公开(公告)号：US08386160B2

公开(公告)日：2013-02-26

申请号：US12612933

申请日：2009-11-05

申请人： Jun Tsunekawa ,  Masayuki Kishida

发明人： Jun Tsunekawa ,  Masayuki Kishida

IPC分类号： G06F17/10

CPC分类号： G08G1/166 ,  G08G1/165

摘要： A body detection apparatus includes: movement direction calculation portion that calculates a movement direction of each of acquisition points by using signals that show the acquisition points and that are obtained through detection of a body present around the vehicle; and determination portion that pre-sets a frame commensurate with a shape of a body as a detection object, and for pre-setting for the frame a reference traveling direction as an assumed traveling direction of the body, and for determining, among the acquisition points, acquisition points present within the frame whose reference traveling direction is aligned with the movement direction as being acquisition points of a single body.

摘要翻译： 身体检测装置包括：运动方向计算部，其通过使用显示所述获取点的信号，并且通过检测所述车辆周围的身体而获得的运动方向; 以及确定部，其将与身体的形状相对应的框作为检测对象，并且将所述帧的基准行进方向预先设定为所述身体的假设行进方向，并且用于在所述采集点之间进行确定 存在于基准行进方向与移动方向对齐的框架内的采集点为单体的采集点。

公开(公告)号：US20110175767A1

公开(公告)日：2011-07-21

申请号：US13077126

申请日：2011-03-31

申请人： Jun Tsunekawa

发明人： Jun Tsunekawa

IPC分类号： G01S13/66

CPC分类号： G01S13/931 ,  G01S13/42 ,  G01S13/48 ,  G01S13/589 ,  G01S2013/9325 ,  G01S2013/935 ,  G01S2013/9375 ,  G08G1/166 ,  G08G1/167

摘要： The present invention provides a radar apparatus capable of changing a characteristic of filter processing while considering also a relative velocity of an object. A measurement section measures a relative position and a relative velocity of an object such as another vehicle, a pedestrian, and an object placed on a road. The radar apparatus calculates a time until the object and an own vehicle collide with each other, based on the relative position and relative velocity of the object measured by the measurement section, and changes, based on the calculated time, a filter coefficient to be used when filter processing is performed on a measured position converted from the measured relative position of the object, thereby changing a characteristic of the filter processing to be performed on the measured position, between stability and responsiveness.

摘要翻译： 本发明提供一种能够在考虑物体的相对速度的同时改变滤波处理的特性的雷达装置。 测量部分测量诸如另一车辆，行人和放置在道路上的物体​​的物体的相对位置和相对速度。 雷达装置根据由测量部测量出的物体的相对位置和相对速度，计算直到物体和本车辆彼此碰撞的时间，并根据计算出的时间改变要使用的滤波器系数 当从对象的测量相对位置转换出的测量位置进行滤波处理时，从而改变在测量位置，稳定性和响应性之间进行的滤波处理的特性。

公开(公告)号：US07911374B2

公开(公告)日：2011-03-22

申请号：US12320414

申请日：2009-01-26

申请人： Takumi Moriuchi ,  Masahiro Sakaguchi ,  Hisateru Asanuma ,  Tomoya Kawasaki ,  Jun Tsunekawa ,  Motomi Iyoda

发明人： Takumi Moriuchi ,  Masahiro Sakaguchi ,  Hisateru Asanuma ,  Tomoya Kawasaki ,  Jun Tsunekawa ,  Motomi Iyoda

IPC分类号： G01S13/60 ,  G01S13/93

CPC分类号： G01S3/48 ,  G01S13/345 ,  G01S13/584 ,  G01S13/723 ,  G01S13/931 ,  G01S2013/9375 ,  G01S2013/9389

摘要： A target position is estimated in such a manner to maintain target position continuity, with high accuracy, even when the X coordinate displacement of the target is large. On a scan in which the target position is not detected, when a trajectory of the target in the past is within a predetermined region in the vicinity of the Y-axis, a position for estimate is a position having an X coordinate resulting from shifting, by a first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position, while when the trajectory is not within the predetermined region, the position for estimate is a position having an X coordinate resulting from shifting, by a second displacement that is larger than the first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position.

摘要翻译： 估计目标位置，即使当目标的X坐标位移大时，以高精度维持目标位置连续性。 在没有检测到目标位置的扫描中，当过去的目标的轨迹在Y轴附近的预定区域内时，估计位置是由移位产生的具有X坐标的位置， 通过第一位移，基于前一位置的X坐标根据轨迹估计的X坐标，而当轨迹不在预定区域内时，估计位置是具有由X坐标产生的X坐标的位置 基于前一位置的X坐标，移动大于第一位移的第二位移，根据轨迹估计的X坐标。

公开(公告)号：US08989913B2

公开(公告)日：2015-03-24

申请号：US13130851

申请日：2008-12-26

申请人： Jun Tsunekawa

发明人： Jun Tsunekawa

IPC分类号： G06F7/00 ,  B60W40/06 ,  B60W40/076 ,  B60W40/072 ,  B60W30/095 ,  B60W50/00

CPC分类号： B60W40/076 ,  B60W30/0953 ,  B60W40/072 ,  B60W2050/0051 ,  B60W2050/0052 ,  B60W2520/10 ,  B60W2520/14

摘要： Provided is a travel route estimation device capable of accurately estimating, without excessively increasing communication load of the device, a shape of a travel route even when one's own-vehicle is traveling on a travel route that does not have any objects installed on the route. A calculation section calculates and successively stores a radius of curvature of the travel route based on a yaw rate detected by a yaw rate detection section and on a traveling velocity detected by a velocity detection section. When conducting a filtering process for reducing variation of the calculate radius of curvature, the calculation section selects a filtering constant for multiplying the stored radius of curvature in accordance with the type of the travel route of the own-vehicle, and generates information representing a radius of curvature obtained by conducting at least one filtering process by using the selected filtering constant.

摘要翻译： 提供一种行驶路线估计装置，即使在本车辆在路线上没有安装任何物体的行驶路线上行驶时，也能够不过度增加装置的通信负荷而精确地估计行驶路线的形状。 计算部基于由横摆率检测部检测出的横摆率和根据由速度检测部检测出的行驶速度，计算并依次存储行驶路线的曲率半径。 当进行用于减小计算曲率半径的变化的滤波处理时，计算部根据本车行驶路线的种类选择存储的曲率半径的滤波常数，生成表示半径 通过使用所选择的滤波常数进行至少一个滤波处理获得的曲率。

公开(公告)号：US08581776B2

公开(公告)日：2013-11-12

申请号：US13123914

申请日：2008-12-18

申请人： Jun Tsunekawa

发明人： Jun Tsunekawa

IPC分类号： G01S13/00 ,  G01S13/08 ,  G01S13/58

CPC分类号： G01S13/723 ,  G01S7/40 ,  G01S13/58 ,  G01S13/931 ,  G01S2013/9353 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G08G1/166

摘要： Provided is a radar system which calculates a track of a detected object and can determine whether or not the track is accurate. The radar system includes: a radar section for emitting an electromagnetic wave to an object and receiving a reflected wave reflected from the object to detect position information of the object; a track calculation section for calculating, periodically at a first cycle, a track along which the object moves, on the basis of the position information obtained from the radar section; a first speed calculation section for calculating a first speed at which the object moves, on the basis of pieces of the position information at two different time points having a time interval which is longer than the first cycle; and a track determination section for determining whether or not the track is accurate, on the basis of at least the first speed.

摘要翻译： 提供了一种雷达系统，其计算检测到的物体的轨道并且可以确定轨道是否准确。 雷达系统包括：雷达部分，用于向对象发射电磁波并接收从物体反射的反射波，以检测物体的位置信息; 轨道计算部，其基于从雷达部获得的位置信息，以第一周期周期性地计算物体移动到的轨道; 基于在具有比第一周期长的时间间隔的两个不同时间点的位置信息的块来计算物体移动的第一速度的第一速度计算部分; 以及轨道确定部分，用于至少基于第一速度来确定轨迹是否准确。

公开(公告)号：US20110285574A1

公开(公告)日：2011-11-24

申请号：US13123914

申请日：2008-12-18

申请人： Jun Tsunekawa

发明人： Jun Tsunekawa

IPC分类号： G01S13/93 ,  G01S13/66

CPC分类号： G01S13/723 ,  G01S7/40 ,  G01S13/58 ,  G01S13/931 ,  G01S2013/9353 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G08G1/166

摘要： Provided is a radar system which calculates a track of a detected object and can determine whether or not the track is accurate. The radar system includes: a radar section for emitting an electromagnetic wave to an object and receiving a reflected wave reflected from the object to detect position information of the object; a track calculation section for calculating, periodically at a first cycle, a track along which the object moves, on the basis of the position information obtained from the radar section; a first speed calculation section for calculating a first speed at which the object moves, on the basis of pieces of the position information at two different time points having a time interval which is longer than the first cycle; and a track determination section for determining whether or not the track is accurate, on the basis of at least the first speed.

摘要翻译： 提供了一种雷达系统，其计算检测到的物体的轨道并且可以确定轨道是否准确。 雷达系统包括：雷达部分，用于向对象发射电磁波并接收从物体反射的反射波，以检测物体的位置信息; 轨道计算部，其基于从雷达部获得的位置信息，以第一周期周期性地计算物体移动到的轨道; 基于在具有比第一周期长的时间间隔的两个不同时间点的位置信息的块来计算物体移动的第一速度的第一速度计算部分; 以及轨道确定部分，用于至少基于第一速度来确定轨迹是否准确。

公开(公告)号：US20110238309A1

公开(公告)日：2011-09-29

申请号：US13129651

申请日：2008-12-09

申请人： Jun Tsunekawa

发明人： Jun Tsunekawa

IPC分类号： G08G1/16

CPC分类号： B60R21/0134 ,  B60R2021/01259 ,  B60R2021/01265 ,  G08G1/165 ,  G08G1/166

摘要： Provided is an object detection apparatus and an object detecting method for, with respect to an object detected by a radar, determining whether the object is an automobile and performing an appropriate collision determination based on a determination result. The apparatus comprises a radar device 1 which detects a target in a surrounding area of an own vehicle VM; a target processing section 21 which calculates, with respect to the detected target, information containing at least two of information indicating a position of presence, information indicating a moving direction, and information indicating a moving speed, of the target as target information; and a target determination section 23 which determines, based on the calculated target information, whether a target object is a bicycle depending on whether the target satisfies a predetermined condition, and which determines a risk of collision between the vehicle VM and the target object.

摘要翻译： 提供了一种物体检测装置和物体检测方法，用于针对由雷达检测的物体，基于确定结果来确定物体是否是汽车并且执行适当的碰撞确定。 该装置包括：雷达装置1，其检测自身车辆VM的周围区域中的目标; 目标处理部21，针对检测对象，将目标信息中包含指示存在位置的信息，表示移动方向的信息和表示移动速度的信息中的至少两个信息， 以及目标确定部23，其基于所计算的目标信息，根据目标是否满足预定条件，确定目标对象是否是自行车，并且确定车辆VM与目标对象之间的碰撞风险。

公开(公告)号：US08847792B2

公开(公告)日：2014-09-30

申请号：US13574716

申请日：2010-09-24

申请人： Jun Tsunekawa

发明人： Jun Tsunekawa

IPC分类号： G08G1/01 ,  G08G1/16 ,  G01S13/72 ,  G01S13/93

CPC分类号： G08G1/166 ,  B60W2420/52 ,  B60W2550/10 ,  G01S13/72 ,  G01S13/931 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9375

摘要： Provided is an object detection apparatus capable of accurately estimating the movement amount of the position, which moves within an oncoming vehicle, of a reflection point of an electromagnetic wave radiated from a radar apparatus, and using the movement amount for collision possibility determination. The object detection apparatus provided in a vehicle includes: a relative position detection section radiating the electromagnetic wave to an object in front of the vehicle, and receiving a reflection wave from the object, thereby detecting the relative position, to the vehicle, of an electromagnetic wave reflection point on the object reflecting the electromagnetic wave; and a movement amount estimation section capable of, based on the relative position to the vehicle of the electromagnetic wave reflection point, estimating, as continuous values, a movement amount of the electromagnetic wave reflection point on the object from a predetermined timing until the object approaches the vicinity of the vehicle.

摘要翻译： 提供一种物体检测装置，其能够精确地估计从迎面而来的车辆中移动的位置的移动量，从雷达装置发射的电磁波的反射点，并使用碰撞可能性判定的移动量。 车辆中提供的物体检测装置包括：相对位置检测部，其将电磁波照射到车辆前方的物体，并且从物体接收反射波，从而检测车辆的电磁相对位置 反射电磁波的物体上的波反射点; 以及运动量估计部，其能够基于所述电磁波反射点的车辆的相对位置，从预定定时直到所述物体接近为止，估计所述物体上的所述电磁波反射点的移动量作为连续值 车辆附近。

公开(公告)号：US20120116663A1

公开(公告)日：2012-05-10

申请号：US12995884

申请日：2009-04-15

申请人： Jun Tsunekawa

发明人： Jun Tsunekawa

IPC分类号： G06F17/00

CPC分类号： B60T7/22 ,  B60R21/0134 ,  B60R2021/01259 ,  B60W30/08 ,  G08G1/166

摘要： Objects relatively approaching a vehicle diagonally are detected, and at least relative distances of the detected objects with respect to the vehicle and relative speeds of the detected objects with respect to the vehicle are calculated. Using the relative distances of the objects and the relative speeds of the objects, estimated collision time lengths to collisions of the objects with the vehicle are calculated respectively. A predetermined number of the objects that are arranged in an ascending order of the estimated collision time lengths are selected, and pieces of detected information on the selected objects are output.

摘要翻译： 检测到对角线相对接近车辆的物体，并且计算检测到的物体相对于车辆的至少相对距离和相对于车辆的被检测物体的相对速度。 使用对象的相对距离和对象的相对速度，分别计算与物体与车辆的碰撞的估计的碰撞时间长度。 选择以估计的碰撞时间长度的升序排列的预定数量的对象，并且输出关于所选择的对象的检测信息。

公开(公告)号：US08154437B2

公开(公告)日：2012-04-10

申请号：US12669047

申请日：2008-12-05

申请人： Jun Tsunekawa

发明人： Jun Tsunekawa

IPC分类号： G01S13/58

CPC分类号： G08G1/166

摘要： There is provided a traveling direction vector reliability determination method in which reliability of a traveling direction vector of another vehicle is calculated so as to increase reliability of a collision prediction. The traveling direction vector reliability determination method determines the reliability of the traveling direction vector when the traveling direction vector is calculated based on position coordinate points of a target, which are calculated by a radar device. The method includes a traveling direction vector calculation step of calculating, based on a movement history of the position coordinate points, the traveling direction vector of the target; and a reliability calculation step of calculating, in a case where the position coordinate points include normally recognized coordinate points and estimated coordinate points, the reliability of the traveling direction vector, based on at least one of information about the normally recognized coordinate points and information about the estimated coordinate points.

摘要翻译： 提供了一种行驶方向矢量可靠性确定方法，其中计算出另一车辆的行进方向矢量的可靠性，以提高碰撞预测的可靠性。 行驶方向矢量可靠性判定方法基于由雷达装置计算的目标的位置坐标点来计算行驶方向矢量时的行驶方向矢量的可靠性。 该方法包括：行进方向矢量计算步骤，基于位置坐标点的移动历史来计算目标的行进方向矢量; 以及可靠性计算步骤，在所述位置坐标点包括正常识别的坐标点和估计坐标点的情况下，基于关于正常识别的坐标点的信息和关于 估计坐标点。