公开(公告)号：US20210173078A1

公开(公告)日：2021-06-10

申请号：US17179207

申请日：2021-02-18

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU

IPC: G01S13/931 ,  G01S13/04

Abstract: An object detection apparatus is configured to be mounted to a vehicle to detect objects existing around the vehicle. The object detection apparatus includes an output acquisition unit, an accuracy estimation unit, a weighting setting unit and a position calculation unit. The output acquisition unit is configured to acquire output signals from a plurality of radar sensors mounted respectively at different positions in the vehicle. The accuracy estimation unit is configured to estimate, based on the output signals from the radar sensors, detection accuracies of the radar sensors. The weighting setting unit is configured to set, according to the detection accuracies of the radar sensors, weighting for the output signals from the radar sensors. The position calculation unit is configured to calculate a position of an object by using in combination the output signals from the radar sensors reflecting the set weighting.

公开(公告)号：US20240286628A1

公开(公告)日：2024-08-29

申请号：US18656327

申请日：2024-05-06

Applicant: DENSO CORPORATION ,  J-QuAD DYNAMICS INC.

Inventor： Keita SUGIURA ,  Yasuyuki MIYAKE ,  Naotsugu SHIMIZU ,  Junzoh TSUCHIYA ,  Masafumi IBUSHI ,  Seiya FUJITSU ,  Hiroyuki ISHIMORI

IPC: B60W50/06 ,  G01S7/292 ,  G01S13/04 ,  G01S13/931

CPC classification number: B60W50/06 ,  G01S7/292 ,  G01S13/04 ,  G01S13/931 ,  B60W2420/408 ,  B60W2554/802 ,  G01S2013/9322

Abstract: An object recognition device is applied to a vehicle having a range sensor that transmits a probe wave and receives the reflected wave of the probe wave. The object recognition device is configured to recognize an object behind the own vehicle based on detection information of the range sensor. The object recognition device includes a tow determining unit configured to determine whether a towed vehicle is coupled to a rear of the own vehicle, and a changing unit configured to, in response to determining that the towed vehicle is coupled to the rear of the own vehicle, change how the range sensor detects an object to suppress reception of the reflected wave caused by presence of the towed vehicle.

公开(公告)号：US20240140469A1

公开(公告)日：2024-05-02

申请号：US18399355

申请日：2023-12-28

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU

IPC: B60W50/14 ,  B60W30/095 ,  B60W50/00

CPC classification number: B60W50/14 ,  B60W30/0956 ,  B60W2050/0083 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2552/30 ,  B60W2552/53 ,  B60W2554/4041 ,  B60W2556/20

Abstract: A driving assistance device includes: an object detecting part that detects an object behind and/or to the left and/or right rear of a host vehicle; an area setting part that sets a warning area behind and/or to the left or right rear of the host vehicle; a notification part that issues a notification when an object is detected within the warning area by the object detecting part; and an area changing part that calculates, based on a variation in curvature of a traveling trajectory of the host vehicle, an area reliable distance defining an area with high reliability, based on the area reliable distance, sets a reference position, and based on a lateral line extending in a turning radius direction of the host vehicle at the reference position, changes a rear end of the warning area.

公开(公告)号：US20200057139A1

公开(公告)日：2020-02-20

申请号：US16595769

申请日：2019-10-08

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU

IPC: G01S7/40 ,  G01S13/93 ,  G01S7/36

Abstract: A surrounding monitoring radar device includes a signal generation unit, a spectrum generation unit, a cycle setting unit, a learning unit, and an update unit. At an update timing, the update unit updates a determination reference to a learned value calculated by the learning unit. the learning unit is configured to: set the learning value to an initial value at a start timing of the learning period; compare the learned value with a value of a noise floor of the generated frequency spectrum during the learning period; and update the learned value to the value of the noise floor upon the value of the noise floor being smaller than the learned value.

公开(公告)号：US20240409097A1

公开(公告)日：2024-12-12

申请号：US18810296

申请日：2024-08-20

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Naotsugu SHIMIZU ,  Koji TAKEUCHI ,  Junya FUKUTA

IPC: B60W30/18

Abstract: A driving assist apparatus that performs, in accordance with periphery monitoring information of an own vehicle acquired from a periphery monitoring apparatus, a driving assist operation of the own vehicle. The driving assist apparatus is provided with a travelling locus calculation unit that calculates a travelling locus of the own vehicle; an operation region calculation unit that calculates an operation region in the vicinity of the own vehicle; a lane change detection unit that detects a lane change of the own vehicle; an operation region correction unit that corrects the operation region based on lane information related to a traffic lane after the lane change of the own vehicle; and an operation determination unit that determines, when an object is detected in the operation region, whether the driving assist operation needs to be activated based on the periphery monitoring information.

公开(公告)号：US20240393458A1

公开(公告)日：2024-11-28

申请号：US18795797

申请日：2024-08-06

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA ,  J-QuAD DYNAMICS Inc.

Inventor： Masafumi IBUSHI ,  Yasuyuki MIYAKE ,  Naotsugu SHIMIZU ,  Seiya FUJITSU ,  Koji TAKEUCHI ,  Junya FUKUTA ,  Takaya YAMASHITA

IPC: G01S13/931 ,  G01S13/04 ,  G01S13/86 ,  G08G1/16

Abstract: A periphery monitoring apparatus is applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves, setting a precaution region in a laterally rear side of an own vehicle and causing a collision avoidance operation to be executed when the ranging sensor detects an object in the precaution region. The periphery monitoring apparatus is provided with an acquiring unit that acquires lane information indicating presence or absence of a lane marking on a traffic lane; a recognition unit that recognizes a position of the lane marking based on the lane information; and a precaution region setting unit that sets the precaution region based on the position of the lane marking recognized by the recognition unit.

公开(公告)号：US20230316926A1

公开(公告)日：2023-10-05

申请号：US18330995

申请日：2023-06-07

Applicant: DENSO CORPORATION

Inventor： Jun ITOH ,  Naotsugu SHIMIZU ,  Masato ONOZAWA

IPC: G08G1/16 ,  B60W40/04 ,  G01S13/931

CPC classification number: G08G1/167 ,  B60W40/04 ,  G01S13/931 ,  B60W2552/00 ,  B60W2554/80 ,  G01S2013/93272 ,  G01S2013/9315

Abstract: A vehicle control device assists in checking a rear side of an own vehicle. The vehicle control device includes a position estimation unit, an SN index calculation unit, a lane determination unit, and an alarm determination unit. The position estimation unit estimates a lateral position of an other vehicle based on a reflected wave of a radar wave. The SN index calculation unit calculates, based on the reflected wave, an SN index indicating a relationship between level of a noise and level of a signal. In response to determining a lane in which the other vehicle is traveling based on information on the lateral position of the other vehicle, the lane determination unit performs determination on the lane based on the SN index. The alarm determination unit determines whether a condition for issuing an alarm about the other vehicle is satisfied based on a result of determination of the lane.

公开(公告)号：US20210223384A1

公开(公告)日：2021-07-22

申请号：US17151490

申请日：2021-01-18

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU

IPC: G01S13/72 ,  G01S13/931

Abstract: A moving object detection apparatus repeatedly acquires, from a radar apparatus, observed-point information indicating observed-point positions that are positions of observed points where radar waves are reflected. The apparatus estimates, based on the observed-point positions indicated respectively by a plurality of pieces of the observed-point information and tracking filter coefficients indicating the degree of tracking the observed-point positions, a tracking trajectory tracking movement of a moving object corresponding to a plurality of the observed points. The apparatus determines whether distribution of the plurality of the observed points on both sides of the tracking trajectory is continuously biased to one side of the tracking trajectory. The apparatus sets the tracking filter coefficients so that the tracking degree is higher when the distribution of the plurality of the observed points is determined to be biased than when the distribution of the plurality of the observed points is determined to be not biased.

公开(公告)号：US20240312348A1

公开(公告)日：2024-09-19

申请号：US18670451

申请日：2024-05-21

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Naotsugu SHIMIZU ,  Koji TAKEUCHI ,  Masanori TOKUDA

IPC: G08G1/16 ,  B60Q9/00

CPC classification number: G08G1/167 ,  B60Q9/008

Abstract: A surroundings monitoring system (30) is used with a system-mounted vehicle (40) equipped with an object sensor (21, 22) which senses an object around the system-mounted vehicle. When a vehicle approaching from behind the system-mounted vehicle on a road where the system-mounted vehicle is moving is detected by the object sensor, the surroundings monitoring system performs a collision avoidance task depending upon whether a predetermined warning condition for the approaching vehicle is met. The surroundings monitoring system determines whether a non-target vehicle is present in a region on the road which is defined to extend from the system-mounted vehicle to the approaching vehicle. The non-target vehicle is a vehicle not meeting the warning condition. When the non-target vehicle is determined to be present, the surrounding monitoring system inhibits the collision avoidance task from being performed for the approaching vehicle present behind the non-target vehicle.

公开(公告)号：US20220371584A1

公开(公告)日：2022-11-24

申请号：US17817264

申请日：2022-08-03

Applicant: DENSO CORPORATION

Inventor： Naotsugu SHIMIZU

IPC: B60W30/09 ,  G08G1/16

Abstract: A monitoring area setting apparatus is mountable to an own vehicle and sets a monitoring area that indicates an area for monitoring objects in a vicinity of the own vehicle. The monitoring area setting apparatus acquires (i) at least either of a vehicle-width movement amount that indicates an amount of movement in a vehicle-width direction of the own vehicle and an inclination amount that indicates a degree of inclination of the own vehicle relative to an extending direction of a road on which the own vehicle is traveling, and (ii) information that the own vehicle has changed traffic lanes. The monitoring area setting apparatus sets the monitoring area taking into consideration at least either of the vehicle-width movement amount and the inclination amount in response to the own vehicle changing traffic lanes.