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：US20090189814A1

公开(公告)日：2009-07-30

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： G01S13/93 ,  G01S13/60

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：US08054216B2

公开(公告)日：2011-11-08

申请号：US12320413

申请日：2009-01-26

申请人： Motohide Kinoshita ,  Hisateru Asanuma ,  Jun Tsunekawa ,  Motomi Iyoda ,  Tomoya Kawasaki

发明人： Motohide Kinoshita ,  Hisateru Asanuma ,  Jun Tsunekawa ,  Motomi Iyoda ,  Tomoya Kawasaki

IPC分类号： G01S13/93 ,  G01S7/02 ,  G01S13/00

CPC分类号： G01S13/4454

摘要： A radar device has a plurality of receiving antennas which receive, as a reception wave, a radar wave sent in a predetermined reference direction and reflected by a target; a phase difference detection unit which detects a first phase difference of the reception wave received by a first receiving antenna pair that is spaced by a first gap, and a second phase difference of the reception wave received by a second receiving antenna pair that is spaced by a second gap smaller than the first gap; and an angle detection unit which performs a first process of determining, as a detection angle, an angle of the target relative to the reference direction being a mutually coincident angle from among a plurality of first angles corresponding to the first phase difference and a plurality of second angles corresponding to the second phase difference. The radar device allows expanding an angle detection range without reducing the resolution of the angle corresponding to the second phase difference.

摘要翻译： 雷达装置具有多个接收天线，其接收以预定参考方向发送并由目标反射的雷达波作为接收波; 相位差检测单元，检测由第一接收天线对接收的与第一间隙间隔的接收波的第一相位差和由第二接收天线对接收的接收波的第二相位差， 第二间隙小于第一间隙; 以及角度检测单元，其执行第一处理，所述角度检测单元从对应于所述第一相位差的多个第一角度和多个第一相位角确定作为检测角度的所述目标相对于所述参考方向的角度是相互重合的角度 对应于第二相位差的第二角度。 雷达装置允许扩大角度检测范围而不降低对应于第二相位差的角度的分辨率。

公开(公告)号：US20090207071A1

公开(公告)日：2009-08-20

申请号：US12320413

申请日：2009-01-26

申请人： Motohide Kinoshita ,  Hisateru Asanuma ,  Jun Tsunekawa ,  Motomi Iyoda ,  Tomoya Kawasaki

发明人： Motohide Kinoshita ,  Hisateru Asanuma ,  Jun Tsunekawa ,  Motomi Iyoda ,  Tomoya Kawasaki

IPC分类号： G01S13/00

CPC分类号： G01S13/4454

摘要： A radar device has a plurality of receiving antennas which receive, as a reception wave, a radar wave sent in a predetermined reference direction and reflected by a target; a phase difference detection unit which detects a first phase difference of the reception wave received by a first receiving antenna pair that is spaced by a first gap, and a second phase difference of the reception wave received by a second receiving antenna pair that is spaced by a second gap smaller than the first gap; and an angle detection unit which performs a first process of determining, as a detection angle, an angle of the target relative to the reference direction being a mutually coincident angle from among a plurality of first angles corresponding to the first phase difference and a plurality of second angles corresponding to the second phase difference. The radar device allows expanding an angle detection range without reducing the resolution of the angle corresponding to the second phase difference.

摘要翻译： 雷达装置具有多个接收天线，其接收以预定参考方向发送并由目标反射的雷达波作为接收波; 相位差检测单元，检测由第一接收天线对接收的与第一间隙间隔的接收波的第一相位差和由第二接收天线对接收的接收波的第二相位差， 第二间隙小于第一间隙; 以及角度检测单元，其执行第一处理，所述角度检测单元从对应于所述第一相位差的多个第一角度和多个第一相位角确定作为检测角度的所述目标相对于所述参考方向的角度是相互重合的角度 对应于第二相位差的第二角度。 雷达装置允许扩大角度检测范围而不降低对应于第二相位差的角度的分辨率。

公开(公告)号：US20110040452A1

公开(公告)日：2011-02-17

申请号：US12863318

申请日：2008-12-30

申请人： Jun Tsunekawa ,  Motomi Iyoda

发明人： Jun Tsunekawa ,  Motomi Iyoda

IPC分类号： B60R21/0132

CPC分类号： B60R21/0134 ,  B60R2021/01027 ,  B60R2021/0119

摘要： A vehicle occupant protection apparatus includes a first collision detection mechanism provided for a vehicle and that detects a collision of the vehicle; a second collision detection mechanism provided closer to a middle of the vehicle than the first collision detection mechanism and that detects a collision of the vehicle; a first protection mechanism that protects an occupant from a collision of the vehicle; a controller that activates the first protection mechanism at the time when the first and second collision detection mechanisms detect a collision of the vehicle; and a collision prediction mechanism that predicts a collision of the vehicle. Every time the collision prediction mechanism predicts a collision of the vehicle in a direction from the first collision detection mechanism toward the middle of the vehicle, the controller activates the first protection mechanism at the time when the first collision detection mechanism detects the collision of the vehicle.

摘要翻译： 车辆乘员保护装置包括：车辆用的第一碰撞检测机构，其检测车辆的碰撞; 第二碰撞检测机构，其设置在比第一碰撞检测机构更靠近车辆的中部并且检测车辆的碰撞; 第一保护机构，保护乘客免受车辆的碰撞; 控制器，其在所述第一和第二碰撞检测机构检测到所述车辆的碰撞时激活所述第一保护机构; 以及预测车辆的碰撞的碰撞预测机构。 每当碰撞预测机构预测车辆在从第一碰撞检测机构朝向车辆中间的方向的碰撞时，控制器在第一碰撞检测机构检测到车辆的碰撞时启动第一保护机构 。

公开(公告)号：US08494722B2

公开(公告)日：2013-07-23

申请号：US12863318

申请日：2008-12-30

申请人： Jun Tsunekawa ,  Motomi Iyoda

发明人： Jun Tsunekawa ,  Motomi Iyoda

IPC分类号： B60R21/0132

CPC分类号： B60R21/0134 ,  B60R2021/01027 ,  B60R2021/0119

摘要： A vehicle occupant protection apparatus includes a first collision detection mechanism provided for a vehicle and that detects a collision of the vehicle; a second collision detection mechanism provided closer to a middle of the vehicle than the first collision detection mechanism and that detects a collision of the vehicle; a first protection mechanism that protects an occupant from a collision of the vehicle; a controller that activates the first protection mechanism at the time when the first and second collision detection mechanisms detect a collision of the vehicle; and a collision prediction mechanism that predicts a collision of the vehicle. Every time the collision prediction mechanism predicts a collision of the vehicle in a direction from the first collision detection mechanism toward the middle of the vehicle, the controller activates the first protection mechanism at the time when the first collision detection mechanism detects the collision of the vehicle.

摘要翻译： 车辆乘员保护装置包括：车辆用的第一碰撞检测机构，其检测车辆的碰撞; 第二碰撞检测机构，其设置在比第一碰撞检测机构更靠近车辆的中部并且检测车辆的碰撞; 第一保护机构，保护乘客免受车辆的碰撞; 控制器，其在所述第一和第二碰撞检测机构检测到所述车辆的碰撞时激活所述第一保护机构; 以及预测车辆的碰撞的碰撞预测机构。 每当碰撞预测机构预测车辆在从第一碰撞检测机构朝向车辆中间的方向的碰撞时，控制器在第一碰撞检测机构检测到车辆的碰撞时启动第一保护机构 。

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：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。