公开(公告)号：US06906661B2

公开(公告)日：2005-06-14

申请号：US10682296

申请日：2003-10-10

申请人： Kiichiro Sawamoto ,  Hiroyuki Ando

发明人： Kiichiro Sawamoto ,  Hiroyuki Ando

IPC分类号： G01S13/58 ,  G01S13/93

CPC分类号： G01S13/931 ,  G01S13/584 ,  G01S2013/9339 ,  G01S2013/9353 ,  G01S2013/936

摘要： In an object-detecting system using an FM-CW wave, points f1 to f4 corresponding to detection peaks of a reflected wave from a road-side object such as guardrail and points m1 and m2 corresponding to detection peaks of a reflected wave from a moving object such as a reflector of a preceding vehicle are indicated on two-dimensional coordinates along with the shape of a road ahead of a subject vehicle. Among the points f1 to f4, m1 and m2, the points f1 to f4 are determined as being provided by the reflected wave from the road-side object, and a distance from the subject vehicle to the object and a speed of the subject vehicle relative the object are calculated using the remaining points m1 and m2 excluding the points f1 to f4. Thus, only the moving object except the road-side object can be detected.

摘要翻译： 在使用FM-CW波的物体检测系统中，对应于来自诸如护栏的路侧物体的反射波的检测峰值的点f 1至f 4，对应于反射的检测峰值的点m 1和m 2 来自诸如前方车辆的反射器的移动物体的波形与二次坐标一起被指示在本车辆前方的道路的形状上。 在点f 1至f 4，m 1和m 2中，点f 1至f 4被确定为由来自路侧物体的反射波以及从主车辆到物体的距离以及 使用除了点f 1至f 4之外的剩余点m 1和m 2来计算目标车辆相对于物体的速度。 因此，只能检测除路侧物体以外的移动物体。

公开(公告)号：US07493218B2

公开(公告)日：2009-02-17

申请号：US11256041

申请日：2005-10-20

申请人： Kiichiro Sawamoto

发明人： Kiichiro Sawamoto

IPC分类号： G06F17/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G01S13/931 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353

摘要： A vehicular control object determination system includes: a radar device for detecting an object that is present in the direction of travel of a vehicle; a travel locus estimator for estimating a future travel locus of the vehicle; and a control object determiner for determining a control object based on a detection result obtained by the radar device, a travel locus estimated by the travel locus estimator. The control object determiner modifies the control object determination conditions when the estimated travel locus is not a straight line and the detected relative sideways speed is less than the threshold value, and when the estimated travel locus is a straight line and the detected relative sideways speed is equal to or greater than the threshold value, thereby preventing erroneous identification of a preceding vehicle traveling on an adjacent lane as a control object.

摘要翻译： 车辆控制对象确定系统包括：雷达装置，用于检测存在于车辆行驶方向上的物体; 用于估计车辆的未来行驶轨迹的行驶轨迹估计器; 以及控制对象确定器，用于基于由所述雷达装置获得的检测结果来确定控制对象，所述轨迹由所述行进轨迹估计器估计。 当所估计的行进轨迹不是直线并且所检测的相对侧向速度小于阈值时，控制对象确定器修改控制对象确定条件，并且当估计的行进轨迹是直线并且检测到的相对侧向速度为 等于或大于阈值，从而防止在相邻车道上行驶的前一车辆的错误识别作为控制对象。

公开(公告)号：US07289017B2

公开(公告)日：2007-10-30

申请号：US11255904

申请日：2005-10-20

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： B60Q1/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/166

摘要： In a vehicular control object determination system, the position of an object detected by a radar device is stored by a detection position memory, and a predetermined area having the position of the object as the center is set as the determination region by a determination region setter. When the determination region set for one of two objects is passed through by the other object, the passing direction is determined by a passing direction determiner. During this process, the direction in which a fixed object or an object dropped on the road moves relative to a preceding vehicle is a direction in which the fixed object or the dropped object on the road approaches the subject vehicle with the preceding vehicle as a reference. Then, a control object determiner excludes from determination of the control object an object for which the passing direction determined by the passing direction determiner is a direction approaching the subject vehicle, thereby preventing the fixed object or the dropped object from being erroneously determined as the control object when the preceding vehicle passes over the fixed object or the dropped object on the road.

摘要翻译： 在车辆控制对象确定系统中，由检测位置存储器存储由雷达装置检测到的物体的位置，并且通过确定区域设定器将具有作为中心的物体的位置的预定区域设置为确定区域 。 当为两个物体中的一个设置的确定区域被另一个物体通过时，通过方向由通过方向确定器确定。 在此过程中，固定物体或物体落在路面上相对于前方车辆移动的方向是将前方车辆的固定物或物体靠近车辆的方向作为基准 。 然后，控制对象确定器从控制对象的确定中排除由通过方向确定器确定的通过方向是靠近对象车辆的方向的对象，从而防止固定对象或被丢弃的对象被错误地确定为控制对象 当前方车辆通过固定物体或道路上的落下物体时。

公开(公告)号：US07206686B2

公开(公告)日：2007-04-17

申请号：US10975836

申请日：2004-10-27

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： B60T7/12

CPC分类号： B60W30/16 ,  B60K31/0008 ,  B60T7/22 ,  B60W2540/12 ,  B60W2720/106 ,  G08G1/166

摘要： When a deceleration intention detector detects that an occupant has apprehension about a condition ahead of his own vehicle and attempts to decelerate the own vehicle, a detection area setter enlarges a detection area in which a control object is detected, upon a command from a control object determinator. Therefore, a new control object such as a cutting-in vehicle can be more reliably detected in accordance with an increase in an amount of attention which the occupant pays to the condition ahead of the own vehicle. As a result, a vehicle controller changes a vehicle control content of the own vehicle, thereby performing an appropriate vehicle control with respect to the newly detected control object to eliminate a sense of discomfort of the occupant.

摘要翻译： 当减速意图检测器检测到乘员对自己的车辆之前的状况担心并尝试使本车减速时，检测区域设定器根据来自控制对象的命令来扩大检测到控制对象的检测区域 决定者 因此，能够根据乘员对自身车辆前方的状况的关注度的增加来更可靠地检测诸如切入车辆的新的控制对象。 结果，车辆控制器改变本车辆的车辆控制内容，从而对新检测到的控制对象执行适当的车辆控制，以消除乘员的不适感。

公开(公告)号：US20060089802A1

公开(公告)日：2006-04-27

申请号：US11256041

申请日：2005-10-20

申请人： Kiichiro Sawamoto

发明人： Kiichiro Sawamoto

IPC分类号： G06F17/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G01S13/931 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353

摘要： A vehicular control object determination system includes: a radar device for detecting an object that is present in the direction of travel of a vehicle; a travel locus estimator for estimating a future travel locus of the vehicle; and a control object determiner for determining a control object based on a detection result obtained by the radar device, a travel locus estimated by the travel locus estimator. The control object determiner modifies the control object determination conditions when the estimated travel locus is not a straight line and the detected relative sideways speed is less than the threshold value, and when the estimated travel locus is a straight line and the detected relative sideways speed is equal to or greater than the threshold value, thereby preventing erroneous identification of a preceding vehicle traveling on an adjacent lane as a control object.

公开(公告)号：US20060089801A1

公开(公告)日：2006-04-27

申请号：US11253768

申请日：2005-10-18

申请人： Kiichiro Sawamoto

发明人： Kiichiro Sawamoto

IPC分类号： G06F17/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20

摘要： A vehicular control object determination system includes: a radar device for detecting an object that is present in the direction of travel of a vehicle; a travel locus estimator for estimating a future travel locus of the vehicle; a control object determiner for determining a control object based on a detection result obtained by the radar device, a future travel locus of the vehicle estimated by the travel locus estimator based on a vehicle speed and a yaw rate and predetermined control object determination conditions; and a swing rate detector for detecting a swing rate of side-to-side swing of the estimated travel locus. When the detected swing rate is equal to or greater than a threshold value, the control object determiner excludes from determination of a control object an object that is further than a predetermined distance. Therefore, when the swing rate is large and the estimation accuracy is lowered, an object that is farther than a predetermined distance is excluded from determination of a control object, thereby avoiding erroneous determination of a control object.

摘要翻译： 车辆控制对象确定系统包括：雷达装置，用于检测存在于车辆行驶方向上的物体; 用于估计车辆的未来行驶轨迹的行驶轨迹估计器; 控制对象确定器，用于基于由所述雷达装置获得的检测结果，基于车速和横摆率以及预定控制对象确定条件由所述行驶轨迹估计器估计的所述车辆的未来行驶轨迹来确定控制对象; 以及摆动率检测器，用于检测估计的行进轨迹的侧向摆动的摆动速率。 当检测到的摆动速度等于或大于阈值时，控制对象确定器从控制对象的确定中排除比预定距离更远的对象。 因此，当摆动率大并且估计精度降低时，比控制对象的确定排除比预定距离更远的对象，从而避免控制对象的错误确定。

公开(公告)号：US20060149462A1

公开(公告)日：2006-07-06

申请号：US11229364

申请日：2005-09-16

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： G06F17/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/16

摘要： In a vehicular control object determination system, locus correlation degree calculator calculates a degree of correlation between a future travel locus of a vehicle estimated by first travel locus estimator based on a vehicle speed and a yaw rate and a future travel locus of the vehicle estimated by second travel locus estimator based on a past travel locus of the vehicle calculated by travel locus calculator. When control object determiner determines a control object based on the travel locus estimated by the first travel locus estimator and predetermined control object determination conditions, the control object determination conditions are modified according to the degree of correlation, that is, the degree of reliability of the travel locus estimated by the first travel locus estimator, thereby achieving both accuracy with which the control object is determined and determination of the control object at a distance.

摘要翻译： 在车辆控制对象确定系统中，轨迹相关度计算器基于车速和横摆率来计算由第一行驶轨迹估计器估计出的车辆的未来行驶轨迹与由 基于由行驶轨迹计算器计算的车辆的过去行驶轨迹的第二行驶轨迹估计器。 当控制对象确定器基于由第一行进轨迹估计器估计的行驶轨迹和预定控制对象确定条件来确定控制对象时，根据相关程度，即相关度的可靠度来修改控制对象确定条件 由第一行进轨迹估计器估计的行驶轨迹，从而获得确定控制对象的精度和距离上的控制对象的确定。

公开(公告)号：US20060149452A1

公开(公告)日：2006-07-06

申请号：US11255904

申请日：2005-10-20

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： G06G7/76 ,  G06F7/00 ,  B60Q1/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/166

摘要： In a vehicular control object determination system, the position of an object detected by a radar device is stored by a detection position memory, and a predetermined area having the position of the object as the center is set as the determination region by a determination region setter. When the determination region set for one of two objects is passed through by the other object, the passing direction is determined by a passing direction determiner. During this process, the direction in which a fixed object or an object dropped on the road moves relative to a preceding vehicle is a direction in which the fixed object or the dropped object on the road approaches the subject vehicle with the preceding vehicle as a reference. Then, a control object determiner excludes from determination of the control object an object for which the passing direction determined by the passing direction determiner is a direction approaching the subject vehicle, thereby preventing the fixed object or the dropped object from being erroneously determined as the control object when the preceding vehicle passes over the fixed object or the dropped object on the road.

摘要翻译： 在车辆控制对象确定系统中，由检测位置存储器存储由雷达装置检测到的物体的位置，并且通过确定区域设定器将具有作为中心的物体的位置的预定区域设置为确定区域 。 当为两个物体中的一个设置的确定区域被另一个物体通过时，通过方向由通过方向确定器确定。 在此过程中，固定物体或物体落在路面上相对于前方车辆移动的方向是将前方车辆的固定物或物体靠近车辆的方向作为基准 。 然后，控制对象确定器从控制对象的确定中排除由通过方向确定器确定的通过方向是靠近对象车辆的方向的对象，从而防止固定对象或被丢弃的对象被错误地确定为控制对象 当前方车辆通过固定物体或道路上的落下物体时。

公开(公告)号：US20050171675A1

公开(公告)日：2005-08-04

申请号：US10975836

申请日：2004-10-27

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： B60K31/00 ,  B60T7/12 ,  B60T7/22 ,  F02D29/02 ,  G05D1/02 ,  G08G1/16

CPC分类号： B60W30/16 ,  B60K31/0008 ,  B60T7/22 ,  B60W2540/12 ,  B60W2720/106 ,  G08G1/166

摘要： When a deceleration intention detector detects that an occupant has apprehension about a condition ahead of his own vehicle and attempts to decelerate the own vehicle, a detection area setter enlarges a detection area in which a control object is detected, upon a command from a control object determinator. Therefore, a new control object such as a cutting-in vehicle can be more reliably detected in accordance with an increase in an amount of attention which the occupant pays to the condition ahead of the own vehicle. As a result, a vehicle controller changes a vehicle control content of the own vehicle, thereby performing an appropriate vehicle control with respect to the newly detected control object to eliminate a sense of discomfort of the occupant.

摘要翻译： 当减速意图检测器检测到乘员对自己的车辆之前的状况担心并尝试使本车减速时，检测区域设定器根据来自控制对象的命令来扩大检测到控制对象的检测区域 决定者 因此，能够根据乘员对自身车辆前方的状况的关注度的增加来更可靠地检测诸如切入车辆的新的控制对象。 结果，车辆控制器改变本车辆的车辆控制内容，从而对新检测到的控制对象执行适当的车辆控制，以消除乘员的不适感。

公开(公告)号：US06583403B1

公开(公告)日：2003-06-24

申请号：US09695135

申请日：2000-10-25

申请人： Hiroyuki Koike ,  Kiichiro Sawamoto

发明人： Hiroyuki Koike ,  Kiichiro Sawamoto

IPC分类号： H01J4014

CPC分类号： G01S13/931 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/9353 ,  G08G1/165

摘要： Stationary objects are determined from objects detected by a radar device mounted on a vehicle. Objects detected with a dispersion in the level of the reception of a reflected wave at a relative distance in a range of 20 m to 100 m that is equal to or smaller than a first threshold value, are extracted from the extracted objects, and objects existing on a predicted course for the vehicle is extracted from the extracted objects. Further, it is determined if one of the extracted objects detected with rate of decrease in level of reception at a relative distance in a range of 10 m to 20 m is equal to or larger than a second threshold value and with a level of reception equal to or smaller than a third threshold value is an object which provides no hindrance even if the vehicle passes over the object. A warning or an automatic braking is discontinued or moderated based on the type of object. Thus, it is possible to precisely determine whether the object detected by the radar device mounted on the vehicle is an object particularly providing no hindrance even if the vehicle travels astride the object as it is, or whether it is an object the contact of the vehicle with which is required to be avoided, thereby carrying out a precise warning or automatic braking.

摘要翻译： 固定物体由安装在车辆上的雷达装置检测的物体确定。 从提取的对象中提取在等于或小于第一阈值的20m至100μm的范围内的相对距离处的反射波的接收级别中检测到的对象，并且存在对象 从提取的对象中提取关于车辆的预测路线。 此外，确定在10m至20μm的范围内的相对距离处的接收电平降低率中检测到的提取对象中的一个是否等于或大于第二阈值，并且接收等级 小于或等于第三阈值是即使车辆越过物体也不会妨碍的物体。 基于物体的类型，停止或调节警告或自动制动。 因此，可以精确地确定安装在车辆上的雷达装置检测到的物体是否是特定的物体，特别是不会妨碍，即使车辆沿着物体越过物体，或者是物体是否与车辆的接触 需要避免这种情况，从而进行精确的警告或自动制动。