公开(公告)号：US20220206134A1

公开(公告)日：2022-06-30

申请号：US17655428

申请日：2022-03-18

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU

IPC: G01S13/46 ,  G01S13/931 ,  G01S7/41 ,  G01S13/89

Abstract: A measurement apparatus repeatedly executes measurement determination of whether measurement of a wall object has succeeded. If the wall-object measurement has succeeded, the measurement apparatus calculates an instantaneous wall-distance value indicative of a distance of the wall object from the own object. Otherwise, if the wall-object measurement has not succeeded, the measurement apparatus executes first extrapolation of an additional instantaneous wall-distance value. The measurement apparatus prevents an additional execution of the first extrapolation upon determination that the frequency of continuously repeated executions of the first extrapolation is not less than a prevention threshold frequency. The measurement apparatus sets, if the result of the measurement determination is correct, a correct-state threshold as the prevention threshold frequency, and sets, if the result of the measurement determination is incorrect, an incorrect-state threshold as the prevention threshold frequency; the incorrect-state threshold is smaller than the correct-state threshold.

公开(公告)号：US20220026525A1

公开(公告)日：2022-01-27

申请号：US17496289

申请日：2021-10-07

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU ,  Seiya FUJITSU

IPC: G01S7/35 ,  G01S13/931 ,  G01S13/42 ,  G01S13/58

Abstract: A feature quantity calculation unit calculates one or more predetermined types of feature quantities using information correlated to respective extracted peaks. An environment determination unit calculates a specific environment probability from a calculation result of the feature quantity calculation unit using the positive distribution and a non-specific environment probability from a calculation result of the feature quantity calculation unit using the negative distribution. The environment determination unit further determines whether the mobile body is in the specific environment or the non-specific environment in accordance with a result of integration of the specific environment probability and the non-specific environment probability which are calculated for respective feature quantities.

公开(公告)号：US20250085390A1

公开(公告)日：2025-03-13

申请号：US18957084

申请日：2024-11-22

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Junzoh TSUCHIYA ,  Naotsugu SHIMIZU ,  Masafumi IBUSHI ,  Seiya FUJITSU ,  Keita SUGIURA ,  Koji TAKEUCHI ,  Takaya YAMASHITA ,  Hiroki SHIMAZU ,  Junya FUKUTA

IPC: G01S7/41 ,  G01S13/931

Abstract: In a surroundings monitoring apparatus, a third determiner determines, based on a positional relationship between the object determined by a first determiner and the towed vehicle determined by a second determiner, whether the rearward side object is a ghost. An establishing unit establishes an object searching area located at least in front of or on the right or left side of an own vehicle in accordance with: (i) a position of a radio-wave transceiver; (ii) at least one of a position of each of left and right edges of the front end of the towed vehicle and a position of each of left and right edges of the rear end of the towed vehicle; and (iii) an angle of the towed vehicle tilted to a traveling direction of the own vehicle. The first determiner determines whether an object is located in the established searching area.

公开(公告)号：US20220187063A1

公开(公告)日：2022-06-16

申请号：US17653436

申请日：2022-03-03

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU ,  Seiya FUJITSU

IPC: G01B15/04 ,  G01S13/931

Abstract: A wall shape measurement device includes a wall distance acquisition part, a wall shape calculation part, a sudden change determination part, and an extrapolation part. The wall distance acquisition part repeatedly determines whether a wall-like object installed along the road is detected, and acquires, in response to the wall-like object being detected, a wall distance value indicating the distance to the wall-like object. The wall shape calculation part calculates a plurality of wall shape values using the traveling track of the vehicle and a plurality of past wall distance values. The sudden change determination part determines whether the wall distance value is suddenly changed, based on a preset sudden change determination condition. In response to the wall distance value being suddenly changed, the extrapolation part extrapolates wall shape values after it is determined that the wall distance value is suddenly changed.

公开(公告)号：US20210300243A1

公开(公告)日：2021-09-30

申请号：US17239069

申请日：2021-04-23

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Naotsugu SHIMIZU ,  Koji TAKEUCHI ,  Iwao IZUMIKAWA ,  Masaki KAWAKAMI

IPC: B60Q9/00 ,  G08G1/16

Abstract: In a driving assistance apparatus, an area setter is configured to set a warning area on at least one of a left rear side and a right rear side of a subject vehicle. A notifier is configured to provide a notification in response to an object detector detecting an object in the warning area. A determiner is configured to determine initiation and completion of a turn at an intersection during turning of the subject vehicle at the intersection. An area changer is configured to, in response to the determiner determining the initiation of the turn, reduce the warning area in a direction approaching the subject vehicle, and in response to the determiner determining the completion of the turn, expand the reduced warning area according to a traveling state of the subject vehicle after the completion of the turn.

公开(公告)号：US20210165091A1

公开(公告)日：2021-06-03

申请号：US17151487

申请日：2021-01-18

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU

IPC: G01S13/66 ,  G01S13/931

Abstract: A moving object detection apparatus estimates, based on observed-point positions indicated respectively by a plurality of pieces of observed-point information, a tracking trajectory tracking movement of a moving object. The apparatus stores, based on received electric powers indicated respectively by the pieces of the observed-point information, a maximum received-electric-power. The apparatus determines, for each of the pieces of the observed-point information, whether a received-electric-power difference is greater than a drop determination value. The apparatus also determines, for each of the pieces of the observed-point information, whether the received electric power indicated by the piece of the observed-point information is not higher than a recognition determination value. When the received-electric-power difference is determined to be greater than the drop determination value and the received electric power is determined to be not higher than the recognition determination value, the apparatus suppresses the degree of tracking the observed points in the tracking trajectory.

公开(公告)号：US20200031341A1

公开(公告)日：2020-01-30

申请号：US16337031

申请日：2017-09-27

Applicant: DENSO CORPORATION

Inventor： Takayuki KITAMURA ,  Naotsugu SHIMIZU ,  Koichiro SUZUKI

IPC: B60W30/095 ,  B60W40/10 ,  G06K9/00 ,  G08G1/16

Abstract: An other lane monitoring device of the present disclosure includes an other vehicle acquisition section, a path acquisition section, a lane estimation section, and a position estimation section. The other vehicle acquisition section is configured to acquire other vehicle position information that indicates the current position of an other vehicle near the own vehicle. The path acquisition section is configured to acquire an own vehicle travel path that indicates a path along which the own vehicle has traveled. The lane estimation section is configured to use the own vehicle travel path as a basis for estimating an other lane area that is a lane where the other lane is present, the other lane being different from an own lane where the own vehicle is present. The position estimation section is configured to estimate a future position of the other vehicle indicated by the other vehicle position information, assuming that the other vehicle moves along the own vehicle travel path or in the other lane area.