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公开(公告)号：US10407066B2
公开(公告)日：2019-09-10
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 , B60W30/14 , B60W30/12 , B60W10/18 , B60W10/10 , B60W10/06 , G08G1/16 , G01S13/16 , B60R21/00 , G01S13/93
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.
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公开(公告)号：US10427689B2
公开(公告)日：2019-10-01
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 , B60R21/00 , B60W30/16 , B60W30/095 , G08G1/16
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.
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公开(公告)号：US10538251B2
公开(公告)日：2020-01-21
申请号：US14575006
申请日：2014-12-18
Applicant: DENSO CORPORATION
Inventor： Taku Sakima , Yuusuke Matsumoto , Syunya Kumano , Naoki Kawasaki
IPC: G01B21/10 , B60W40/072
Abstract: A course estimator has a first estimating means, a second estimating means and a determining means. The first estimating means obtains first information and estimating a first radius of a first forward traveling path on the basis of the obtained first information, the first forward traveling path being a part of a forward traveling path to which a vehicle is going to travel. The second estimating means obtains second information and estimating a second radius of a second forward traveling path on the basis of the obtained second information, the second forward traveling path being a part of the forward traveling path to which a vehicle is going to travel, the second forward traveling path being farther from the vehicle than the first traveling being. The determining means determines whether or not there is a changing point where road shapes change between the first forward traveling path and the second forward traveling path on the basis of comparison of the estimated first radius and the estimated second radius.
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公开(公告)号：US09499156B2
公开(公告)日：2016-11-22
申请号：US14225827
申请日：2014-03-26
Applicant: DENSO CORPORATION , Nippon Soken, Inc.
Inventor： Taku Sakima , Yoshihisa Ogata
IPC: B60W10/18 , B60W10/20 , B60W50/00 , B60W10/184 , B60W30/09 , B60W30/095
CPC classification number: B60W10/20 , B60W10/184 , B60W30/09 , B60W30/095 , B60W50/0097 , B60W2050/0042 , B60W2050/0056 , B60W2520/14 , B60W2540/18 , B60W2550/146 , H03H2210/012 , Y02T10/84
Abstract: An on-board apparatus includes a measuring unit, a filtering unit, a predicting unit, an executing unit, a detecting unit, and an adjusting unit. The measuring unit periodically measures a state of an own vehicle. The filtering unit performs a low-pass filter process on measurement results from the measuring unit. The predicting unit predicts behavior of the own vehicle based on the measurement results on which the low-pass filter process has been performed. The executing unit performs processes based on the behavior of the own vehicle predicted by the predicting unit. The detecting unit detects a traveling environment of the own vehicle. The adjusting unit adjusts a time constant for the low-pass filter process based on the traveling environment detected by the detecting unit.
Abstract translation: 车载装置包括测量单元，滤波单元，预测单元，执行单元，检测单元和调整单元。 测量单元周期性地测量自身车辆的状态。 滤波单元对来自测量单元的测量结果进行低通滤波处理。 预测单元基于已进行低通滤波处理的测量结果来预测本车辆的行为。 执行单元基于由预测单元预测的本车辆的行为进行处理。 检测单元检测本车辆的行驶环境。 调整单元基于由检测单元检测到的行驶环境来调整低通滤波处理的时间常数。
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公开(公告)号：US20140297134A1
公开(公告)日：2014-10-02
申请号：US14225827
申请日：2014-03-26
Applicant: Nippon Soken, Inc. , DENSO CORPORATION
Inventor： Taku Sakima , Yoshihisa Ogata
CPC classification number: B60W10/20 , B60W10/184 , B60W30/09 , B60W30/095 , B60W50/0097 , B60W2050/0042 , B60W2050/0056 , B60W2520/14 , B60W2540/18 , B60W2550/146 , H03H2210/012 , Y02T10/84
Abstract: An on-board apparatus includes a measuring unit, a filtering unit, a predicting unit, an executing unit, a detecting unit, and an adjusting unit. The measuring unit periodically measures a state of an own vehicle. The filtering unit performs a low-pass filter process on measurement results from the measuring unit. The predicting unit predicts behavior of the own vehicle based on the measurement results on which the low-pass filter process has been performed. The executing unit performs processes based on the behavior of the own vehicle predicted by the predicting unit. The detecting unit detects a traveling environment of the own vehicle. The adjusting unit adjusts a time constant for the low-pass filter process based on the traveling environment detected by the detecting unit.
Abstract translation: 车载装置包括测量单元，滤波单元，预测单元，执行单元，检测单元和调整单元。 测量单元周期性地测量自身车辆的状态。 滤波单元对来自测量单元的测量结果进行低通滤波处理。 预测单元基于已进行低通滤波处理的测量结果来预测本车辆的行为。 执行单元基于由预测单元预测的本车辆的行为进行处理。 检测单元检测本车辆的行驶环境。 调整单元基于由检测单元检测的行驶环境来调整低通滤波处理的时间常数。
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Patent Agency Ranking
公开(公告)号：US10423161B2
公开(公告)日：2019-09-24
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
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.
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公开(公告)号：US10380424B2
公开(公告)日：2019-08-13
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: G01S7/40 , G01V3/12 , G01V8/00 , G06K9/00 , G06T7/12 , G08G1/16 , G01S13/86 , G01S13/93 , 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.
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公开(公告)号：US20140297170A1
公开(公告)日：2014-10-02
申请号：US14224443
申请日：2014-03-25
Applicant: Nippon Soken, Inc. , DENSO CORPORATION
Inventor： Taku Sakima , Yoshihisa Ogata
IPC: G08G1/16
CPC classification number: G08G1/166
Abstract: A driving support system detects a position of an object ahead of an own vehicle as well as predicts a course of the own vehicle. Then, a collision probability between the own vehicle and the object is determined based on the predicted course and the position of the object, and performs the driving support for avoiding collision when the collision probability is high. Further, the driving support to system measures a curvature of a target road, and when a change in the curvature is small and an accurate course prediction is possible, a determination sensitivity of the collision probability is set high so that the driving support is easy to start, otherwise the determination sensitivity of the collision probability is set low so that the driving support is difficult to start.
Abstract translation: 驾驶辅助系统检测自身车辆前方的位置以及预测本车辆的路线。 然后，基于预测路线和物体的位置来确定本车辆与物体之间的碰撞概率，并且当碰撞概率高时执行用于避免碰撞的驾驶支持。 此外，对系统的驾驶支持测量目标道路的曲率，并且当曲率的变化小并且可以进行准确的路线预测时，将碰撞概率的确定灵敏度设置得高，使得驾驶支持容易 开始，否则将冲突概率的确定灵敏度设置得较低，使得驾驶支持难以启动。
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公开(公告)号：US20140292502A1
公开(公告)日：2014-10-02
申请号：US14228442
申请日：2014-03-28
Applicant: DENSO CORPORATION
Inventor： Taku Sakima , Akira Isogai
IPC: G08G1/16
CPC classification number: B60W30/09 , B60W30/08 , B60W30/095 , B60W30/0953 , B60W30/0956 , B60W2550/10 , G08G1/165 , G08G1/166
Abstract: A driving support system detects a target area ahead of the vehicle, a position or a moving direction, etc. of an object such as a pedestrian or another vehicle by using a camera or radar, as well as determines a probability of collision between the own vehicle and the object based on the position, etc. of the object, and performs a driving support for avoiding the collision when the probability of the collision is high. Further, a sensitivity of determination is set high when the object remains in the target area, or when the object is moving towards the target area, while the sensitivity is set low when the object is not present in the target area, or the object is moving away from the target area.
Abstract translation: 驾驶辅助系统通过使用相机或雷达来检测车辆前方的目标区域，诸如行人或其他车辆的物体的位置或移动方向等，并且确定自身的碰撞概率 基于物体的位置等对车辆和物体进行处理，并且当碰撞的概率高时，执行用于避免碰撞的驾驶支持。 此外，当物体保持在目标区域中时，或者当物体朝向目标区域移动时，将灵敏度设定为高，同时当目标区域中不存在物体时灵敏度设定为低，或者物体为 远离目标区域。
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公开(公告)号：US09637122B2
公开(公告)日：2017-05-02
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
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.
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