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公开(公告)号：US20220252719A1
公开(公告)日：2022-08-11
申请号：US17660919
申请日：2022-04-27
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Masato ONOZAWA , Hiroki HORI , Koji TAKEUCHI , Iwao IZUMIKAWA , Hiroki SHIMAZU
Abstract: An object detection apparatus is mounted to a vehicle and detects an object by a reflected wave of a probe wave. The object detection apparatus calculates a relative velocity of the object to the vehicle, estimates an azimuth of the object relative to the vehicle, and corrects the estimated azimuth. The object detection apparatus generates a velocity-azimuth curve that indicates a relationship between the relative velocity of the object and the azimuth of the object that is calculated based on a theoretical mounting angle of the object detection apparatus, supplies a weight to an azimuth error that is an error between the velocity-azimuth curve and the estimated azimuth, based on the estimated azimuth, and calculates a correction value of the estimated azimuth by calculating, as an actual mounting angle deviation of the object detection apparatus, a weighted average value of the azimuth error to which the weight is supplied.
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公开(公告)号：US20220242439A1
公开(公告)日：2022-08-04
申请号：US17660163
申请日：2022-04-21
Applicant: DENSO CORPORATION
Inventor： Masato ONOZAWA , Mai SAKAMOTO , Hiroki HORI
Abstract: A mobile warning apparatus according to one aspect of the present disclosure includes a velocity calculator, a position determiner, and an eliminator. The velocity calculator calculates one or more relative velocities of one or more observed points. The position determiner determines whether the observed points are in a predetermined proximity extent. The eliminator eliminates, in response to determination that the observed points are in the predetermined proximity extent, all the observed points from a warning target.
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公开(公告)号：US20220005352A1
公开(公告)日：2022-01-06
申请号：US17477276
申请日：2021-09-16
Applicant: DENSO CORPORATION
Inventor： Mai SAKAMOTO , Hiroki HORI
IPC: G08G1/16 , B60Q9/00 , G01S13/931
Abstract: The alarm device includes an acquisition part, an alarm judging part, a notification part, a static extraction part, a shielding boundary setting part, and a suppression part. The acquisition part acquires reflection point information and object information. The alarm judging part determines whether the object is an alarm candidate for each of the objects. The notification part issues a notification regarding the alarm candidates. The static extraction part extracts static reflection points. The shielding boundary setting part sets an approximate straight line as a shielding boundary by robust estimation. The suppression part suppresses notification of alarm candidates that are on the opposite side of the shielding boundary.
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公开(公告)号：US20210327274A1
公开(公告)日：2021-10-21
申请号：US17357742
申请日：2021-06-24
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Hiroki HORI , Takayuki KITAMURA , Koji TAKEUCHI , Iwao IZUMIKAWA , Hiroki SHIMAZU
IPC: G08G1/16 , B60Q9/00 , G01S13/931 , G01S15/931 , G01S17/931
Abstract: A driving assistance device includes an object detection unit, an acquisition unit acquiring a first value of a relative speed of an approaching object with respect to an own vehicle, a ghost determination unit, and an assistance determination unit. The ghost determination unit calculates a second value of the relative speed of the approaching object in accordance with a speed of the own vehicle and a value of the relative speed of a following object located between the own vehicle and the approaching object; calculates, as a speed difference, an absolute difference between the first value of the relative speed and the second value of the relative speed; calculates, as an azimuth difference, an absolute difference between an azimuth of the following object and an azimuth of the approaching object; and determines whether the approaching object is the ghost target based on the speed difference and the azimuth difference.
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