO , Yasuyuki MIYAKE
IPC: G06K9/00
Abstract: An intersecting road estimation device includes an object detection unit that detects an object existing around an own vehicle and a position of the object, an object extraction unit that extracts a stationary object and a position of the stationary object from an object detection result, a first estimation unit that estimates a road edge of a traveling road on which the own vehicle is traveling based on the position of the stationary object, a candidate extraction unit that extracts a stationary object existing outside the road edge of the traveling road estimated by the first estimation unit as a candidate for an outside stationary object representing a road edge of an intersecting road intersecting the traveling road, and a second estimation unit that estimates the road edge of the intersecting road based on a position of the outside stationary object extracted by the candidate extraction unit.
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公开(公告)号：US20210003695A1
公开(公告)日：2021-01-07
申请号：US17026668
申请日：2020-09-21
Applicant: SOKEN, INC. , DENSO CORPORATION
Inventor： Yusuke AKAMINE , Yasuyuki MIYAKE
Abstract: A radar apparatus is mountable to a vehicle. The radar apparatus includes an observing unit, an estimating unit, a predicting unit, a matching processing unit, and a determining unit. The estimating unit calculates, regarding an initial detection target object, a plurality of velocity estimation values in which folding is presumed, using a velocity observation value calculated by the observing unit. The predicting unit calculates a prediction value from each of the plurality of velocity estimation values. The matching processing unit performs association of the velocity prediction value and the velocity observation value.
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