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公开(公告)号：US20180182243A1
公开(公告)日：2018-06-28
申请号：US15855803
申请日：2017-12-27
Applicant: DENSO CORPORATION
Inventor： Takahiro BABA
CPC classification number: G08G1/16 , G01S13/867 , G01S13/931 , G01S2013/9346 , G01S2013/935 , G01S2013/9364 , G01S2013/9367 , G06K9/00805 , G06K9/3233 , G06K9/6202 , G06K9/629 , G08G1/166
Abstract: In an object detection apparatus, a first association unit associates, based on radar information and camera information, radar objects with at least one camera object that are estimated to be the same as each other. If camera objects are detected so that the camera information includes at least the detection point and the type of each of the camera objects, a determination unit determines whether the camera objects express a common object in accordance with the camera information. A second association unit defines, upon determination that the camera objects express the common object, the camera objects as a camera object group, and associates, if one of the camera objects constituting the camera object group is associated with a target radar object that is one of the radar objects, all the camera objects constituting the camera object group with the target radar object.
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公开(公告)号：US20150066348A1
公开(公告)日：2015-03-05
申请号：US14471343
申请日：2014-08-28
Applicant: DENSO CORPORATION
Inventor： Takahiro BABA
IPC: G08G1/16
CPC classification number: G08G1/166 , B60W30/095 , B60W2420/42 , B60W2420/52 , G01S13/867 , G01S13/931
Abstract: A collision probability determination apparatus includes a specifying means for specifying target positions on an X-Y plane, a calculation means for calculating a target path and calculating a predicted arrival position of the target on an X-axis, a determination means for determining probability of a collision between the vehicle and the target based on the predicted arrival position; and a calculation origin changing means for defining the target position specified last time as a last specified value, and defining the target position specified this time as a current specified value, and for, when detecting that the target path, whose end point is the last specified value, is a straight line and then if a difference value between X-coordinates of the last specified value and the current specified value exceeds a predetermined threshold, changing a calculation origin of the target path to the last specified value or the current specified value.
Abstract translation: 冲突概率确定装置包括用于指定XY平面上的目标位置的指定装置，用于计算目标路径并计算目标在X轴上的预测到达位置的计算装置，用于确定碰撞概率的确定装置 基于预计的到达位置在车辆和目标之间; 以及计算原点改变装置，用于将上次指定的目标位置定义为最后指定值，并将此次指定的目标位置定义为当前指定值，并且当检测到终点为最后的目标路径时 指定值是直线，然后如果最后指定值的X坐标与当前指定值之间的差值超过预定阈值，则将目标路径的计算原点改变为最后指定值或当前指定值 。
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公开(公告)号：US20150054673A1
公开(公告)日：2015-02-26
申请号：US14465033
申请日：2014-08-21
Applicant: DENSO CORPORATION
Inventor： Takahiro BABA
IPC: G01S13/86
CPC classification number: G01S13/867 , G01S7/4026 , G01S13/931 , G01S2007/403 , G01S2013/9346 , G01S2013/935
Abstract: A first specifying-means specifies a first-region including a first detection-point, which is of a first-target on an X-Y plane on which a width direction of a vehicle is defined as an X-axis, and a longitudinal direction of the vehicle is defined as a Y-axis. A second specifying-means specifies a second-region including a second detection-point, which is of a second-target on the X-Y plane, based on a direction of the second detection-point and a target-width, which is a width along the X-axis of the second-target. A determination means determines that the first- and second-targets are the same, provided that an overlapping portion exists therebetween. An estimation means estimates a true-value target-width, based on the direction of the second detection-point and the first detection-point, provided that the first- and second-targets are the same. A correction-means corrects a position of the second-region specified next time by using the true-value target-width as the target-width.
Abstract translation: 第一指定装置指定包括在车辆的宽度方向被定义为X轴的XY平面上具有第一目标的第一检测点的第一区域和第二检测点的纵向方向 车辆被定义为Y轴。 第二指定装置基于第二检测点的方向和作为宽度的目标宽度来指定包括在XY平面上的第二目标的第二检测点的第二区域 第二个目标的X轴。 确定装置确定第一和第二目标是相同的，只要它们之间存在重叠部分。 假设第一和第二目标相同，估计装置基于第二检测点和第一检测点的方向估计真值目标宽度。 校正装置通过使用真值目标宽度作为目标宽度来校正下次指定的第二区域的位置。
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公开(公告)号：US20230150489A1
公开(公告)日：2023-05-18
申请号：US18157050
申请日：2023-01-19
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yosuke ITO , Takaharu OGURI , Kei KAMIYA , Takahiro BABA , Ryo TAKAKI , Tomoyuki DOI
IPC: B60W30/09 , B60W30/18 , B60W10/18 , B60W10/30 , B60W30/095
CPC classification number: B60W30/09 , B60W10/18 , B60W10/30 , B60W30/0956 , B60W30/18159 , B60W2555/60
Abstract: A braking control device for controlling braking of a host vehicle. For a state in which a host vehicle is stopped in an intersection by automatic emergency braking and an oncoming vehicle is approaching in an oncoming lane, the host vehicle prohibits secondary braking is prohibited in, flashes a hazard lamp,and prohibits an idling stop. For a state in which it is determined in that the vehicle is stopped and it is determined in that it is safe for the vehicle to start moving, the host vehicle releases stop maintenance braking.
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公开(公告)号：US20200262422A1
公开(公告)日：2020-08-20
申请号：US16869531
申请日：2020-05-07
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kei KAMIYA , Yosuke ITO , Takaharu OGURI , Takahiro BABA , Ryo TAKAKI , Shinichi NAGATA
IPC: B60W30/09 , B60W10/18 , B60W30/095 , B60W30/18
Abstract: Provided is a vehicle braking support device. The braking support device includes: detection units for detecting a state around a host vehicle; a braking support control unit for executing braking support by a braking device according to the detected state; and a vehicle stop control unit for maintaining a stopped state of a host vehicle after the host vehicle is stopped by the braking support control unit, and for releasing the stopped state of the host vehicle after a predetermined period has elapsed. The vehicle stop control unit, in a case where by using the detected state it is determined that it is desirable to maintain the stopped state of the host vehicle beyond the predetermined period, the vehicle stop control unit does not release the stopped state of the host vehicle until an operation by a driver is detected.
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Patent Agency Ranking
公开(公告)号：US20200055494A1
公开(公告)日：2020-02-20
申请号：US16343663
申请日：2017-10-12
Applicant: DENSO CORPORATION
Inventor： Takahiro BABA
Abstract: Control determines whether or not two objects represent the same object, in which one object is detected at a first position in front of a vehicle by an electromagnetic wave sensor and the other object is detected at a second position in front of the vehicle by image sensor. The control further determines whether or not the other object is partially excluded from an image acquired by the image sensor, in which a part of the object may have been outside the imaging region of the image sensor. The control changes a determination condition used for determining whether or not the objects represent the same object, such that the object whose part is excluded from the acquired image is more easily determined as the same object, compared with an object determined that such a part is not excluded from the acquired image.
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公开(公告)号：US20180182247A1
公开(公告)日：2018-06-28
申请号：US15855896
申请日：2017-12-27
Applicant: DENSO CORPORATION
Inventor： Takahiro BABA , Takaharu OGURI , Yosuke ITO , Kei KAMIYA
CPC classification number: G08G1/166 , B60T7/22 , B60T2201/03 , B60T2210/20 , B60T2210/32 , B60T2250/03 , B60T2250/04 , B60W30/09 , B60W30/0953 , B60W30/0956 , B60W40/04 , B60W2420/42 , B60W2420/52 , B60W2520/14 , B60W2540/18 , B60W2550/10 , B60W2550/146 , G06K9/00791 , G06K9/00805
Abstract: A vehicle collision avoidance support apparatus includes a state determination unit configured to determine whether or not there is a state where a moving object proceeding in a direction intersecting with a traveling direction of a vehicle may exist; a first sensor configured to detect an object in front of the vehicle; and an avoidance operation control unit configured to cause the vehicle to perform a predetermined avoidance operation for avoiding a collision according to a detection result of the first sensor within a determination region in front of the vehicle. The avoidance operation control unit uses a region that is wider in a direction perpendicular and horizontal to the travelling direction as the determination region when it is determined that there is a state where the moving object may exist in comparison with when it is determined that there is no state where the moving object may exist.
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公开(公告)号：US20190329745A1
公开(公告)日：2019-10-31
申请号：US16508717
申请日：2019-07-11
Applicant: DENSO CORPORATION
Inventor： Yosuke ITO , Kei KAMIYA , Takaharu OGURI , Takahiro BABA
Abstract: A collision avoidance apparatus includes a travelling state calculation section, a target detection section, a target state calculation section, a lateral moving object determination section, a collision determination section, and a collision avoidance control section. The collision avoidance control section calculates, based on (i) a passing-through period of the lateral moving object in which the lateral moving object passes through an own vehicle course that is a moving course of the own vehicle and (ii) a reaching time of the own vehicle that is a period remaining before the own vehicle reaching a lateral moving object course that is a moving course of the lateral moving object, an operation timing of the brakes for the lateral moving object passing through the own vehicle course before the own vehicle reaches the lateral moving object course, and operates the brakes at the calculated operation timing of the brakes.
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公开(公告)号：US20190179006A1
公开(公告)日：2019-06-13
申请号：US16321171
申请日：2017-07-26
Applicant: DENSO CORPORATION
Inventor： Takahiro BABA , Yusuke YOKOI
Abstract: A target detection device including a radar device and a monocular camera, including: a first detecting section detecting a position of a radar detection target; a second detecting section detecting a position of an image detection target which is a specific target; and a determination section that when the radar detection target and the image detection target are provisionally determined to be an identical target, and the image detection target is determined to be a predetermined type of target, determines that the radar detection target and the image detection target are not an identical target, and when the radar detection target and the image detection target are provisionally determined to be an identical target, and a predetermined target determination section determines that the image detection target is not the predetermined type of target, determines that the radar detection target and the image detection target are an identical target.
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公开(公告)号：US20190061751A1
公开(公告)日：2019-02-28
申请号：US16082377
申请日：2017-02-13
Applicant: DENSO CORPORATION
Inventor： Takahiro BABA , Wataru IKE , Masayuki SHIMIZU
IPC: B60W30/095 , B60W40/114 , B60W40/04 , G06K9/00 , G08G1/16
Abstract: A crossing determination apparatus includes: an object detection unit which detects an object moving in a direction perpendicular to a traveling path of an own vehicle; a crossing speed calculation unit which calculates a crossing speed that is a speed at which the object detected by the objection detection unit is crossing a current traveling path of the own vehicle; a crossing determination unit which, when the crossing speed calculated by the crossing speed calculation unit is higher than a predetermined speed, determines that the object is crossing the traveling path of the own vehicle; and a yaw rate detection unit which detects a yaw rate of the own vehicle. The crossing determination unit corrects the crossing speed of the object or the predetermined speed based on the yaw rate detected by the yaw rate detection unit.
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