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公开(公告)号：US11841419B2
公开(公告)日：2023-12-12
申请号：US16851795
申请日：2020-04-17
申请人： DENSO CORPORATION
发明人： Yusuke Akamine , Yasuyuki Miyake
IPC分类号： G01S13/62 , B60W30/095 , G01S13/931 , G01S13/60 , G01S13/52
CPC分类号： G01S13/62 , B60W30/0956 , G01S13/52 , G01S13/60 , G01S13/931 , G01S2013/932 , G01S2013/9322
摘要： A moving object recognition apparatus includes an object detection section, a position detection section, a road direction estimation section, and a moving direction estimation section. The object detection section detects a moving object that moves on a road around an own vehicle and a roadside object by the road, from objects present around the own vehicle. The position detection section detects positions of the moving object and the roadside object detected by the object detection section. The road direction estimation section estimates a road direction of the road on which the moving object is moving, based on the position of the roadside object detected by the position detection section. The moving direction estimation section estimates a moving direction of the moving object based on the road direction estimated by the road direction estimation section.
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公开(公告)号：US11709246B2
公开(公告)日：2023-07-25
申请号：US17026668
申请日：2020-09-21
申请人： SOKEN, INC. , DENSO CORPORATION
发明人： Yusuke Akamine , Yasuyuki Miyake
CPC分类号： G01S13/583 , G01S7/352 , G01S7/411 , G01S7/356
摘要： A radar apparatus is mountable to a vehicle. The radar apparatus includes an observing unit, an estimating unit, a predicting unit, a matching processing unit, and a determining unit. The estimating unit calculates, regarding an initial detection target object, a plurality of velocity estimation values in which folding is presumed, using a velocity observation value calculated by the observing unit. The predicting unit calculates a prediction value from each of the plurality of velocity estimation values. The matching processing unit performs association of the velocity prediction value and the velocity observation value.
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公开(公告)号：US11210953B2
公开(公告)日：2021-12-28
申请号：US16440141
申请日：2019-06-13
申请人： DENSO CORPORATION
发明人： Yusuke Akamine , Yasuyuki Miyake
摘要： A driving support device of the present disclosure includes an other vehicle detecting unit, a lane recognizing unit, a track acquiring unit, an interference determining unit, and a driving support unit. The other vehicle detecting unit is configured to detect a location of another vehicle existing around the own vehicle. The lane recognizing unit is configured to recognize a traffic lane in which the other vehicle is located. The track acquiring unit is configured to acquire an own vehicle track. The interference determining unit is configured to determine whether an other vehicle course interferes with the own vehicle track. The driving support unit is configured to perform driving support different between in an interference state indicating a case where the other vehicle course interferes with the own vehicle track and in a non-interference state.
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公开(公告)号：US11002850B2
公开(公告)日：2021-05-11
申请号：US16733556
申请日：2020-01-03
申请人： DENSO CORPORATION
发明人： Yusuke Akamine , Yasuyuki Miyake
IPC分类号： G01S13/931 , G01S7/288 , G01S13/34 , G01S13/58
摘要： A radar device includes a beat signal generation unit, a first signal processing unit, a second signal processing unit, and a speed determination unit. The first signal processing unit observes beat signals by performing a first number of observations during a first observation time and calculates a first speed from a time series of the beat signals of which number is equal to the first number of observations. The second signal processing unit observes the beat signals by performing a second number of observations during a second observation time and calculates a second speed from a time series of the beat signals of which number is equal to the second number of observations. The second observation time is longer than the first observation time. The time ratio is the ratio of the second observation time to the first observation time. The second number of observations is smaller than the first number of observations multiplied by the time ratio.
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公开(公告)号：US10446034B2
公开(公告)日：2019-10-15
申请号：US15744953
申请日：2016-07-08
申请人： DENSO CORPORATION
摘要： The driving support system detects an object existing around an own vehicle. The driving support system 1 predicts a position of a movement destination of the detected object. The driving support system sets a region having a predetermined width at each of an X coordinate and a Y coordinate as a tracking region to be set for tracking the object, based on an XY coordinate of the position of the predicted movement destination of the object. The driving support system limits the tracking region, based on a tracking exclusion region where objects unsuitable as tracking targets may be detected with high probability. At that time, the driving support system limits the tracking region by excluding the tracking exclusion region from the tracking region.
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公开(公告)号：US12038495B2
公开(公告)日：2024-07-16
申请号：US17237593
申请日：2021-04-22
申请人： DENSO CORPORATION
发明人： Yusuke Akamine , Takuya Takayama , Yasuyuki Miyake
IPC分类号： G01S13/72 , G01S7/41 , G01S13/52 , G01S13/58 , G01S13/931
CPC分类号： G01S13/723 , G01S7/415 , G01S13/52 , G01S13/584 , G01S13/931
摘要： An object tracking apparatus generates a plurality of target candidates in which ambiguity in velocity is assumed for an object detected for a first time, calculates a current prediction value of a state quantity of each target candidate from a past estimation value of the state quantity of each target candidate, using one filter among a plurality of filters, and calculates the current estimation value of the state quantity of the target candidate from each of the calculated prediction values and a current observation value that matches each prediction value. The object tracking apparatus deletes the target candidate of which a determined likelihood is less than a preset threshold among the target candidates, and switches a used filter to a filter that has a larger number of state variables among the filters, in response to the target candidate being deleted and the total number of target candidates decreasing.
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7.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
申请人： DENSO CORPORATION
发明人： Katsuhiko Kondo , Yusuke Akamine , Yasuyuki Miyake
IPC分类号： G01S13/931 , G01S13/86 , B60W40/02
摘要： 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：US20170146646A1
公开(公告)日：2017-05-25
申请号：US15325913
申请日：2015-07-16
申请人： DENSO CORPORATION
发明人： Kento Nakabayashi , Yasuyuki Miyake , Yoshie Samukawa , Akiyoshi Mizutani , Yosuke Ito , Kei Tamura
CPC分类号： G01S13/34 , G01S7/35 , G01S7/354 , G01S13/584 , G01S13/931 , G01S2007/356
摘要： A radar device includes a transmitting unit, a receiving unit, and a signal processor. The transmitting unit transmits a radar wave. The receiving unit mixes the received incoming wave with the radar wave to generate a beat signal. The signal processor executes a target detection process to detect a target having reflected the radar wave. In the target detection process, a signal value is extracted from the beat signal generated by the receiving unit for each of specified times, the specified time being a reciprocal of a DC lo component frequency, an approximation curve of a plurality of the signal values is calculated as a DC component signal, and the calculated DC component signal is subtracted from the beat signal to generate a target signal. Based on a result of frequency analysis performed on the target signal, a target that is a source of the incoming wave is detected.
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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
申请人： DENSO CORPORATION
发明人： Katsuhiko Kondo , Yusuke Akamine , Yasuyuki Miyake
IPC分类号： G01S7/02 , G01S13/08 , G01S13/931
CPC分类号： G01S7/02 , G01S13/08 , G01S13/931 , B60W2420/52
摘要： 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
申请人： DENSO CORPORATION
发明人： Katsuhiko Kondo , Yusuke Akamine , Yasuyuki Miyake
IPC分类号： G01S7/02 , G01S13/87 , G01S13/93 , G08G1/16 , H01Q1/32 , H01Q3/36 , H01Q21/06 , H01Q21/24 , H04B7/0413 , G01S13/02
摘要： 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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