公开(公告)号：US20080266168A1

公开(公告)日：2008-10-30

申请号：US12083219

申请日：2007-02-28

申请人： Kazuaki Aso ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Toshiki Kindo

IPC分类号： G01S13/93

CPC分类号： B60W40/02 ,  G01S13/931 ,  G01S2013/9339 ,  G01S2013/9353 ,  G01S2013/9375 ,  G08G1/166

摘要： An obstacle detecting method for detecting a presence of an obstacle to a moving body using a sensor mounted on the moving body. The obstacle detecting method includes setting a movable area which is a surrounding area of the moving body and in which the moving body can move, arranging plural unconfirmed bodies over an entire area of the movable area as obstacle candidates as an initial state, and deleting the obstacle candidate which is determined not to be actually present as a result of detection by the sensor from the obstacle candidates arranged as the initial state.

摘要翻译： 一种障碍物检测方法，用于使用安装在移动体上的传感器来检测障碍物的存在。 障碍物检测方法包括设置作为移动体的周围区域的可移动区域，移动体可移动的可移动区域，将作为候选的可移动区域的整个区域上的多个未确认体设置为初始状态， 由传感器从作为初始状态排列的障碍物候补检测结果而确定不实际存在的障碍物候补。

公开(公告)号：US08457892B2

公开(公告)日：2013-06-04

申请号：US12083239

申请日：2007-03-01

申请人： Kazuaki Aso ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Toshiki Kindo

IPC分类号： G01C21/00

CPC分类号： B60W30/10 ,  B60W40/02 ,  G05D1/0214 ,  G05D1/0217 ,  G08G1/166 ,  G08G1/167

摘要： An own-vehicle-path determining method includes calculating a first evaluation value of each of plural predicted own-vehicle-path candidates, calculating a second evaluation value of each of the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high first evaluation values from the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high second evaluation values as appropriate own-vehicle-path candidates from the selected own-vehicle-path candidates, and selecting any one of the appropriate own-vehicle-path candidates as an own-vehicle path.

摘要翻译： 本车路径确定方法包括：计算多个预测的本车路线候选中的每一个的第一评估值，计算多个本车路线候选中的每一个的第二评估值，选择本车路线候选 具有来自多个本车路线候选的高第一评估值，从所选择的本车路线候选中选择具有高第二评估值的自身车辆路线候选作为适当的本车路线候选，并且选择 作为自身车辆路径的适当的本车路线候选者。

公开(公告)号：US07903021B2

公开(公告)日：2011-03-08

申请号：US12083219

申请日：2007-02-28

申请人： Kazuaki Aso ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Toshiki Kindo

IPC分类号： G01S13/00

CPC分类号： B60W40/02 ,  G01S13/931 ,  G01S2013/9339 ,  G01S2013/9353 ,  G01S2013/9375 ,  G08G1/166

摘要： An obstacle detecting method for detecting a presence of an obstacle to a moving body using a sensor mounted on the moving body. The obstacle detecting method includes setting a movable area which is a surrounding area of the moving body and in which the moving body can move, arranging plural unconfirmed bodies over an entire area of the movable area as obstacle candidates as an initial state, and deleting the obstacle candidate which is determined not to be actually present as a result of detection by the sensor from the obstacle candidates arranged as the initial state.

摘要翻译： 一种障碍物检测方法，用于使用安装在移动体上的传感器来检测障碍物的存在。 障碍物检测方法包括设置作为移动体的周围区域的可移动区域，移动体可移动的可移动区域，将作为候选的可移动区域的整个区域上的多个未确认体设置为初始状态， 由传感器从作为初始状态排列的障碍物候补检测结果而确定不实际存在的障碍物候补。

公开(公告)号：US08805601B2

公开(公告)日：2014-08-12

申请号：US12224176

申请日：2007-02-28

申请人： Kazuaki Aso ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Toshiki Kindo

IPC分类号： G05D1/02

CPC分类号： G08G1/166 ,  B60W30/08 ,  B60W30/095 ,  B60W30/10 ,  B60W30/16 ,  B60W40/02 ,  B60W2550/306 ,  B60W2550/402 ,  G08G1/161 ,  G08G1/164 ,  G08G1/165 ,  G08G1/167

摘要： An object path prediction method, apparatus, and program and an automatic operation system that can secure safety even in situations that can actually occur are provided. For this purpose, a computer having a storage unit that stores the position of an object and the internal state including the speed of the object reads the position and internal state of the object from the storage unit, generates trajectories in a space-time consisting of time and space from changes of the positions that can be taken by the object with the passage of time based on the read position and internal state of the object, and predicts probabilistically paths of the object by using the generated trajectories.

摘要翻译： 提供了即使在实际发生的情况下也能够确保安全性的物体路径预测方法，装置和程序以及自动操作系统。 为此，具有存储物体的位置的存储单元和包含物体的速度的内部状态的计算机从存储单元读取物体的位置和内部状态，在由空间时间构成的时空中产生轨迹 基于对象的读取位置和内部状态，随着时间的推移，对象可以采取的位置的变化的时间和空间，并且通过使用所生成的轨迹来预测对象的概率路径。

公开(公告)号：US20090012703A1

公开(公告)日：2009-01-08

申请号：US12083239

申请日：2007-03-01

申请人： Kazuaki Aso ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Toshiki Kindo

IPC分类号： G08G1/16

CPC分类号： B60W30/10 ,  B60W40/02 ,  G05D1/0214 ,  G05D1/0217 ,  G08G1/166 ,  G08G1/167

摘要： An own-vehicle-path determining method includes calculating a first evaluation value of each of plural predicted own-vehicle-path candidates, calculating a second evaluation value of each of the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high first evaluation values from the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high second evaluation values as appropriate own-vehicle-path candidates from the selected own-vehicle-path candidates, and selecting any one of the appropriate own-vehicle-path candidates as an own-vehicle path.

摘要翻译： 本车路径确定方法包括：计算多个预测的本车路线候选中的每一个的第一评估值，计算多个本车路线候选中的每一个的第二评估值，选择本车路线候选 具有来自多个本车路线候选的高第一评估值，从所选择的本车路线候选中选择具有高第二评估值的自身车辆路线候选作为适当的本车路线候选，并且选择 作为自身车辆路径的适当的本车路线候选者。

公开(公告)号：US20100318240A1

公开(公告)日：2010-12-16

申请号：US12814582

申请日：2010-06-14

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Katsuhiro Sakai

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Katsuhiro Sakai

IPC分类号： G08G1/16 ,  G06F7/00

CPC分类号： G08G1/166

摘要： A course evaluation that evaluates a course of a mobile unit includes: generating a predetermined first course of the mobile unit; generating, for the first course, a second course for which a controlled amount of the mobile unit after a predetermined driving condition is satisfied is increased as compared with a controlled amount of the mobile unit on the first course; estimating another object course, which is a course of another object; determining whether the second course interferes with the other object course; and evaluating a degree of safety of the first course on the basis of a result of determination as to whether the second course interferes with the other object course.

摘要翻译： 评估移动单元的课程的课程评估包括：生成移动单元的预定的第一课程; 在第一课程中，与在第一课程上的移动单元的受控量相比，增加了在满足预定驾驶条件之后的可移动单元的受控量的第二课程; 估计另一个对象课程，这是另一个对象的过程; 确定第二个课程是否干扰另一个课程; 并且基于第二过程是否干扰另一个对象过程的确定结果来评估第一课程的安全程度。

公开(公告)号：US20090024357A1

公开(公告)日：2009-01-22

申请号：US12224176

申请日：2007-02-28

申请人： Kazuaki Aso ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Toshiki Kindo

IPC分类号： G06F17/18

CPC分类号： G08G1/166 ,  B60W30/08 ,  B60W30/095 ,  B60W30/10 ,  B60W30/16 ,  B60W40/02 ,  B60W2550/306 ,  B60W2550/402 ,  G08G1/161 ,  G08G1/164 ,  G08G1/165 ,  G08G1/167

摘要： An object path prediction method, apparatus, and program and an automatic operation system that can secure safety even in situations that can actually occur are provided. For this purpose, a computer having a storage unit that stores the position of an object and the internal state including the speed of the object reads the position and internal state of the object from the storage unit, generates trajectories in a space-time consisting of time and space from changes of the positions that can be taken by the object with the passage of time based on the read position and internal state of the object, and predicts probabilistically paths of the object by using the generated trajectories.

摘要翻译： 提供了即使在实际发生的情况下也能够确保安全性的物体路径预测方法，装置和程序以及自动操作系统。 为此，具有存储物体的位置的存储单元和包含物体的速度的内部状态的计算机从存储单元读取物体的位置和内部状态，在由空间时间构成的时空中产生轨迹 基于对象的读取位置和内部状态，随着时间的推移，对象可以采取的位置的变化的时间和空间，并且通过使用所生成的轨迹来预测对象的概率路径。

公开(公告)号：US09446711B2

公开(公告)日：2016-09-20

申请号：US14399599

申请日：2012-05-09

申请人： Hiromitsu Urano ,  Katsuhiro Sakai ,  Toshiki Kindo ,  Kentaro Ichikawa ,  Masahiro Harada

发明人： Hiromitsu Urano ,  Katsuhiro Sakai ,  Toshiki Kindo ,  Kentaro Ichikawa ,  Masahiro Harada

IPC分类号： G08G1/00 ,  G08G1/123 ,  B60Q1/00 ,  G06F17/10 ,  G01C21/30 ,  G01S1/24 ,  B60Q9/00 ,  G08G1/16 ,  G01S7/41 ,  G01S13/86 ,  G01S13/93 ,  G06K9/00

CPC分类号： B60W30/09 ,  B60Q9/008 ,  B60W50/12 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/10 ,  B60W2710/20 ,  B60W2720/106 ,  B60W2750/306 ,  B60W2750/308 ,  G01S7/412 ,  G01S13/865 ,  G01S13/931 ,  G05D1/0231 ,  G06K9/00805 ,  G08G1/165 ,  G08G1/166

摘要： Provided is a driving assist device 10 that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the apparatus including: an object detecting unit 12 that detects the object in the vicinity of the moving body; a three dimensional object detecting unit 13 that detects a three dimensional object in the vicinity of the moving body; and an object recognition unit 18 that recognizes the object at a predetermined detection position as a non-obstacle when the object information storing unit 16 stores the position of the object, and the three dimensional object information storing unit 17 does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit 12 and the three dimensional object detecting unit 13.

摘要翻译： 提供一种识别移动体附近的物体的驾驶辅助装置10，并且辅助驾驶员驱动移动体，该装置包括：物体检测单元12，其检测移动体附近的物体; 检测移动体附近的三维物体的三维物体检测部13; 以及对象识别单元18，当对象信息存储单元16存储对象的位置时，将预定检测位置处的对象识别为非障碍物，并且三维对象信息存储单元17不存储该对象的位置 在由物体检测单元12和三维物体检测单元13进行检测的预定位置处的三维物体。

公开(公告)号：US09495873B2

公开(公告)日：2016-11-15

申请号：US14124171

申请日：2011-06-09

申请人： Hiromitsu Urano ,  Katsuhiro Sakai ,  Toshiki Kindo ,  Kentaro Ichikawa ,  Masahiro Harada

发明人： Hiromitsu Urano ,  Katsuhiro Sakai ,  Toshiki Kindo ,  Kentaro Ichikawa ,  Masahiro Harada

IPC分类号： G08G1/16 ,  G06K9/00 ,  B60R21/0132 ,  G01S17/93 ,  B60R21/0134 ,  B60R21/013

CPC分类号： G08G1/16 ,  B60R21/013 ,  B60R21/0132 ,  B60R21/0134 ,  G01S17/936 ,  G06K9/00805 ,  G06K9/00825 ,  G08G1/166 ,  G08G1/167

摘要： An other-vehicle detector 18 of an other-vehicle detection device 10a detects an other-vehicle VO around a host vehicle VM based on the predetermined feature amount. A detection reference value adjustment unit 16 of the other-vehicle detection device 10a, regarding the feature amount for detecting the other-vehicle VO around the host vehicle VM, changes a threshold value of the feature amount for detecting the other-vehicle VO, and detects the other-vehicle VO, based on a relative positional relationship between the other-vehicle VO and the host vehicle VM. In this way, it is possible to detect the existence of the other-vehicle VO according to the situation more.

摘要翻译： 另一车辆检测装置10a的其他车辆检测器18基于预定特征量检测主车辆VM周围的其他车辆VO。 关于用于检测主车辆VM周围的其他车辆VO的特征量的另一车辆检测装置10a的检测基准值调整单元16改变用于检测其他车辆VO的特征量的阈值， 基于其他车辆VO与主车辆VM之间的相对位置关系来检测其他车辆VO。 以这种方式，可以根据情况更多地检测其他车辆VO的存在。

公开(公告)号：US20140104078A1

公开(公告)日：2014-04-17

申请号：US14124171

申请日：2011-06-09

申请人： Hiromitsu Urano ,  Katsuhiro Sakai ,  Toshiki Kindo ,  Kentaro Ichikawa ,  Masahiro Harada

发明人： Hiromitsu Urano ,  Katsuhiro Sakai ,  Toshiki Kindo ,  Kentaro Ichikawa ,  Masahiro Harada

IPC分类号： G08G1/16

CPC分类号： G08G1/16 ,  B60R21/013 ,  B60R21/0132 ,  B60R21/0134 ,  G01S17/936 ,  G06K9/00805 ,  G06K9/00825 ,  G08G1/166 ,  G08G1/167

摘要： An other-vehicle detector 18 of an other-vehicle detection device 10a detects an other-vehicle VO around a host vehicle VM based on the predetermined feature amount. A detection reference value adjustment unit 16 of the other-vehicle detection device 10a, regarding the feature amount for detecting the other-vehicle VO around the host vehicle VM, changes a threshold value of the feature amount for detecting the other-vehicle VO, and detects the other-vehicle VO, based on a relative positional relationship between the other-vehicle VO and the host vehicle VM. In this way, it is possible to detect the existence of the other-vehicle VO according to the situation more.

摘要翻译： 另一车辆检测装置10a的其他车辆检测器18基于预定特征量检测主车辆VM周围的其他车辆VO。 关于用于检测主车辆VM周围的其他车辆VO的特征量的另一车辆检测装置10a的检测基准值调整单元16改变用于检测其他车辆VO的特征量的阈值， 基于其他车辆VO与主车辆VM之间的相对位置关系来检测其他车辆VO。 以这种方式，可以根据情况更多地检测其他车辆VO的存在。