公开(公告)号：US11994577B2

公开(公告)日：2024-05-28

申请号：US17473753

申请日：2021-09-13

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Takuya Takayama

IPC: G01S13/58 ,  G01S7/35 ,  G01S13/60

CPC classification number: G01S13/583 ,  G01S7/352 ,  G01S13/60

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|

公开(公告)号：US11614536B2

公开(公告)日：2023-03-28

申请号：US16851952

申请日：2020-04-17

Applicant: DENSO CORPORATION

Inventor： Katsuhiko Kondo ,  Yusuke Akamine ,  Yasuyuki Miyake

IPC: G01S13/931 ,  G01S13/86 ,  B60W40/02

Abstract: An object detection apparatus detects a target object present in a periphery of a moving body. The object detection apparatus derives recognition information indicating a state of a target object, and predicts a state of the target object at a next second observation timing, based on the recognition information derived at a first observation timing. The object detection apparatus derives a score based on a degree of difference between a state of the target object observed at the second observation timing and a next state of the target object predicted at the first observation timing. The object detection apparatus derives a reliability level by statistically processing scores related to the target object derived at a plurality of observation timings from past to present. In response to the reliability level satisfying a predetermined reference, the object detection apparatus determines that the target object related to the reliability level is actually present.

公开(公告)号：US20160173831A1

公开(公告)日：2016-06-16

申请号：US14964131

申请日：2015-12-09

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Naoki Kawasaki ,  Shunsuke Suzuki

IPC: H04N7/18 ,  G06T7/00 ,  G06K9/00

CPC classification number: G06K9/00798 ,  G06K9/00805

Abstract: A lane boundary line recognition apparatus, mounted to an own vehicle, images a road surface ahead of the own vehicle and acquires an image. Edge points are extracted from the image. A lane boundary line candidate is extracted based the edge points. A lane boundary line probability of the lane boundary line candidate is calculated. A lane boundary line candidate of which the lane boundary line probability exceeds a predetermined threshold is recognized as a lane boundary line. A solid object is recognized in an image. A lane boundary line being hidden by the solid object is detected. When a lane boundary line being hidden is detected, the lane boundary line probability is suppressed in at least a part of an area outside of the hidden lane boundary line, compared to that when the lane boundary line being hidden is not detected.

Abstract translation: 安装在自身车辆上的车道边界线识别装置对自身车辆前方的路面进行成像并获取图像。 从图像中提取边缘点。 基于边缘点提取车道边界线候选。 计算车道边界线候选的车道边界线概率。 车道边界线概率超过预定阈值的车道边界线候选被识别为车道边界线。 在图像中识别实体。 检测由固体物体隐藏的车道边界线。 当检测到隐藏的车道边界线时，与隐藏车道边界线以外的区域的至少一部分相比，未检测到车道边界线被隐藏时，车道边界线概率被抑制。

公开(公告)号：US20160055383A1

公开(公告)日：2016-02-25

申请号：US14830200

申请日：2015-08-19

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Naoki Kawasaki ,  Tomohiko Tsuruta ,  Shunsuke Suzuki

IPC: G06K9/00 ,  G06K9/66

CPC classification number: G06K9/00798 ,  G06K9/033

Abstract: In a lane boundary line recognition device, a calculation section calculates a degree of uncertainty which affects a correct recognition of white lines on a roadway of a vehicle. A learning section updates a learning value of the degree of uncertainty. A recognition suppression section suppresses execution of a recognition process of recognizing white lines on the roadway when the updated learning value is more than a threshold value. An environment change judgment section judges whether or not a road environment has changed. A learning resetting section resets the learning value of the degree of uncertainty to a previous learning value when the detection result of the environment change judgment section indicates an occurrence of change of the road environment.

Abstract translation: 在车道边界线识别装置中，计算部分计算影响车辆道路上的白线的正确识别的不确定度。 学习部分更新不确定程度的学习价值。 当更新的学习值大于阈值时，识别抑制部分抑制识别道路上的白线的识别处理的执行。 环境变化判断部判断道路环境是否变化。 当环境变化判断部分的检测结果指示道路环境的变化的发生时，学习重置部分将不确定度的学习值重置为先前的学习值。

公开(公告)号：US12216194B2

公开(公告)日：2025-02-04

申请号：US17645566

申请日：2021-12-22

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Takayuki Kitamura

IPC: G01S13/72 ,  G01S7/41 ,  G01S13/931

Abstract: In a target tracking device, a state quantity estimation unit is configured to, every time a preset repetition period of a processing cycle elapses, estimate, for each of the one or more targets, a current state quantity based on at least either observation information of the one or more targets observed by a sensor or past state quantities of the one or more targets. A model selection unit is configured to, for each of the one or more targets, select one motion model from a plurality of predefined motion models, based on at least either states of the one or more targets or a state of the vehicle. An estimation selection unit is configured to, for each of the one or more targets, cause the state quantity estimation unit to estimate the state quantity of the target with the one motion model selected by the model selection unit.

公开(公告)号：US11841419B2

公开(公告)日：2023-12-12

申请号：US16851795

申请日：2020-04-17

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Yasuyuki Miyake

IPC: G01S13/62 ,  B60W30/095 ,  G01S13/931 ,  G01S13/60 ,  G01S13/52

CPC classification number: G01S13/62 ,  B60W30/0956 ,  G01S13/52 ,  G01S13/60 ,  G01S13/931 ,  G01S2013/932 ,  G01S2013/9322

Abstract: A moving object recognition apparatus includes an object detection section, a position detection section, a road direction estimation section, and a moving direction estimation section. The object detection section detects a moving object that moves on a road around an own vehicle and a roadside object by the road, from objects present around the own vehicle. The position detection section detects positions of the moving object and the roadside object detected by the object detection section. The road direction estimation section estimates a road direction of the road on which the moving object is moving, based on the position of the roadside object detected by the position detection section. The moving direction estimation section estimates a moving direction of the moving object based on the road direction estimated by the road direction estimation section.

公开(公告)号：US11709246B2

公开(公告)日：2023-07-25

申请号：US17026668

申请日：2020-09-21

Applicant: SOKEN, INC. ,  DENSO CORPORATION

Inventor： Yusuke Akamine ,  Yasuyuki Miyake

IPC: G01S13/58 ,  G01S7/41 ,  G01S7/35

CPC classification number: G01S13/583 ,  G01S7/352 ,  G01S7/411 ,  G01S7/356

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.

公开(公告)号：US11210953B2

公开(公告)日：2021-12-28

申请号：US16440141

申请日：2019-06-13

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Yasuyuki Miyake

IPC: G08G1/16 ,  B60Q9/00 ,  G08G1/01 ,  G08G1/052

Abstract: A driving support device of the present disclosure includes an other vehicle detecting unit, a lane recognizing unit, a track acquiring unit, an interference determining unit, and a driving support unit. The other vehicle detecting unit is configured to detect a location of another vehicle existing around the own vehicle. The lane recognizing unit is configured to recognize a traffic lane in which the other vehicle is located. The track acquiring unit is configured to acquire an own vehicle track. The interference determining unit is configured to determine whether an other vehicle course interferes with the own vehicle track. The driving support unit is configured to perform driving support different between in an interference state indicating a case where the other vehicle course interferes with the own vehicle track and in a non-interference state.

公开(公告)号：US11014518B2

公开(公告)日：2021-05-25

申请号：US16098669

申请日：2017-05-02

Applicant: SOKEN, INC. ,  DENSO CORPORATION

Inventor： Yusuke Akamine ,  Mitsuyasu Matsuura ,  Mai Sakamoto

IPC: B60R21/01 ,  G01S13/60 ,  G01S13/66 ,  G01S13/93 ,  G08G1/16 ,  B60R21/00

Abstract: An estimation device includes an information acquisition unit, a detection determination unit, a direction determination unit, and a direction estimation unit. When an object is a first-time detected object, the direction determination unit determines whether a relative direction acquired by the information acquisition unit is a direction toward an own vehicle. When the relative direction acquired by the information acquisition unit is a direction toward the own vehicle, the direction estimation unit estimates that a direction predetermined according to an object position acquired by the information acquisition unit is the movement direction of the object.

公开(公告)号：US11002850B2

公开(公告)日：2021-05-11

申请号：US16733556

申请日：2020-01-03

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Yasuyuki Miyake

IPC: G01S13/931 ,  G01S7/288 ,  G01S13/34 ,  G01S13/58

Abstract: A radar device includes a beat signal generation unit, a first signal processing unit, a second signal processing unit, and a speed determination unit. The first signal processing unit observes beat signals by performing a first number of observations during a first observation time and calculates a first speed from a time series of the beat signals of which number is equal to the first number of observations. The second signal processing unit observes the beat signals by performing a second number of observations during a second observation time and calculates a second speed from a time series of the beat signals of which number is equal to the second number of observations. The second observation time is longer than the first observation time. The time ratio is the ratio of the second observation time to the first observation time. The second number of observations is smaller than the first number of observations multiplied by the time ratio.