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    Object tracking device
    1.
    发明授权
    Object tracking device 有权

    公开(公告)号：US12105186B2

    公开(公告)日：2024-10-01

    申请号：US17659151

    申请日：2022-04-13

    Applicant: DENSO CORPORATION

    Inventor： Yusuke Akamine ,  Akiyoshi Mizutani

    IPC: G01S13/72 ,  G01S7/41 ,  G01S13/931

    CPC classification number: G01S13/723 ,  G01S7/412 ,  G01S7/415 ,  G01S13/931

    Abstract: An object tracking device according to one aspect of the present disclosure includes a detection unit, a prediction unit, a first region setting unit, an estimation unit, a registration unit, a prohibition region setting unit, and a registration prohibition unit. The registration prohibition unit prohibits observed values of at least one observed value detected by the detection unit and that are within a prohibition region set by the prohibition region setting unit from being registered as new targets by the registration unit.

    Driving support apparatus
    2.
    发明授权
    Driving support apparatus 有权

    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.

    Estimation apparatus
    4.
    发明授权
    Estimation apparatus 有权

    公开(公告)号：US10914832B2

    公开(公告)日：2021-02-09

    申请号：US16350093

    申请日：2017-03-22

    Applicant: DENSO CORPORATION

    Inventor： Yusuke Akamine ,  Yasuyuki Miyake

    IPC: G01S13/58 ,  G01S7/41 ,  G01S13/931 ,  G01S13/93 ,  G01S13/62

    Abstract: An estimation apparatus of the present disclosure includes a same-object point information acquiring section, a candidate estimating section, and a direction estimating section. The candidate estimating section estimates, as a candidate direction, a direction that is matched with an arbitrary horizontal direction upon determining that the relative speeds gradually decrease along the arbitrary horizontal direction. The candidate estimating section estimates, as the candidate direction, an opposite direction of the arbitrary horizontal direction upon determining that the relative speeds gradually increases along the arbitrary horizontal direction. The direction estimating section estimates a moving direction of the same object based on the candidate direction.

    Object tracking apparatus
    5.
    发明授权
    Object tracking apparatus 有权

    公开(公告)号：US12123939B2

    公开(公告)日：2024-10-22

    申请号：US17659154

    申请日：2022-04-13

    Applicant: DENSO CORPORATION

    Inventor： Yusuke Akamine ,  Takuya Takayama

    IPC: G01S13/58 ,  G01S7/41 ,  G01S13/93

    CPC classification number: G01S13/58 ,  G01S7/415 ,  G01S13/93

    Abstract: An object tracking apparatus acquires detection information from a sensor mounted to a moving body, detects an object, and calculates a distance, a relative velocity, and an orientation thereof. For the initially detected object, the apparatus calculates aliased velocities of which aliasing from the relative velocity is assumed, and generates target candidates corresponding to the aliased velocities. For each target candidate, the apparatus estimates a current state of the target candidate from a past state thereof and observation information, and selects the target candidate estimated to be a true target from the target candidates for the same object. The apparatus calculates, as a reference velocity, an aliased velocity of the relative velocity that is equal to or greater than a velocity lower-limit value and is most negative or smallest in magnitude. The apparatus calculates the aliased velocities being the reference velocity aliased 0 to n times in a positive direction.

    Vehicle radar system
    6.
    发明授权
    Vehicle radar system 有权

    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.

    In-vehicle radar device
    8.
    发明授权
    In-vehicle radar device 有权

    公开(公告)号：US11226409B2

    公开(公告)日：2022-01-18

    申请号：US16585572

    申请日：2019-09-27

    Applicant: DENSO CORPORATION

    Inventor： Yusuke Akamine ,  Naoki Kawasaki ,  Yasuyuki Miyake

    IPC: G01S13/58 ,  G01S7/35 ,  G01S13/931

    Abstract: An in-vehicle radar device includes a transmission section, a reception section, an analysis section, an extraction section, a speed calculation section, a distance calculation section, and a folding detection section. The folding detection section detects occurrence of erroneous calculation of a distance, when reflection intensity at a frequency peak obtained by the extraction section is smaller than a preset intensity threshold for a distance calculated by the distance calculation section and a frequency width in a frequency spectrum calculated by the analysis section is smaller than a preset width threshold.

    Lane boundary lane recognition device and computer-readable storage medium storing program for recognizing lane boundary lines on roadway
    9.
    发明授权
    Lane boundary lane recognition device and computer-readable storage medium storing program for recognizing lane boundary lines on roadway 有权
    车道边界车道识别装置和用于识别道路上车道边界线的计算机可读存储介质存储程序

    公开(公告)号：US09594965B2

    公开(公告)日：2017-03-14

    申请号：US14830200

    申请日：2015-08-19

    Applicant: DENSO CORPORATION

    Inventor： Yusuke Akamine ,  Naoki Kawasaki ,  Tomohiko Tsuruta ,  Shunsuke Suzuki

    IPC: G06K9/00 ,  G06K9/03

    CPC classification number: G06K9/00798 ,  G06K9/033

    Abstract: In a lane boundary line recognition device, a calculation section calculates a degree of uncertainty which affects a correct recognition of white lines on a roadway of a vehicle. A learning section updates a learning value of the degree of uncertainty. A recognition suppression section suppresses execution of a recognition process of recognizing white lines on the roadway when the updated learning value is more than a threshold value. An environment change judgment section judges whether or not a road environment has changed. A learning resetting section resets the learning value of the degree of uncertainty to a previous learning value when the detection result of the environment change judgment section indicates an occurrence of change of the road environment.

    Abstract translation: 在车道边界线识别装置中，计算部分计算影响车辆道路上的白线的正确识别的不确定度。 学习部分更新不确定程度的学习价值。 当更新的学习值大于阈值时，识别抑制部分抑制识别道路上的白线的识别处理的执行。 环境变化判断部判断道路环境是否变化。 当环境变化判断部分的检测结果指示道路环境的变化的发生时，学习重置部分将不确定度的学习值重置为先前的学习值。

    Object tracking apparatus
    10.
    发明授权
    Object tracking apparatus 有权

    公开(公告)号：US12038495B2

    公开(公告)日：2024-07-16

    申请号：US17237593

    申请日：2021-04-22

    Applicant: DENSO CORPORATION

    Inventor： Yusuke Akamine ,  Takuya Takayama ,  Yasuyuki Miyake

    IPC: G01S13/72 ,  G01S7/41 ,  G01S13/52 ,  G01S13/58 ,  G01S13/931

    CPC classification number: G01S13/723 ,  G01S7/415 ,  G01S13/52 ,  G01S13/584 ,  G01S13/931

    Abstract: 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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