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公开(公告)号：US12222439B2
公开(公告)日：2025-02-11
申请号：US17653437
申请日：2022-03-03
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Takuya Takayama
IPC: G01S7/40 , G01S7/35 , G01S13/931
Abstract: An information acquisition section repeatedly acquires observation point information including an observation direction from a radar device. An axial misalignment acquisition section acquires an axial misalignment amount of an actual mounting direction representing the actual orientation of the radar device with respect to a reference mounting direction of the radar device. An aliasing calculation section calculates an aliasing direction of the observation direction included in the observation point information. An instantaneous determination section determines, as an actual direction, one of the observation direction and the aliasing direction that is closer to the reference mounting direction, which is estimated from the axial misalignment amount and the actual mounting direction.
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2.发明授权公开(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.
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公开(公告)号：US12099139B2
公开(公告)日：2024-09-24
申请号：US17454637
申请日：2021-11-12
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Takuya Takayama
IPC: G01S7/40 , G01S13/931
CPC classification number: G01S7/40 , G01S13/931
Abstract: An axial misalignment estimation apparatus estimates an axial misalignment angle of a radar apparatus mounted in a moving body. The estimation apparatus repeatedly acquires, for each reflection point detected by the radar apparatus, reflection point information including at least a relative speed and an orientation angle. The estimation apparatus acquires a speed of the moving body and extracts a stationary reflection point estimated to be a stationary object from the reflection points based on the speed of the moving body. The estimation apparatus selects, for each divided region, the stationary reflection point included in the divided region such that a predetermined condition is met. The divided region is a detection region of the radar apparatus that is divided into a plurality of parts in at least either of a horizontal direction and a vertical direction. The estimation apparatus determines the axial misalignment angle using the stationary reflection point selected.
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公开(公告)号：US11885902B2
公开(公告)日：2024-01-30
申请号：US16931350
申请日：2020-07-16
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Yusuke Akamine , Yasuyuki Miyake
IPC: G01S7/02 , G01S13/08 , G01S13/931
CPC classification number: G01S7/02 , G01S13/08 , G01S13/931 , B60W2420/52
Abstract: A vehicle radar system includes at least one radar, a detection section, an extraction section, a pair determination section, and a target position determination section. The extraction section extracts at least one observation point pair from a plurality of detected observation points. The observation point pair is a pair of the observation points located in the same direction. The target position determination section calculates a surface direction of a reflection surface from a reflection surface observation point of the observation point pair and observation points around the reflection surface observation point, and determines a position of the target from the calculated surface direction and the at least one observation point pair.
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公开(公告)号：US11366196B2
公开(公告)日：2022-06-21
申请号：US16545265
申请日：2019-08-20
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Yusuke Akamine , Yasuyuki Miyake
IPC: G01S7/02 , G01S13/87 , G01S13/93 , G08G1/16 , H01Q1/32 , H01Q3/36 , H01Q21/06 , H01Q21/24 , H04B7/0413 , G01S13/02
Abstract: The radar device is provided with a transmission array antenna, phase shifters, a reception array antenna, a transmission control unit and a signal processing unit. The transmission control unit transmits transmission waves in either a directivity control mode or a MIMO mode. The directivity control mode controls directivity of the transmission array antenna by controlling the phase shifters. The MIMO mode transmits transmission waves so as not to interfere with each other from the selected at least two transmission antenna elements.
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Patent Agency Ranking
公开(公告)号：US11892536B2
公开(公告)日：2024-02-06
申请号：US17192577
申请日：2021-03-04
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Yasuyuki Miyake
Abstract: An object-detecting device includes a first detector, an object tracker, a second detector, and an axial misalignment determiner. The first detector detects a distance between a moving body and an object and an orientation of the object relative to the moving body based on detection information acquired from detection sensors including a search wave sensor that searches a detection region with a search wave. The object tracker tracks the same object passing through a different detection region based on the detection information. The second detector detects at least either one of a height of the object or a lateral distance of the object as object information based on the detection information. The axial misalignment determiner determines whether axial misalignment has occurred in the search wave sensor based on the distance and the orientation of the object detected by the first detector based on the detection information from the search wave sensor and the object information detected in a different detection region by the second detector.
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公开(公告)号：US11453390B2
公开(公告)日：2022-09-27
申请号：US16526062
申请日：2019-07-30
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Yusuke Akamine , Yasuyuki Miyake
IPC: B60W30/09 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/095
Abstract: A driving support apparatus supports driving of the vehicle. The driving support apparatus includes a brake pedal detection unit, a retraction speed calculation unit and a driving operation device setting unit. The brake pedal detection unit detects an operation amount of the brake pedal. The retraction speed calculation unit calculates a retraction speed of the brake pedal, based on the operation amount of the brake pedal detected by the brake pedal detection unit. The driving operation device setting unit sets a reaction force exerted by a driving operation device to a larger value as the retraction speed calculated by the retraction speed calculation unit becomes higher.
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公开(公告)号：US11148595B2
公开(公告)日：2021-10-19
申请号：US16801535
申请日：2020-02-26
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Yusuke Akamine , Yasuyuki Miyake
Abstract: An image output device outputs a periphery image of a vehicle to a display; acquires a capture image of the periphery; acquires detection information of the periphery; determines an accuracy factor of detection of each object; calculates a position of the object in the capture image; determines whether objects overlap with each other in the capture image; and sets an image transmission region to at least a part of a region displaying a first object disposed on a near side among the objects determined to overlap with each other in the capture image, generates the periphery image for visually confirming a second object disposed on a far side of the first object, and changes a transmittance defined in the image transmission region higher as the accuracy factor of the detection of the second object is higher.
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公开(公告)号：US12235099B2
公开(公告)日：2025-02-25
申请号：US17658389
申请日：2022-04-07
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Takuya Takayama
IPC: G01B15/02 , G01B11/06 , G01S13/931
Abstract: This axial deviation estimating device estimates an axial deviation angle of a radar device mounted on a mobile body, and includes an acquiring unit, an extracting unit, a device-system coordinates unit, and an estimating unit. The estimating unit estimates an axial deviation angle using a relational expression. The relational expression is an expression that holds between at least one unknown parameter, which includes an axial deviation angle of a coordinate axis of the radar device about a target axis which is at least one of a horizontal axis and a traveling direction axis constituting the coordinate axes of the mobile body, and at least one element included in the device-system coordinates of a road surface reflection point.
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公开(公告)号：US12228681B2
公开(公告)日：2025-02-18
申请号：US17932587
申请日：2022-09-15
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Takuya Takayama
IPC: G01S7/40 , G01S7/41 , G01S13/93 , G01S13/931
Abstract: An axis deviation angle estimation device estimates a vertical axis deviation angle of a radar device based on roadside object information including information on a plurality of reflection points on a roadside object and road surface information including information on a plurality of reflection points on a road surface. The vertical axis deviation angle is an angle of deviation of an actual mounting direction from a reference mounting direction in a vertical direction. The actual mounting direction is an actual direction of the radar device, and the reference mounting direction is a direction of the radar device when the radar device is mounted in a reference state.
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