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公开(公告)号：US09868441B2
公开(公告)日：2018-01-16
申请号：US14796887
申请日：2015-07-10
CPC分类号： B60W30/16 , B60W2550/308 , G01S13/931 , G01S2013/9325
摘要： A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target that is a reflecting portion of the preceding vehicle. In the apparatus, a controller is configured to implement the inter-vehicle distance control based on an inter-vehicle distance between a rear end of the preceding vehicle and the subject vehicle acquired from the detected distance. A control switcher is configured to, when target information for identifying the rear end of the preceding vehicle becomes unacquirable during implementation of the inter-vehicle distance control, suspend the inter-vehicle distance control and make a switch to the direct operation by the driver.
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公开(公告)号：US09266534B2
公开(公告)日：2016-02-23
申请号：US14796912
申请日：2015-07-10
CPC分类号： B60W30/16 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/14 , B60W2420/52 , B60W2510/0604 , B60W2520/10 , B60W2540/04 , B60W2550/302 , B60W2550/308 , G01S13/931 , G01S2013/9325
摘要： A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target of the preceding vehicle. A target-pair distance is a distance between the target and a non-target reflection point that is closer to the subject vehicle than the target. A corrected distance calculator is configured to, in the presence of the target-pair distance being recognized, calculate a first corrected distance by subtracting the target-pair distance from a detected distance between the target and the subject vehicle, and in the absence of the target-pair distance being recognized, calculate a second corrected distance by subtracting an offset that is the previously set target-pair distance from the detected distance. A controller is configured to implement the inter-vehicle distance control based on the first or second corrected distance depending on the presence or absence of the target-pair distance being recognized.
摘要翻译： 一种车辆控制装置，用于基于来自前方车辆的目标的反射波，实现承载前方车辆后方的装置的车辆距离控制。 目标对距离是目标与目标之间比目标物体更接近目标车辆的非目标反射点之间的距离。 校正距离计算器被配置为在存在目标对距离被识别的情况下，通过从目标和目标车辆之间的检测距离减去目标对距离来计算第一校正距离，并且在没有 识别目标对距离，通过从检测到的距离减去作为先前设定的目标对距离的偏移来计算第二校正距离。 控制器被配置为根据所识别的目标对距离的存在或不存在，基于第一或第二校正距离来实现车辆间距离控制。
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公开(公告)号：US11467277B2
公开(公告)日：2022-10-11
申请号：US16089121
申请日：2017-03-29
发明人： Yohei Masui , Tadashi Sakai , Takashi Maeda , Takeshi Nanami , Minoru Nakadori
摘要： An object recognition apparatus groups reflection points detected by a radar device, and recognizes an object around the own vehicle, based on a radar-based target detected using the grouped plurality of reflection points and an image-based target detected using an image captured by an image capturing device. The object recognition apparatus includes a reflection point acquiring unit that acquires reflection point information related to the grouped plurality of reflection points, and an object determining unit that determines that a plurality of objects have been detected as a single object by the radar device, based on the reflection point information acquired by the reflection point acquiring unit and the information on the image-based target, if the image-based target detected by the imaging device includes an image-only target not detected by the radar device.
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公开(公告)号：US11346922B2
公开(公告)日：2022-05-31
申请号：US16089141
申请日：2017-03-29
发明人： Yohei Masui , Tadashi Sakai , Takashi Maeda , Takeshi Nanami , Minoru Nakadori
IPC分类号： G01S7/41 , B60R11/04 , G01S13/42 , G01S13/86 , G01S13/931 , B60W30/095 , B60W30/14
摘要： An object recognition device recognizes an object around the own vehicle by using a radar device and an imaging device. The object recognition apparatus includes: information combining unit that generates combined target information by combining radar-based target information with image-based target information if the object is being detected by the radar device and the imaging device, the radar-based target information being information on an object detected by the radar device, the image-based target information being information on an object detected by the imaging device; and an identical object determining unit that determines that an object detected by the imaging device is identical with an object detected by the radar device, based on time-dependent change of the combined target information.
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公开(公告)号：US20160009280A1
公开(公告)日：2016-01-14
申请号：US14796837
申请日：2015-07-10
CPC分类号： B60W30/16 , B60W2550/308 , G01S13/931 , G01S2013/9325
摘要： A vehicle control apparatus for implementing inter-vehicle distance control of a vehicle carrying the apparatus behind a preceding vehicle. In the apparatus, an offset storage is configured to calculate an offset that is a difference between detected distances to first and second targets, and store the offset associated with the first target forward of the second target. The inter-vehicle distance control may be implemented based on a distance calculated by subtracting the offset from the detected distance to the first target. An offset eraser is configured to, based on the presence or absence of relative displacement between the first and second targets, determine whether or not the first and second targets belong to different vehicles, and when the first and second targets belong to different vehicles, erase the offset stored by the offset storage.
摘要翻译： 一种车辆控制装置，用于实现在前车辆后方携带该装置的车辆的车间距离控制。 在装置中，偏移存储器被配置为计算作为到第一和第二目标的检测距离之间的差异的偏移量，并且存储与第二目标向前的第一目标相关联的偏移。 可以基于通过从检测到的距离减去到第一目标的偏移而计算出的距离来实现车间距离控制。 偏移橡皮擦被配置为基于第一和第二目标之间的相对位移的存在或不存在，确定第一和第二目标是否属于不同的车辆，并且当第一和第二目标属于不同的车辆时，擦除 由偏移存储器存储的偏移量。
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公开(公告)号：US09783196B2
公开(公告)日：2017-10-10
申请号：US14796961
申请日：2015-07-10
IPC分类号： B60W30/16 , G08G1/16 , B60W30/165 , B60W40/04 , G01S13/08 , G01S13/86 , G01S13/58 , G01S13/93
CPC分类号： B60W30/16 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/14 , B60W30/165 , B60W40/04 , B60W2420/52 , B60W2510/0604 , B60W2520/10 , B60W2540/04 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/08 , G01S13/58 , G01S13/867 , G01S13/931 , G01S2013/9325 , G01S2013/9375 , G01S2013/9389 , G08G1/165 , G08G1/166
摘要： A vehicle control apparatus for implementing inter-vehicle distance control of a vehicle carrying the apparatus behind a preceding vehicle. In the apparatus, an offset storage is configured to calculate an offset that is a difference between detected distances to first and second targets, and store the offset associated with the first target forward of the second target. The inter-vehicle distance control may be implemented based on a distance calculated by subtracting the offset from the detected distance to the first target. An offset updater is configured to determine whether or not a relative distance between the first and second targets has increased or decreased, and when the relative distance between the first and second targets has increased or decreased, update the offset stored by the offset storage.
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公开(公告)号：US09260114B2
公开(公告)日：2016-02-16
申请号：US14796837
申请日：2015-07-10
CPC分类号： B60W30/16 , B60W2550/308 , G01S13/931 , G01S2013/9325
摘要： A vehicle control apparatus for implementing inter-vehicle distance control of a vehicle carrying the apparatus behind a preceding vehicle. In the apparatus, an offset storage is configured to calculate an offset that is a difference between detected distances to first and second targets, and store the offset associated with the first target forward of the second target. The inter-vehicle distance control may be implemented based on a distance calculated by subtracting the offset from the detected distance to the first target. An offset eraser is configured to, based on the presence or absence of relative displacement between the first and second targets, determine whether or not the first and second targets belong to different vehicles, and when the first and second targets belong to different vehicles, erase the offset stored by the offset storage.
摘要翻译： 一种车辆控制装置，用于实现在前车辆后方携带该装置的车辆的车间距离控制。 在装置中，偏移存储器被配置为计算作为到第一和第二目标的检测距离之间的差异的偏移量，并且存储与第二目标向前的第一目标相关联的偏移。 可以基于通过从检测到的距离减去到第一目标的偏移而计算出的距离来实现车间距离控制。 偏移橡皮擦被配置为基于第一和第二目标之间的相对位移的存在或不存在，确定第一和第二目标是否属于不同的车辆，并且当第一和第二目标属于不同的车辆时，擦除 由偏移存储器存储的偏移量。
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公开(公告)号：US20160009283A1
公开(公告)日：2016-01-14
申请号：US14796919
申请日：2015-07-10
CPC分类号： B60W30/16 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/14 , B60W2420/52 , B60W2510/0604 , B60W2520/10 , B60W2540/04 , B60W2550/10 , B60W2550/308 , G01S13/931 , G01S2013/9325
摘要： A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target that is a reflecting portion of the preceding vehicle. In the apparatus, a distance estimator is configured to calculate an estimated distance as an inter-vehicle distance between a rear end of the preceding vehicle and the subject vehicle based on an inter-vehicle distance variation calculated based on a relative speed of the target. A target determiner is configured to determine whether or not the target is displaced forward of the rear end of the preceding vehicle. A controller is configured to, when the target of the preceding vehicle is displaced forward of the rear end of the preceding vehicle, implement the inter-vehicle distance control based on the estimated distance calculated by the distance estimator.
摘要翻译： 一种车辆控制装置，用于基于来自作为前一车辆的反射部分的目标的反射波，实现携带前方车辆后方的装置的车辆距离控制。 在该装置中，距离估计器被配置为基于基于目标的相对速度计算的车辆间距离变化来计算作为前方车辆的后端与目标车辆之间的车辆间距离的估计距离。 目标确定器被配置为确定目标是否位于前方车辆的后端的前方。 控制器被配置为当前一车辆的目标位于前方车辆的后端前方时，基于由距离估计器计算出的估计距离来执行车辆间距离控制。
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公开(公告)号：US20160009281A1
公开(公告)日：2016-01-14
申请号：US14796887
申请日：2015-07-10
CPC分类号： B60W30/16 , B60W2550/308 , G01S13/931 , G01S2013/9325
摘要： A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target that is a reflecting portion of the preceding vehicle. In the apparatus, a controller is configured to implement the inter-vehicle distance control based on an inter-vehicle distance between a rear end of the preceding vehicle and the subject vehicle acquired from the detected distance. A control switcher is configured to, when target information for identifying the rear end of the preceding vehicle becomes unacquirable during implementation of the inter-vehicle distance control, suspend the inter-vehicle distance control and make a switch to the direct operation by the driver.
摘要翻译： 一种车辆控制装置，用于基于来自作为前一车辆的反射部分的目标的反射波，实现携带前方车辆后方的装置的车辆距离控制。 在该装置中，控制器被配置为基于从检测到的距离获取的前一车辆的后端与被摄体车辆之间的车辆间距离来实现车辆间距离控制。 控制切换装置构成为，在车辆间距离控制的实现期间，当用于识别前方车辆的后端的目标信息变得不可取的时候，暂停车辆间距离控制，并切换到驾驶员的直接操作。
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公开(公告)号：US11086011B2
公开(公告)日：2021-08-10
申请号：US16303383
申请日：2017-05-19
发明人： Tadashi Sakai , Yohei Masui , Ryoma Niihara , Takashi Maeda , Takeshi Nanami , Minoru Nakadori
摘要： A target detection device mounted in a vehicle includes: a radar specification unit; a same target determination unit; and an image specification unit that specifies, as image target position information, an image detection region of an image detection target detected on the basis of a captured image, the image detection region representing the position of the image detection target relative to the base point on an XY-plane with the X-axis representing the vehicle width direction of the vehicle and the Y-axis representing the vehicle length direction of the vehicle. The image specification unit sets the Y-axis range of the image detection region in the Y-axis direction on the basis of the bearing from the base point to each of the two X-directional ends of the image detection target in the captured image and of an expected width minimum value and an expected width maximum value in the X-axis direction.
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