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：US20100063735A1

公开(公告)日：2010-03-11

申请号：US12312195

申请日：2007-11-12

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： G08G1/16

CPC分类号： B60W40/072 ,  B60W30/0956 ,  B60W40/076 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0213 ,  G08G1/165 ,  G08G1/166

摘要： A method, an apparatus, and a program of predicting an obstacle course, capable of appropriately predicting a course of an obstacle even under a complicated traffic environment, are provided. For this purpose, the course, which the obstacle may take, is predicted based on the position and the internal state of the obstacle, and at the time of the prediction, a plurality of courses are probabilistically predicted for at least one obstacle. When there are a plurality of obstacles, the course in which different obstacles interfere with each other is obtained from the predicted courses, which a plurality of obstacles may take, and the predictive probability of the course for which the probabilistic prediction is performed from the courses in which they interfere with each other is lowered. Probability of realizing each of a plurality of courses including the course of which predicted probability is lowered is calculated.

摘要翻译： 提供了即使在复杂的交通环境下能够适当地预测障碍物的路线的预测障碍物路线的方法，装置和程序。 为此目的，基于障碍物的位置和内部状态来预测障碍物可能采取的过程，并且在预测时，对于至少一个障碍物概率地预测多个课程。 当存在多个障碍物时，可以从多个障碍物可能采取的预测课程获得不同障碍物相互干扰的过程，并且从课程中进行概率预测的课程的预测概率 其中它们彼此干扰降低。 计算实现包括预测概率降低的过程的多个课程中的每一个的概率。

公开(公告)号：US20100030472A1

公开(公告)日：2010-02-04

申请号：US12514539

申请日：2008-03-26

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  G08G1/167

摘要： An own vehicle risk acquiring ECU 1 acquires a predicted track of an own vehicle and calculates and acquires a plurality of tracks of the other vehicle about the own vehicle. According to the predicted track of the own vehicle and the plurality of tracks of the other vehicle, a collision probability of the own vehicle is calculated as a collision possibility.

摘要翻译： 本车辆风险获取ECU1获取本车辆的预测轨道，并计算并获取其他车辆的关于本车辆的多条轨迹。 根据本车辆和其他车辆的多个轨道的预测轨迹，计算出本车辆的碰撞概率为碰撞可能性。

公开(公告)号：US08781720B2

公开(公告)日：2014-07-15

申请号：US12522797

申请日：2008-06-19

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： G08G1/16 ,  G05D1/02

CPC分类号： G05D1/027 ,  B60W30/09 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18172 ,  B60W2050/143 ,  B60W2550/20 ,  B60W2550/306 ,  B60W2550/402 ,  G08G1/166 ,  G08G1/167

摘要： A vehicle risk level acquiring ECU calculates and acquires a plurality of courses of other vehicles around a driver's own vehicle, and acquires the predicted course of the driver's own vehicle. The vehicle risk level acquiring ECU calculates the collision probability of the driver's own vehicle as collision possibility on the basis of the predicted course of the driver's own vehicle and the plurality of courses of other vehicles.

摘要翻译： 车辆风险等级获取ECU计算并获取驾驶员本身的车辆周围的其他车辆的多个路线，并获取驾驶员本身的车辆的预测路线。 车辆风险等级获取ECU基于驾驶员本身的车辆的预测路线和其他车辆的多个路线来计算驾驶员本身的车辆的碰撞概率作为碰撞可能性。

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：US08504283B2

公开(公告)日：2013-08-06

申请号：US12452395

申请日：2008-07-10

申请人： Kazuaki Aso ,  Toshiki Kindo ,  Masahiro Harada

发明人： Kazuaki Aso ,  Toshiki Kindo ,  Masahiro Harada

IPC分类号： G06F17/10 ,  G06F7/00 ,  G01C23/00 ,  A01B69/00 ,  B60T7/12 ,  G05D1/02 ,  B60Q1/00 ,  G08G1/16 ,  G08G1/00 ,  G01S13/00 ,  B60R21/16

CPC分类号： G08G1/166 ,  G01S13/726 ,  G01S2013/9353 ,  G08G1/16

摘要： A host-vehicle risk acquisition device includes a host-vehicle path acquisition portion that acquires a path of a host-vehicle, and an obstacle path acquisition portion that acquires a plurality of paths of an obstacle existing around the host-vehicle. A collision risk acquisition portion acquires an actual collision risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle is in a travel state based on the path of the host-vehicle and the plurality of paths of the obstacle. An offset risk acquisition portion acquires an offset risk, which is a collision risk between the host-vehicle and the obstacle in an offset travel state, which is offset from the travel state of the host-vehicle.

公开(公告)号：US07961084B2

公开(公告)日：2011-06-14

申请号：US12155437

申请日：2008-06-04

申请人： Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： B60Q1/00

CPC分类号： G08G1/161

摘要： A movable area acquisition ECU 1 compares a possible path for a host vehicle and a predicted path of another vehicle in a travel area of the host vehicle with each other to obtain a possibility of collision between the two vehicles, thus computing a degree of danger to the host vehicle. If the degree of danger to the host vehicle exceeds a predetermined threshold, the travel area is extended and then a degree of danger to the host vehicle is computed and acquired.

摘要翻译： 可移动区域获取ECU1将本车辆的可能路径与本车辆的行驶区域中的另一车辆的预测路径进行比较，以获得两辆车辆之间的碰撞的可能性，从而计算对 主机。 如果对本车辆的危险程度超过预定阈值，则行驶区域延长，然后计算并获得对主车辆的危险程度。

公开(公告)号：US20100106418A1

公开(公告)日：2010-04-29

申请号：US12522797

申请日：2008-06-19

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： G08G1/16

CPC分类号： G05D1/027 ,  B60W30/09 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18172 ,  B60W2050/143 ,  B60W2550/20 ,  B60W2550/306 ,  B60W2550/402 ,  G08G1/166 ,  G08G1/167

摘要： A vehicle risk level acquiring ECU calculates and acquires a plurality of courses of other vehicles around a driver's own vehicle, and acquires the predicted course of the driver's own vehicle. The vehicle risk level acquiring ECU calculates the collision probability of the driver's own vehicle as collision possibility on the basis of the predicted course of the driver's own vehicle and the plurality of courses of other vehicles.

摘要翻译： 车辆风险等级获取ECU计算并获取驾驶员本身的车辆周围的其他车辆的多个路线，并获取驾驶员本身的车辆的预测路线。 车辆风险等级获取ECU基于驾驶员本身的车辆的预测路线和其他车辆的多个路线来计算驾驶员本身的车辆的碰撞概率作为碰撞可能性。

公开(公告)号：US20080303696A1

公开(公告)日：2008-12-11

申请号：US12155437

申请日：2008-06-04

申请人： Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： G08G1/01

CPC分类号： G08G1/161

摘要： A movable area acquisition ECU 1 compares a possible path for a host vehicle and a predicted path of another vehicle in a travel area of the host vehicle with each other to obtain a possibility of collision between the two vehicles, thus computing a degree of danger to the host vehicle. If the degree of danger to the host vehicle exceeds a predetermined threshold, the travel area is extended and then a degree of danger to the host vehicle is computed and acquired.

摘要翻译： 可移动区域获取ECU1将本车辆的可能路径与本车辆的行驶区域中的另一车辆的预测路径进行比较，以获得两辆车辆之间的碰撞的可能性，从而计算对 主机。 如果对本车辆的危险程度超过预定阈值，则行驶区域延长，然后计算并获得对主车辆的危险程度。

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。