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公开(公告)号：US07358889B2
公开(公告)日：2008-04-15
申请号：US10560307
申请日：2004-09-09
申请人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
发明人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
CPC分类号： G01S17/936 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/023 , G01S17/48 , G01S2013/9375
摘要： An object detection system is provided with radar detection means (2), image detection means (3), and collating means (4). The collating means (4) detects a combination of an object detected by the radar detection means (2) and an object selected among those detected by the image detection means (3), which is the closest to the object detected by the radar detection means (S1, S2), detects a combination of an object detected by the image detection means (3) and an object selected among those detected by the radar detection means (2), which is the closest to the object detected by the image detection means (S3, S4), and determines when there is a coincidence between the combination of the object detected by the radar detection means (2) and the selected object as being closest thereto and the combination of the object detected by the image detection means (3) and the selected object as being closest thereto, that the object detected by the radar detection means (2) is the same as the object detected by the image detection means (S5).
摘要翻译： 物体检测系统具有雷达检测装置（2），图像检测装置（3）和对照装置（4）。 对照装置（4）检测由雷达检测装置（2）检测到的物体与由图像检测装置（3）检测到的物体中选择的物体的组合，该物体最接近雷达检测装置检测到的物体 （S 1，S 2）检测由图像检测装置（3）检测到的物体与由雷达检测装置（2）检测到的物体中选择的物体的组合，该雷达检测装置（2）最接近由图像检测到的物体 检测装置（S 3，S 4），并且确定由雷达检测装置（2）检测到的物体的组合与所选择的对象最接近的对象之间的重合以及由图像检测到的对象的组合 检测装置（3）和所选择的对象最接近，由雷达检测装置（2）检测到的物体与由图像检测装置检测到的物体相同（S 5）。
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公开(公告)号：US20070080850A1
公开(公告)日：2007-04-12
申请号：US10571427
申请日：2004-09-09
申请人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
发明人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
CPC分类号： G01S13/931 , G01S11/12 , G01S13/726 , G01S13/867 , G01S2013/9321 , G01S2013/9375
摘要： An object detection system includes a radar detection means (2), an image detection means (3), and a collating means (4). The collating means (4) performs a collation between an object detected by the radar detection means (2) in a present collation and an object that has been determined as being detected by the radar detection means (2) and the image detection means (3) in a previous collation (S 10, S 11), further performs a collation between an object detected by the image detection means (3) in a present collation and an object that has been determined as being detected by the radar detection means (2) and the image detection means (3) in the previous collation (S 12, S 13) when it is determined that the identical object is detected by the radar detection means (2) and the image detection means (3) in the previous collation. Then the collating means (4) determines whether the radar detection means (2) and the image detection means (3) detect the identical object based on the collations (S 14).
摘要翻译： 物体检测系统包括雷达检测装置（2），图像检测装置（3）和对照装置（4）。 对照装置（4）在当前对照中由雷达检测装置（2）检测到的物体与由雷达检测装置（2）和图像检测装置（3）检测到的物体之间进行核对 ）（S 10，S 11）中，还进行在本次对照中由图像检测单元（3）检测出的物体与由雷达检测单元（2）检测出的物体之间的核对 ）和图像检测装置（3）中，当确定由雷达检测装置（2）和图像检测装置（3）在先前核对中检测到相同的对象时，在先前核对（S12，S13） 。 然后，对照装置（4）基于排序确定雷达检测装置（2）和图像检测装置（3）是否检测相同的对象（S14）。
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公开(公告)号：US20070168128A1
公开(公告)日：2007-07-19
申请号：US10587322
申请日：2005-01-21
申请人： Setsuo Tokoro , Kyoichi Abe , Koji Suzuki
发明人： Setsuo Tokoro , Kyoichi Abe , Koji Suzuki
IPC分类号： G08G1/16
CPC分类号： G01S13/931 , B60K28/06 , B60K31/0008 , B60R21/013 , B60R21/0134 , G01S13/867 , G01S2013/9325 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： There is provided a running support system for a vehicle, which supports running of a vehicle by using a radar and image recognition means as obstacle detecting means, and in which appropriate support control based on a result of detection performed by each control means is set. A result of obstacle detection performed by a millimeter wave radar (21) is checked against a result of obstacle detection performed by image recognition means (22). Then, a starting condition for the running support control is changed depending on whether an obstacle has been detected by both the millimeter wave radar (21) and the image recognition means (22), or an obstacle has been detected by only one of the millimeter wave radar (21) and the image recognition means (22). Thus, the control support is performed based on an inattentive condition of a driver.
摘要翻译： 提供了一种用于车辆的运行支持系统，其支持通过使用雷达和图像识别装置作为障碍物检测装置来运行车辆，并且其中设置了基于由每个控制装置执行的检测结果的适当的支持控制。 针对由图像识别装置执行的障碍物检测的结果，检查由毫米波雷达（21）执行的障碍物检测的结果。 然后，根据毫米波雷达（21）和图像识别装置（22）是否检测到障碍物，改变运行支持控制的起始条件，或仅通过毫米波中的一个检测到障碍物 波形雷达（21）和图像识别装置（22）。 因此，基于驾驶员的不注意情况来执行控制支持。
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公开(公告)号：US20060139204A1
公开(公告)日：2006-06-29
申请号：US10560307
申请日：2004-09-09
申请人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
发明人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
CPC分类号： G01S17/936 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/023 , G01S17/48 , G01S2013/9375
摘要： An object detection system is provided with radar detection means (2), image detection means (3), and collating means (4). The collating means (4) detects a combination of an object detected by the radar detection means (2) and an object selected among those detected by the image detection means (3), which is the closest to the object detected by the radar detection means (S1, S2), detects a combination of an object detected by the image detection means (3) and an object selected among those detected by the radar detection means (2), which is the closest to the object detected by the image detection means (S3, S4), and determines when there is a coincidence between the combination of the object detected by the radar detection means (2) and the selected object as being closest thereto and the combination of the object detected by the image detection means (3) and the selected object as being closest thereto, that the object detected by the radar detection means (2) is the same as the object detected by the image detection means (S5).
摘要翻译： 物体检测系统具有雷达检测装置（2），图像检测装置（3）和对照装置（4）。 对照装置（4）检测由雷达检测装置（2）检测到的物体与由图像检测装置（3）检测到的物体中选择的物体的组合，该物体最接近雷达检测装置检测到的物体 （S 1，S 2）检测由图像检测装置（3）检测到的物体与由雷达检测装置（2）检测到的物体中选择的物体的组合，该雷达检测装置（2）最接近由图像检测到的物体 检测装置（S 3，S 4），并且确定由雷达检测装置（2）检测到的物体的组合与所选择的对象最接近的对象之间的重合以及由图像检测到的对象的组合 检测装置（3）和所选择的对象最接近，由雷达检测装置（2）检测到的物体与由图像检测装置检测到的物体相同（S 5）。
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公开(公告)号：US07689359B2
公开(公告)日：2010-03-30
申请号：US10587322
申请日：2005-01-21
申请人： Setsuo Tokoro , Kyoichi Abe , Koji Suzuki
发明人： Setsuo Tokoro , Kyoichi Abe , Koji Suzuki
CPC分类号： G01S13/931 , B60K28/06 , B60K31/0008 , B60R21/013 , B60R21/0134 , G01S13/867 , G01S2013/9325 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： There is provided a running support system for a vehicle, which supports running of a vehicle by using a radar and image recognition means as obstacle detecting means, and in which appropriate support control based on a result of detection performed by each control means is set. A result of obstacle detection performed by a millimeter wave radar (21) is checked against a result of obstacle detection performed by image recognition means (22). Then, a starting condition for the running support control is changed depending on whether an obstacle has been detected by both the millimeter wave radar (21) and the image recognition means (22), or an obstacle has been detected by only one of the millimeter wave radar (21) and the image recognition means (22). Thus, the control support is performed based on an inattentive condition of a driver.
摘要翻译： 提供了一种用于车辆的运行支持系统，其支持通过使用雷达和图像识别装置作为障碍物检测装置来运行车辆，并且其中设置了基于由每个控制装置执行的检测结果的适当的支持控制。 针对由图像识别装置执行的障碍物检测的结果，检查由毫米波雷达（21）执行的障碍物检测的结果。 然后，根据毫米波雷达（21）和图像识别装置（22）是否检测到障碍物，改变运行支持控制的起始条件，或仅通过毫米波中的一个检测到障碍物 波形雷达（21）和图像识别装置（22）。 因此，基于驾驶员的不注意情况来执行控制支持。
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公开(公告)号：US07417580B2
公开(公告)日：2008-08-26
申请号：US10571427
申请日：2004-09-09
申请人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
发明人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
IPC分类号： G01S13/00
CPC分类号： G01S13/931 , G01S11/12 , G01S13/726 , G01S13/867 , G01S2013/9321 , G01S2013/9375
摘要： An object detection system includes a radar detection means (2), an image detection means (3), and a collating means (4). The collating means (4) performs a collation between an object detected by the radar detection means (2) in a present collation and an object that has been determined as being detected by the radar detection means (2) and the image detection means (3) in a previous collation (S 10, S 11), further performs a collation between an object detected by the image detection means (3) in a present collation and an object that has been determined as being detected by the radar detection means (2) and the image detection means (3) in the previous collation (S 12, S 13) when it is determined that the identical object is detected by the radar detection means (2) and the image detection means (3) in the previous collation. Then the collating means (4) determines whether the radar detection means (2) and the image detection means (3) detect the identical object based on the collations (S 14).
摘要翻译： 物体检测系统包括雷达检测装置（2），图像检测装置（3）和对照装置（4）。 对照装置（4）在当前对照中由雷达检测装置（2）检测到的物体与由雷达检测装置（2）和图像检测装置（3）检测到的物体之间进行核对 ）（S 10，S 11）中，还进行在本次对照中由图像检测单元（3）检测出的物体与由雷达检测单元（2）检测出的物体之间的核对 ）和图像检测装置（3）中，当确定由雷达检测装置（2）和图像检测装置（3）在先前核对中检测到相同的对象时，在先前核对（S12，S13） 。 然后，对照装置（4）基于排序确定雷达检测装置（2）和图像检测装置（3）是否检测相同的对象（S14）。
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公开(公告)号：US20130304344A1
公开(公告)日：2013-11-14
申请号：US13980397
申请日：2011-01-21
申请人： Kyoichi Abe
发明人： Kyoichi Abe
IPC分类号： B60T8/17
CPC分类号： B60T8/17 , B60L7/18 , B60L7/26 , B60L15/2009 , B60T1/10 , B60T2270/604 , B60W10/08 , B60W10/11 , B60W10/188 , B60W30/18127 , B60W30/18136 , B60W2710/0644 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： An engine ECU and a brake ECU of a vehicle control apparatus performs any one of a mechanical brake which converts a kinetic energy using rotation of a driving wheel rotation into thermal energy using friction and a regeneration brake which converts the kinetic energy of the driving wheel rotation into electric energy using regeneration, during a vehicle deceleration, after an engine brake changes a deceleration ratio which is a rotation number ratio of driving wheels with respect to the rotation number of an engine.
摘要翻译： 车辆控制装置的发动机ECU和制动ECU通过使用摩擦将驱动轮旋转的转动动力转换为热能的机械制动器和将驱动轮旋转的动能转换的再生制动器 在车辆减速期间，在发动机制动器改变相对于发动机的转数的驱动轮的转数比的减速比之后，进入再生电力。
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公开(公告)号：US09669808B2
公开(公告)日：2017-06-06
申请号：US13980397
申请日：2011-01-21
申请人： Kyoichi Abe
发明人： Kyoichi Abe
IPC分类号： B60T8/17 , B60L7/18 , B60L7/26 , B60T1/10 , B60W10/08 , B60W10/11 , B60W10/188 , B60W30/18 , B60L15/20
CPC分类号： B60T8/17 , B60L7/18 , B60L7/26 , B60L15/2009 , B60T1/10 , B60T2270/604 , B60W10/08 , B60W10/11 , B60W10/188 , B60W30/18127 , B60W30/18136 , B60W2710/0644 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： An engine ECU and a brake ECU of a vehicle control apparatus performs any one of a mechanical brake which converts a kinetic energy using rotation of a driving wheel rotation into thermal energy using friction and a regeneration brake which converts the kinetic energy of the driving wheel rotation into electric energy using regeneration, during a vehicle deceleration, after an engine brake changes a deceleration ratio which is a rotation number ratio of driving wheels with respect to the rotation number of an engine.
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公开(公告)号：US20090118958A1
公开(公告)日：2009-05-07
申请号：US12278462
申请日：2007-03-23
申请人： Kyoichi Abe
发明人： Kyoichi Abe
IPC分类号： G06F19/00
CPC分类号： F02D29/02 , B60T7/12 , B60T7/22 , B60T2201/02 , B60W30/16 , B60W40/107 , B60W2420/52 , B60W2720/106
摘要： Target acceleration of a subject vehicle is set; a reference limit value is obtained based on the set target acceleration; actual acceleration of the subject vehicle is obtained; a limit value magnification is calculated so that a limit value for limiting a change of the target acceleration becomes larger as a difference between the set target acceleration and the detected actual acceleration becomes larger; the limit value is calculated; the set target acceleration is limited based on the set limit value; a braking driving force is calculated based on the limited target acceleration; and the calculated braking driving force is generated by a selected braking driving force generating unit. Smooth acceleration and deceleration of the vehicle can be performed according to a travel state of the vehicle, and followability to the set target deceleration can be improved.
摘要翻译： 设定目标车辆的目标加速度; 基于设定的目标加速度获得基准极限值; 获得本车辆的实际加速度; 计算极限值倍率，使得用于限制目标加速度的变化的极限值随着设定目标加速度和检测到的实际加速度之间的差变大而变大; 计算极限值; 基于设定的限制值限制设定的目标加速度; 基于受限目标加速度来计算制动驱动力; 并且所计算的制动驱动力由选择的制动驱动力产生单元产生。 可以根据车辆的行驶状态进行车辆的平滑加减速，能够提高对设定目标减速度的追随性。
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公开(公告)号：US07634346B2
公开(公告)日：2009-12-15
申请号：US11814971
申请日：2006-03-23
申请人： Kyoichi Abe
发明人： Kyoichi Abe
CPC分类号： B60K31/0066 , B60T7/22 , B60T2201/02 , B60W30/16 , B60W40/072 , B60W40/076 , B60W2520/10 , B60W2520/14
摘要： A curve-travel target acceleration calculator calculates a curve-travel target acceleration. A first curve-travel target acceleration calculator calculates a first target acceleration corresponding to a gentle curve, and a second curve-travel target acceleration calculator calculates a second target acceleration corresponding to a sharp curve. The curve-travel target acceleration is set to the smaller of the first target acceleration and the second target acceleration. A follow-up target acceleration calculator calculates a follow-up target acceleration and a constant-speed target acceleration calculator calculates a constant-speed target acceleration. An arbitrator selects as a target acceleration the minimum out of the curve-travel target acceleration, the constant-speed target acceleration, and the follow-up target acceleration.
摘要翻译： 曲线行进目标加速度计算器计算曲线行驶目标加速度。 第一曲线行进目标加速度计算器计算对应于平缓曲线的第一目标加速度，第二曲线行驶目标加速度计算器计算与锐利曲线对应的第二目标加速度。 曲线行进目标加速度被设定为第一目标加速度和第二目标加速度的较小者。 后续目标加速度计算器计算跟踪目标加速度，而恒速目标加速度计算器计算恒定速度目标加速度。 仲裁员将曲线行进目标加速度，恒速目标加速度和后续目标加速度中的最小值作为目标加速度。
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