公开(公告)号：US08868325B2

公开(公告)日：2014-10-21

申请号：US13639436

申请日：2010-04-05

申请人： Kohei Morotomi ,  Takeshi Nanami

发明人： Kohei Morotomi ,  Takeshi Nanami

IPC分类号： G06F17/10 ,  G06G7/78 ,  G08G1/16 ,  B60W30/095 ,  B60R21/0134 ,  B60W30/18 ,  G01S13/93

CPC分类号： G08G1/167 ,  B60R21/0134 ,  B60W30/0953 ,  B60W30/18145 ,  B60W2550/146 ,  G01S13/931 ,  G01S2013/9353

摘要： A correct collision judgment is realized between an obstacle and a vehicle even when the vehicle enters a curve. In a collision judgment apparatus for judging the collision between the vehicle and the obstacle based on a relative positional relationship between a subject vehicle position of the vehicle and a relative movement straight line of the obstacle with respect to the vehicle as calculated based on a plurality of pieces of the position information acquired by a position information acquiring unit in relation to the obstacle, the relative positional relationship between the relative movement straight line and the subject vehicle position is adjusted so that a distance between the relative movement straight line and the subject vehicle position is separated if it is judged that the vehicle enters an entrance to a curve as compared with a situation in which the vehicle does not enter the entrance to the curve.

摘要翻译： 即使车辆进入曲线，也能够在障碍物和车辆之间实现正确的碰撞判断。 在用于基于多个车辆所计算的基于车辆的车辆位置与障碍物相对于车辆的相对运动直线之间的相对位置关系来判断车辆与障碍物之间的碰撞的碰撞判断装置中， 通过位置信息获取单元获取的与障碍物相关的位置信息，调节相对运动直线与目标车辆位置之间的相对位置关系，使得相对运动直线与本车位置之间的距离 如果判定车辆进入曲线的入口与车辆未进入曲线入口的情况相比，则分离。

公开(公告)号：US08738281B2

公开(公告)日：2014-05-27

申请号：US13547117

申请日：2012-07-12

申请人： Kohei Morotomi ,  Masayuki Katoh ,  Hideaki Hayashi

发明人： Kohei Morotomi ,  Masayuki Katoh ,  Hideaki Hayashi

IPC分类号： G06F17/10

摘要： The present invention is intended to provide a technique which is capable of detecting a collision position of a moving object crossing a road and a subject vehicle with a higher degree of accuracy. In the present invention, in cases where the moving object crossing the road into which the subject vehicle has entered is detected at the time when the subject vehicle has turned to the right or to the left, the direction of a moving vector of the moving object is fixed to a direction which is set based on a shape of the road into which the subject vehicle has turned to the right or to the left. Then, the collision position of the moving object and the subject vehicle is predicted based on this moving vector of which the direction is fixed.

公开(公告)号：US08612133B2

公开(公告)日：2013-12-17

申请号：US13547117

申请日：2012-07-12

申请人： Kohei Morotomi ,  Masayuki Katoh ,  Hideaki Hayashi

发明人： Kohei Morotomi ,  Masayuki Katoh ,  Hideaki Hayashi

IPC分类号： G06F17/10

摘要： The present invention is intended to provide a technique which is capable of detecting a collision position of a moving object crossing a road and a subject vehicle with a higher degree of accuracy. In the present invention, in cases where the moving object crossing the road into which the subject vehicle has entered is detected at the time when the subject vehicle has turned to the right or to the left, the direction of a moving vector of the moving object is fixed to a direction which is set based on a shape of the road into which the subject vehicle has turned to the right or to the left. Then, the collision position of the moving object and the subject vehicle is predicted based on this moving vector of which the direction is fixed.

公开(公告)号：US20130013184A1

公开(公告)日：2013-01-10

申请号：US13547117

申请日：2012-07-12

申请人： Kohei MOROTOMI ,  Masayuki KATOH ,  Hideaki HAYASHI

发明人： Kohei MOROTOMI ,  Masayuki KATOH ,  Hideaki HAYASHI

IPC分类号： G08G1/16 ,  G06F17/10

CPC分类号： G08G1/163 ,  G08G1/166

摘要： The present invention is intended to provide a technique which is capable of detecting a collision position of a moving object crossing a road and a subject vehicle with a higher degree of accuracy. In the present invention, in cases where the moving object crossing the road into which the subject vehicle has entered is detected at the time when the subject vehicle has turned to the right or to the left, the direction of a moving vector of the moving object is fixed to a direction which is set based on a shape of the road into which the subject vehicle has turned to the right or to the left. Then, the collision position of the moving object and the subject vehicle is predicted based on this moving vector of which the direction is fixed.

摘要翻译： 本发明旨在提供一种技术，其能够以更高的精度检测越过道路和主车辆的运动物体的碰撞位置。 在本发明中，在本车辆向左或向左转动的时刻检测到与本车辆已经进入的道路相交的移动物体的情况下，移动物体的移动矢量的方向 被固定到基于本车辆向右或向左转向的道路的形状而设定的方向。 然后，基于该方向固定的移动矢量来预测移动物体和被摄体车辆的碰撞位置。

公开(公告)号：US08849558B2

公开(公告)日：2014-09-30

申请号：US13547117

申请日：2012-07-12

申请人： Kohei Morotomi ,  Masayuki Katoh ,  Hideaki Hayashi

发明人： Kohei Morotomi ,  Masayuki Katoh ,  Hideaki Hayashi

IPC分类号： G06F17/10

CPC分类号： G08G1/163 ,  G08G1/166

摘要： The present invention is intended to provide a technique which is capable of detecting a collision position of a moving object crossing a road and a subject vehicle with a higher degree of accuracy. In the present invention, in cases where the moving object crossing the road into which the subject vehicle has entered is detected at the time when the subject vehicle has turned to the right or to the left, the direction of a moving vector of the moving object is fixed to a direction which is set based on a shape of the road into which the subject vehicle has turned to the right or to the left. Then, the collision position of the moving object and the subject vehicle is predicted based on this moving vector of which the direction is fixed.

摘要翻译： 本发明旨在提供一种技术，其能够以更高的精度检测越过道路和主车辆的运动物体的碰撞位置。 在本发明中，在本车辆向左或向左转动的时刻检测到与本车辆已经进入的道路相交的移动物体的情况下，移动物体的移动矢量的方向 被固定到基于本车辆向右或向左转向的道路的形状而设定的方向。 然后，基于该方向固定的移动矢量来预测移动物体和被摄体车辆的碰撞位置。

公开(公告)号：US20130030686A1

公开(公告)日：2013-01-31

申请号：US13639436

申请日：2010-04-05

申请人： Kohei Morotomi ,  Takeshi Nanami

发明人： Kohei Morotomi ,  Takeshi Nanami

IPC分类号： B60W30/095

CPC分类号： G08G1/167 ,  B60R21/0134 ,  B60W30/0953 ,  B60W30/18145 ,  B60W2550/146 ,  G01S13/931 ,  G01S2013/9353

摘要： A correct collision judgment is realized between an obstacle and a vehicle even when the vehicle enters a curve. In a collision judgment apparatus for judging the collision between the vehicle and the obstacle based on a relative positional relationship between a subject vehicle position of the vehicle and a relative movement straight line of the obstacle with respect to the vehicle as calculated based on a plurality of pieces of the position information acquired by a position information acquiring unit in relation to the obstacle, the relative positional relationship between the relative movement straight line and the subject vehicle position is adjusted so that a distance between the relative movement straight line and the subject vehicle position is separated if it is judged that the vehicle enters an entrance to a curve as compared with a situation in which the vehicle does not enter the entrance to the curve.

摘要翻译： 即使车辆进入曲线，也能够在障碍物和车辆之间实现正确的碰撞判断。 在用于基于多个车辆所计算的基于车辆的车辆位置与障碍物相对于车辆的相对运动直线之间的相对位置关系来判断车辆与障碍物之间的碰撞的碰撞判断装置中， 通过位置信息获取单元获取的与障碍物相关的位置信息，调节相对运动直线与目标车辆位置之间的相对位置关系，使得相对运动直线与本车位置之间的距离 如果判定车辆进入曲线的入口与车辆未进入曲线入口的情况相比，则分离。