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公开(公告)号：US20230124490A1
公开(公告)日：2023-04-20
申请号：US17886066
申请日：2022-08-11
发明人： Kyosuke KONISHI , Takuji Morimoto , Taku Umeda , Tadahiko Urano
摘要： There is provided a course prediction device which includes: a vehicle information detection unit for detecting positions and velocities of multiple vehicles; a road information acquisition unit for acquiring road information indicative of positions of lanes in a road on which the vehicles are traveling; a predicted course calculation unit for calculating a predicted course of each vehicle that is a future traveling course thereof; a collision-expected vehicle extraction unit for extracting the front vehicle and the rear vehicle on the same lane that may possibly collide with each other, on the basis of the road information and the predicted courses; an avoidance-action vehicle prediction unit for predicting which one of the front and rear vehicles is an avoidance action vehicle that will take a collision avoidance action; and an avoidance course calculation unit for calculating a collision avoidance course of the avoidance action vehicle.
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公开(公告)号：US20180372857A1
公开(公告)日：2018-12-27
申请号：US15778595
申请日：2016-01-06
发明人： Kyosuke KONISHI , Yasushi OBATA
摘要： A target tracking apparatus (1) includes: a plurality of nth-time-around echo tracking filter units (3-n) for generating a candidate track of a target from information of the target on an assumption that n is an integer larger than or equal to 1 and that the target to be observed is present at a range observed as an nth-time-around echo with a premise that the information of the target observed by a radar (2) includes missed detection of the target and false detection of the target; a track reliability calculating unit (4) for calculating track reliability representing likelihood of the candidate track generated by the plurality of nth-time-around echo tracking filter units (3-n) with the premise that the information of the target includes missed detection of the target and false detection of the target; and a track determining unit (6) for determining a track to be displayed on a display device (7) from among the candidate tracks generated by the plurality of nth-time-around echo tracking filter units (3-n) on the basis of the track reliability calculated by the track reliability calculating unit (4).
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公开(公告)号：US20240118090A1
公开(公告)日：2024-04-11
申请号：US18458527
申请日：2023-08-30
发明人： Kyosuke KONISHI , Masaya ENDO , Toshihiko HASHIBA
IPC分类号： G01C21/26
CPC分类号： G01C21/26
摘要： There is provided a vehicle position estimation device, including: a first boundary-line calculation determination unit that calculates a first distance between the vehicle and a boundary line, and determines whether or not the vehicle has crossed the boundary line; a second boundary-line calculation determination unit that calculates a second distance between the vehicle and the boundary line, and determines whether or not the vehicle has crossed the boundary line; a traveling lane matching unit that adjusts at least one of the first and second distances for matching, based on whether or not the vehicle has crossed the boundary line, determined by the first boundary-line calculation determination unit and the second boundary-line calculation determination unit; and a position estimation unit that estimates a position of the vehicle, based on the first or second distance adjusted by the traveling lane matching unit.
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公开(公告)号：US20180182245A1
公开(公告)日：2018-06-28
申请号：US15739650
申请日：2016-04-27
发明人： Yuki TAKABAYASHI , Yasushi OBATA , Kyosuke KONISHI
摘要： The route prediction system according to the invention includes a measurement unit to measure an area including a host vehicle and other moving vehicles, a vehicle detection unit to detect the host vehicle and at least two of the surrounding vehicles having collision possibilities on the basis of observation results observed by the observation unit, a hypothesis generation unit to generate plural hypotheses for the at least two of the surrounding vehicles detected by the vehicle detection unit to avoid collision, a likelihood calculation unit to calculate a likelihood indicating probability of occurrence of each of the plural hypotheses generated by the hypothesis generation unit, and a predicted route analysis unit to analyze, on the basis of the likelihood calculated by the likelihood calculation unit, predicted routes of the at least two of the surrounding vehicles, and output the analysis result. With such a configuration, in a case where plural vehicles may collide in future, predicted routes of the plural surrounding vehicles can be calculated without contradiction, improving performance on predicting the routes of the surrounding vehicles.
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5.发明公开公开(公告)号：US20230278548A1
公开(公告)日：2023-09-07
申请号：US18158529
申请日：2023-01-24
发明人： Taku UMEDA , Takuji MORIMOTO , Kyosuke KONISHI
IPC分类号： B60W30/09 , B60W30/095 , G08G1/16
CPC分类号： B60W30/09 , B60W30/0953 , B60W30/0956 , G08G1/166 , G08G1/167 , B60W2420/42 , B60W2420/52 , B60W2552/00 , B60W2554/4045
摘要： A lane-change prediction device includes: a first index calculating unit to calculate a first index that corresponds to a conditional probability of keeping the travel lane of a second vehicle and a conditional probability of changing the travel lane of the second vehicle, on the basis of time-series information related to the travel lane of the second vehicle; a second index calculating unit to calculate a second index related to a travel lane change or deceleration of the second vehicle, on the basis of surrounding vehicle information; and a lane-change prediction unit to calculate a lane change probability that the second vehicle changes the travel lane, on the basis of the first index and the second index.
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公开(公告)号：US20220122461A1
公开(公告)日：2022-04-21
申请号：US17298067
申请日：2019-01-18
发明人： Kyosuke KONISHI
摘要： A motion state determination apparatus according to the present disclosure includes a sensor for obtaining observation data on a target object, a route data storage unit, a route component predictor that calculates component parallel and vertical to the route of a motion-dimension prediction value and a prediction error, a first coordinate transformer that transforms a motion-dimension prediction value and a prediction error into those on a coordinate system the same as a first coordinate system, a filter that calculates a motion-dimension estimation value and an estimation error, a second coordinate transformer that transforms a motion-dimension estimation value and an estimation error into a component parallel to the route and a component vertical to the route and a motion-dimension prediction value and a prediction error, and a state determinator that determines a motion state of the target object. As a result, the frequency of an erroneous determination can be decreased.
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公开(公告)号：US20170210379A1
公开(公告)日：2017-07-27
申请号：US15126731
申请日：2015-03-19
发明人： Yasushi OBATA , Hiroshi KAMEDA , Kyosuke KONISHI
CPC分类号： B60W30/09 , B60W10/18 , B60W10/20 , B60W30/08 , B60W30/143 , B60W30/16 , B60W30/18163 , B60W40/00 , B60W50/14 , B60W2510/18 , B60W2510/20 , B60W2520/105 , B60W2550/10 , B60W2550/306 , B60W2550/308 , B60W2710/18 , B60W2710/20 , B60W2720/106 , B60W2750/306 , B60W2750/308 , G06K9/00805 , G06T7/277 , G06T2207/30241 , G06T2207/30261 , G08G1/166 , G08G1/167
摘要： A configuration includes: a target-motion prediction unit (5) that calculates predicted movement ranges of one or more other vehicles (60) based on target tracking; an inter-target collision possibility estimator (6) that estimates a collision possibility based on overlap of predicted movement ranges of the other vehicles (60); a target-motion re-prediction unit (7) that again calculates predicted movement ranges to avoid collision when the collision possibility between the other vehicles (60) exists; an own-motion prediction unit (10) that calculates a predicted movement range of a user's vehicle (50) based on an observation result; and an own-collision possibility estimator (11) that estimates collision possibilities between the user's vehicle (50) and the other vehicles (60) based on overlap of the final predicted movement ranges of the other vehicles (60) and the predicted movement range of the user's vehicle (50).
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