公开(公告)号：US20170330033A1

公开(公告)日：2017-11-16

申请号：US15529925

申请日：2015-10-13

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Mitsuhiro TOKIMASA ,  Toyoharu KATSUKURA ,  Yoshihisa OGATA ,  Youhei MASUI ,  Taku SAKIMA ,  Takeshi NANAMI ,  Takashi NISHIDA

IPC: G06K9/00 ,  H04N5/243 ,  G06T7/12

CPC classification number: G06K9/00664 ,  G01S7/4026 ,  G01S13/867 ,  G01S13/931 ,  G01S2007/4034 ,  G01S2013/9375 ,  G01V3/12 ,  G01V8/005 ,  G06T7/12 ,  G08G1/166 ,  H04N5/243

Abstract: Provided is an object detection device (13) using a detection means (11) to transmit probe waves, receive reflected waves from an object (50) in a detection range, and acquire, as first detection information on the object, a position based on the reflected waves, to detect the object. The device includes an image information acquisition means, determination region setting means, and an object locating means. The image information acquisition means acquires, as second detection information on the object, a position based on an image of an area within the detection range, the image being captured by an image capturing means (12). The determination region setting means sets a determination region in the detection range. The object locating means locates the object, based on the first detection information, if pieces of the first and second detection information are present in the determination region.

公开(公告)号：US20150175167A1

公开(公告)日：2015-06-25

申请号：US14576884

申请日：2014-12-19

Applicant: DENSO CORPORATION

Inventor： Taku SAKIMA ,  Yuusuke MATSUMOTO ,  Syunya KUMANO ,  Naoki KAWASAKI

IPC: B60W40/072 ,  G01B21/10

CPC classification number: B60W40/072 ,  G01B21/10 ,  G01S13/867 ,  G01S13/931 ,  G01S15/025 ,  G01S15/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9353 ,  G01S2013/9357 ,  G08G1/167

Abstract: This disclosure provides as an aspect a course estimator having a curvature radius estimator, a calculator and a determination section. The curvature radius estimator obtains first information on a forward traveling path ahead of a vehicle in a traveling direction of the vehicle at different time points and estimating, on the basis of the first information obtained repeatedly, each curvature radius of the forward traveling path at a respective time. The calculator calculates change information indicating magnitude of time change in curvature radius of the forward traveling path on the basis of the estimated curvature radiuses of the forward traveling paths. The determination section determines whether or not there is a changing point where a road shape of the forward traveling paths changes on the basis of the calculated change information.

Abstract translation: 本公开提供了具有曲率半径估计器，计算器和确定部分的课程估计器的一个方面。 曲率半径估计器在不同的时间点获得车辆行进方向前方的前进行驶路径的第一信息，并且基于重复获得的前进行驶路径的每个曲率半径， 各自的时间。 计算器基于前进行驶路径的估计的曲率半径来计算表示前进行驶路径的曲率半径的时间变化量的变化信息。 确定部分基于所计算的改变信息来确定前进行驶路径的道路形状是否改变的改变点。

公开(公告)号：US20170364084A1

公开(公告)日：2017-12-21

申请号：US15529914

申请日：2015-10-13

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Taku SAKIMA ,  Youhei MASUI ,  Toyoharu KATSUKURA ,  Takeshi NANAMI ,  Takashi NISHIDA

IPC: G05D1/02 ,  G08G1/16

Abstract: A predicted course estimating apparatus for estimating a predicted course of the own vehicle, includes: a data acquiring means for acquiring turning data that indicates a turning direction of the own vehicle; a filtering means for removing a high-frequency component that is included in the turning data; a course predicting means for calculating an estimated value for course prediction of the own vehicle, based on the turning data that has been filtered and a speed of the own vehicle; a determining means for determining whether the own vehicle is traveling a part of a road where the shape changes; and a characteristics changing means for changing the extent of removing of the high-frequency component by the filtering means when it is determined that the own vehicle is traveling a part of the road where the shape changes.

公开(公告)号：US20150063648A1

公开(公告)日：2015-03-05

申请号：US14471372

申请日：2014-08-28

Applicant: DENSO CORPORATION

Inventor： Akitoshi MINEMURA ,  Taku SAKIMA ,  Yuusuke MATSUMOTO ,  Masayoshi TAKEDA

IPC: G06K9/00 ,  G06K9/62

CPC classification number: G06K9/00798 ,  G06K9/6217

Abstract: A method and an apparatus are provided to recognize a shape of a road on which a vehicle is traveling. Road edge shapes on a left side and a right side of the vehicle are recognized, from positions of roadside objects detected based on detection information from an on-board radar. Lane shapes that are shapes of lane boundary lines on the left side and the right side of the vehicle are recognized, from positions of lane boundary lines detected based on an image captured by an on-board camera. For each of the left side and the right side, such that the recognized road edge shape and the recognized lane shape are compared with each other, and the road shape is identified based on the comparison results.

Abstract translation: 提供了一种用于识别车辆行驶的道路的形状的方法和装置。 根据来自车载雷达的检测信息检测到的路边物体的位置，识别出车辆左侧和右侧的路边形状。 从基于车载摄像机拍摄的图像检测的车道边界线的位置识别作为车辆左侧和右侧的车道边界线形状的车道形状。 对于左侧和右侧的每一个，使得识别的路边形状和识别的车道形状彼此进行比较，并且基于比较结果来识别道路形状。

公开(公告)号：US20170327123A1

公开(公告)日：2017-11-16

申请号：US15529905

申请日：2015-11-16

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Mitsuhiro TOKIMASA ,  Toyoharu KATSUKURA ,  Yoshihisa OGATA ,  Youhei MASUI ,  Taku SAKIMA ,  Takeshi NANAMI ,  Takashi NISHIDA

IPC: B60W40/04

CPC classification number: B60W40/04 ,  B60R21/00 ,  B60W30/095 ,  B60W30/16 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/308 ,  G08G1/167

Abstract: A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to the position of other vehicle ahead of the own vehicle is provided. The apparatus includes a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle, based on the position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determining means determining whether the other vehicle is in the path of the own vehicle, based on the parameter, an acquisition means acquiring a lane width that is the width of the lane the own vehicle is traveling, and an adjustment means changing the correspondence between the relative position and the parameter, based on the lane width.

公开(公告)号：US20170327115A1

公开(公告)日：2017-11-16

申请号：US15529930

申请日：2015-10-23

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Mitsuhiro TOKIMASA ,  Toyoharu KATSUKURA ,  Yoshihisa OGATA ,  Youhei MASUI ,  Taku SAKIMA ,  Takeshi NANAMI ,  Takashi NISHIDA

IPC: B60W30/16 ,  B60R21/00 ,  G01S13/93 ,  G08G1/16

CPC classification number: B60W30/16 ,  B60R21/00 ,  B60T2201/08 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W30/12 ,  B60W30/14 ,  B60W2420/52 ,  B60W2520/10 ,  B60W2540/04 ,  B60W2550/10 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308 ,  G01S13/931 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to a position of other vehicle ahead of the own vehicle is provided. The device includes a setting means setting a parameter indicating a position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determination means determining whether the other vehicle is in the path of the own vehicle based on the parameter, a detection means detecting whether a relative movement has been made in the lateral direction by at least one of the own vehicle and the other vehicle, and a correction means correcting the parameter when a relative movement has been made in the lateral direction.

公开(公告)号：US20160375903A1

公开(公告)日：2016-12-29

申请号：US15262057

申请日：2016-09-12

Applicant: DENSO CORPORATION

Inventor： Akitoshi MINEMURA ,  Masayoshi TAKEDA ,  Yuusuke MATSUMOTO ,  Taku SAKIMA ,  Naoki KAWASAKI ,  Syunya KUMANO

IPC: B60W30/09 ,  B60Q9/00

CPC classification number: B60W30/09 ,  B60Q9/008 ,  B60T7/12 ,  B60T7/22 ,  B60T2201/022 ,  B60W30/08 ,  B60W2420/42

Abstract: A driving support apparatus installed in a host vehicle calculates an overlap ratio relating to a target object positioned ahead of the host vehicle within the same traffic lane, as the ratio of the width of the target object to its lateral distance from a lane marker line of the traffic lane, and also detects the motion condition of the object (i.e., stationary, moving towards, or in the same direction as the host vehicle, or moving laterally with respect to the forward direction of the host vehicle). An amount of compensation for retarding or advancing the commencement of a collision avoidance operation by the driving support apparatus is determined based on the overlap ratio and/or the motion condition of the target object.

Abstract translation: 安装在主车辆中的驾驶辅助装置计算与位于同一行车道内的本车辆前方的目标物体相关的重叠率，作为目标对象的宽度与其距离车道标记线的横向距离的比率 并且还检测物体的运动状况（即，静止，朝向或与主车辆相同的方向移动，或者相对于主车辆的向前方向横向移动）。 基于目标对象的重叠比和/或运动条件来确定用于延迟或推进驾驶辅助装置的避碰操作开始的补偿量。