公开(公告)号：US09601020B2

公开(公告)日：2017-03-21

申请号：US13877337

申请日：2010-10-05

申请人： Kazuaki Aso ,  Toshiki Kindo ,  Katsuhiro Sakai ,  Masahiro Harada

发明人： Kazuaki Aso ,  Toshiki Kindo ,  Katsuhiro Sakai ,  Masahiro Harada

IPC分类号： G08G1/16 ,  B60W30/095

CPC分类号： G08G1/166 ,  B60W30/0953 ,  B60W30/0956 ,  G08G1/161

摘要： A collision determination device determines the possibility of collision between a host vehicle and the other object on the basis of a shortest arrival time calculated by a shortest arrival time calculation unit and a passage time at each point of the host vehicle acquired by a vehicle route candidate acquisition unit. In this way, even if a locus to be taken by the other object is not generated, the shortest arrival time at which the other object can arrive at each point of the route candidate of the host vehicle with a predetermined first displacement is calculated, thereby determining the possibility of collision between the host vehicle and the other object. Therefore, it is possible to reduce a computational load for determining collision and to accurately determine collision between the host vehicle and the other object.

公开(公告)号：US08401784B2

公开(公告)日：2013-03-19

申请号：US12814582

申请日：2010-06-14

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Katsuhiro Sakai

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Katsuhiro Sakai

IPC分类号： F41G9/00 ,  G06F17/10 ,  G06G7/78

CPC分类号： G08G1/166

摘要： A course evaluation that evaluates a course of a mobile unit includes: generating a predetermined first course of the mobile unit; generating, for the first course, a second course for which a controlled amount of the mobile unit after a predetermined driving condition is satisfied is increased as compared with a controlled amount of the mobile unit on the first course; estimating another object course, which is a course of another object; determining whether the second course interferes with the other object course; and evaluating a degree of safety of the first course on the basis of a result of determination as to whether the second course interferes with the other object course.

摘要翻译： 评估移动单元的课程的课程评估包括：生成移动单元的预定的第一课程; 在第一课程中，与在第一课程上的移动单元的受控量相比，增加了在满足预定驾驶条件之后的可移动单元的受控量的第二课程; 估计另一个对象课程，这是另一个对象的过程; 确定第二个课程是否干扰另一个课程; 并且基于第二过程是否干扰另一个对象过程的确定结果来评估第一课程的安全程度。

公开(公告)号：US08676487B2

公开(公告)日：2014-03-18

申请号：US13148507

申请日：2010-02-05

申请人： Katsuhiro Sakai ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： G08G1/16

CPC分类号： B60W40/02 ,  B60W30/08

摘要： A movement region prediction apparatus includes a mobile body detection device that detects a mobile body around a host vehicle; a prediction device that predicts a movement region of the detected mobile body; and a degree-of-normality acquisition device that acquires degree of normality of a situation of movement of the detected mobile body. The prediction device has a plurality of movement prediction models for predicting the movement region of the mobile body, and selects a movement prediction model from the plurality of movement prediction models based on the degree of normality acquired by the degree-of-normality acquisition device, and predicts the movement region of the mobile body using the selected movement prediction model.

摘要翻译： 运动区域预测装置包括：移动体检测装置，其检测主车辆周围的移动体; 预测装置，其预测检测到的移动体的移动区域; 以及获取检测到的移动体的移动状态的正常程度的正常度采集装置。 预测装置具有用于预测移动体的移动区域的多个运动预测模型，并且基于由正常度采集装置获取的正常程度从多个运动预测模型中选择运动预测模型， 并且使用所选择的运动预测模型来预测移动体的运动区域。

公开(公告)号：US09109906B2

公开(公告)日：2015-08-18

申请号：US13321159

申请日：2010-06-08

申请人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： G08G1/16 ,  G01C21/26 ,  B60W30/08 ,  B60W30/09 ,  G08G1/0967

CPC分类号： B60W30/09 ,  B60W30/095 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/10 ,  B60W30/18 ,  B60W30/20 ,  B60W2550/10 ,  B60W2550/20 ,  G01C21/26 ,  G08G1/096725 ,  G08G1/09675 ,  G08G1/096791 ,  G08G1/162 ,  G08G1/163 ,  G08G1/166 ,  G08G1/167

摘要： Disclosed is a route evaluation device that enables traveling along a route in consideration of an operation of the driver of another vehicle, and can realize a safer traffic environment. A route evaluation device includes a route candidate generation section that generates route candidates of a host-vehicle, a route prediction section that predicts routes of another vehicle, a classification section that classifies the interference states of the route candidates of the host-vehicle and the predicted routes of another vehicle into a plurality of interference forms, and a route evaluation section that evaluates the routes of the host-vehicle on the basis of the interference forms classified by the classification section.

摘要翻译： 公开了一种能够考虑到另一车辆的驾驶员的操作而沿着路线行驶的路线评价装置，能够实现更安全的交通环境。 路线评价装置包括：生成主车辆的路线候补的路线候补生成部，预测其他车辆的路线的路线预测部;对本车辆的路线候补的干扰状态进行分类的分类部; 将另一车辆的路线预测为多个干扰形式，以及路线评估部，其基于由分类部分分类的干扰形式来评估主机车辆的路线。

公开(公告)号：US20110313664A1

公开(公告)日：2011-12-22

申请号：US13148507

申请日：2010-02-05

申请人： Katsuhiro Sakai ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： B60W30/08 ,  B60W40/00

CPC分类号： B60W40/02 ,  B60W30/08

摘要： A movement region prediction apparatus includes a mobile body detection device that detects a mobile body around a host vehicle; a prediction device that predicts a movement region of the detected mobile body; and a degree-of-normality acquisition device that acquires degree of normality of a situation of movement of the detected mobile body. The prediction device has a plurality of movement prediction models for predicting the movement region of the mobile body, and selects a movement prediction model from the plurality of movement prediction models based on the degree of normality acquired by the degree-of-normality acquisition device, and predicts the movement region of the mobile body using the selected movement prediction model.

摘要翻译： 运动区域预测装置包括：移动体检测装置，其检测主车辆周围的移动体; 预测装置，其预测检测到的移动体的移动区域; 以及获取检测到的移动体的移动状态的正常程度的正常度采集装置。 预测装置具有用于预测移动体的移动区域的多个运动预测模型，并且基于由正常度采集装置获取的正常程度从多个运动预测模型中选择运动预测模型， 并且使用所选择的运动预测模型来预测移动体的运动区域。

公开(公告)号：US20100318240A1

公开(公告)日：2010-12-16

申请号：US12814582

申请日：2010-06-14

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Katsuhiro Sakai

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Katsuhiro Sakai

IPC分类号： G08G1/16 ,  G06F7/00

CPC分类号： G08G1/166

摘要： A course evaluation that evaluates a course of a mobile unit includes: generating a predetermined first course of the mobile unit; generating, for the first course, a second course for which a controlled amount of the mobile unit after a predetermined driving condition is satisfied is increased as compared with a controlled amount of the mobile unit on the first course; estimating another object course, which is a course of another object; determining whether the second course interferes with the other object course; and evaluating a degree of safety of the first course on the basis of a result of determination as to whether the second course interferes with the other object course.

摘要翻译： 评估移动单元的课程的课程评估包括：生成移动单元的预定的第一课程; 在第一课程中，与在第一课程上的移动单元的受控量相比，增加了在满足预定驾驶条件之后的可移动单元的受控量的第二课程; 估计另一个对象课程，这是另一个对象的过程; 确定第二个课程是否干扰另一个课程; 并且基于第二过程是否干扰另一个对象过程的确定结果来评估第一课程的安全程度。

公开(公告)号：US20130261952A1

公开(公告)日：2013-10-03

申请号：US13877337

申请日：2010-10-05

申请人： Kazuaki Aso ,  Toshiki Kindo ,  Katsuhiro Sakai ,  Masahiro Harada

发明人： Kazuaki Aso ,  Toshiki Kindo ,  Katsuhiro Sakai ,  Masahiro Harada

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  B60W30/0953 ,  B60W30/0956 ,  G08G1/161

摘要： A collision determination device determines the possibility of collision between a host vehicle and the other object on the basis of a shortest arrival time calculated by a shortest arrival time calculation unit and a passage time at each point of the host vehicle acquired by a vehicle route candidate acquisition unit. In this way, even if a locus to be taken by the other object is not generated, the shortest arrival time at which the other object can arrive at each point of the route candidate of the host vehicle with a predetermined first displacement is calculated, thereby determining the possibility of collision between the host vehicle and the other object. Therefore, it is possible to reduce a computational load for determining collision and to accurately determine collision between the host vehicle and the other object.

摘要翻译： 碰撞确定装置基于由最短到达时间计算单元计算的最短到达时间和由车辆路线候选者获取的本车辆的每个点处的通过时间来确定主车辆与另一物体之间的碰撞的可能性 采购单位。 以这种方式，即使不产生由另一物体拍摄的轨迹，也可以计算其他物体能够以预定的第一位移到达本车辆的路线候补的各点的最短到达时间，由此 确定本车和另一物体之间的碰撞的可能性。 因此，可以减少用于确定碰撞的计算负荷并且准确地确定主车辆与另一物体之间的碰撞。

公开(公告)号：US20120072104A1

公开(公告)日：2012-03-22

申请号：US13321159

申请日：2010-06-08

申请人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： G01C21/00

CPC分类号： B60W30/09 ,  B60W30/095 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/10 ,  B60W30/18 ,  B60W30/20 ,  B60W2550/10 ,  B60W2550/20 ,  G01C21/26 ,  G08G1/096725 ,  G08G1/09675 ,  G08G1/096791 ,  G08G1/162 ,  G08G1/163 ,  G08G1/166 ,  G08G1/167

摘要： Disclosed is a route evaluation device that enables traveling along a route in consideration of an operation of the driver of another vehicle, and can realize a safer traffic environment. A route evaluation device includes a route candidate generation section that generates route candidates of a host-vehicle, a route prediction section that predicts routes of another vehicle, a classification section that classifies the interference states of the route candidates of the host-vehicle and the predicted routes of another vehicle into a plurality of interference forms, and a route evaluation section that evaluates the routes of the host-vehicle on the basis of the interference forms classified by the classification section.

摘要翻译： 公开了一种能够考虑到另一车辆的驾驶员的操作而沿着路线行驶的路线评价装置，能够实现更安全的交通环境。 路线评价装置包括：生成主车辆的路线候补的路线候补生成部，预测其他车辆的路线的路线预测部;对本车辆的路线候补的干扰状态进行分类的分类部; 将另一车辆的路线预测为多个干扰形式，以及路线评估部，其基于由分类部分分类的干扰形式来评估主机车辆的路线。

公开(公告)号：US08457892B2

公开(公告)日：2013-06-04

申请号：US12083239

申请日：2007-03-01

申请人： Kazuaki Aso ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Toshiki Kindo

IPC分类号： G01C21/00

CPC分类号： B60W30/10 ,  B60W40/02 ,  G05D1/0214 ,  G05D1/0217 ,  G08G1/166 ,  G08G1/167

摘要： An own-vehicle-path determining method includes calculating a first evaluation value of each of plural predicted own-vehicle-path candidates, calculating a second evaluation value of each of the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high first evaluation values from the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high second evaluation values as appropriate own-vehicle-path candidates from the selected own-vehicle-path candidates, and selecting any one of the appropriate own-vehicle-path candidates as an own-vehicle path.

摘要翻译： 本车路径确定方法包括：计算多个预测的本车路线候选中的每一个的第一评估值，计算多个本车路线候选中的每一个的第二评估值，选择本车路线候选 具有来自多个本车路线候选的高第一评估值，从所选择的本车路线候选中选择具有高第二评估值的自身车辆路线候选作为适当的本车路线候选，并且选择 作为自身车辆路径的适当的本车路线候选者。

公开(公告)号：US07903021B2

公开(公告)日：2011-03-08

申请号：US12083219

申请日：2007-02-28

申请人： Kazuaki Aso ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Toshiki Kindo

IPC分类号： G01S13/00

CPC分类号： B60W40/02 ,  G01S13/931 ,  G01S2013/9339 ,  G01S2013/9353 ,  G01S2013/9375 ,  G08G1/166

摘要： An obstacle detecting method for detecting a presence of an obstacle to a moving body using a sensor mounted on the moving body. The obstacle detecting method includes setting a movable area which is a surrounding area of the moving body and in which the moving body can move, arranging plural unconfirmed bodies over an entire area of the movable area as obstacle candidates as an initial state, and deleting the obstacle candidate which is determined not to be actually present as a result of detection by the sensor from the obstacle candidates arranged as the initial state.

摘要翻译： 一种障碍物检测方法，用于使用安装在移动体上的传感器来检测障碍物的存在。 障碍物检测方法包括设置作为移动体的周围区域的可移动区域，移动体可移动的可移动区域，将作为候选的可移动区域的整个区域上的多个未确认体设置为初始状态， 由传感器从作为初始状态排列的障碍物候补检测结果而确定不实际存在的障碍物候补。