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公开(公告)号：US06583752B2
公开(公告)日：2003-06-24
申请号：US09880776
申请日：2001-06-15
IPC分类号： G01S1393
CPC分类号： G01S17/936 , G01S17/42 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A transmission wave is applied to a predetermined range in a width-wise direction of a vehicle. Objects ahead of the vehicle are recognized on the basis of reflected waves resulting from reflections of the transmission wave. Calculation is made as to a position of each of the objects and also a lane-sameness probability for each of the objects that the object and the subject vehicle are on a same lane. Object information pieces corresponding to the respective objects represent the calculated positions of the objects and the calculated lane-sameness probabilities for the objects. In cases where at least two objects become substantially equal in position, the two objects are recognized as a single object. One is selected from the two objects which relates to a calculated lane-sameness probability equal to or higher than a predetermined value. The single object takes over an object information piece corresponding to the selected object.
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公开(公告)号：US06593873B2
公开(公告)日：2003-07-15
申请号：US09909873
申请日：2001-07-23
IPC分类号： G01S1300
CPC分类号： G01S13/931 , G01S13/426 , G01S13/726 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353
摘要： An obstacle recognition system for automotive vehicles is provided which is designed to recognize targets such as preceding vehicles to be tracked by a radar by grouping data elements derived through a scan of a frontal detection range using laser pulses. The system determines the radius of a curve in a road on which a system vehicle is traveling and shifts one of the data elements from which the grouping operation is to be initiated as a function of the radius of the curve, thereby enabling the recognition of the targets without decreasing the control reliability even when the system vehicle is turning the curve.
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公开(公告)号：US06903680B2
公开(公告)日：2005-06-07
申请号：US10694003
申请日：2003-10-28
CPC分类号： G01S17/936
摘要： If the maximum time width Lt of the intensity of received light of reflected waves from a vehicle ahead is smaller than a reference time width, it is judged that the vehicle ahead is positioned in proximity to the detection limit distance of an obstacle detection device for vehicle. Thus, there is no problem, for example, even if a cut-in vehicle is present in reality between the vehicle ahead and the vehicle of interest and nevertheless, the distance to the cut-in vehicle cannot be detected. It can be judged whether the vehicle ahead is positioned in proximity to the detection limit distance of the device by judging the magnitude relation between Lt and the reference time width. As a result, the detecting capability of the device can be judged with accuracy.
摘要翻译： 如果来自前方的车辆的反射波的接收光的强度的最大时间宽度Lt小于基准时间宽度，则判断为前方的车辆位于车辆的障碍物检测装置的检测限制距离附近 。 因此，例如即使在前方的车辆和感兴趣的车辆之间实际存在切入车辆也是没有问题的，然而，不能检测到切入车辆的距离。 通过判断Lt与基准时间宽度之间的大小关系，可以判断前方的车辆是否位于设备的检测极限距离附近。 结果，可以准确地判断装置的检测能力。
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公开(公告)号：US07271762B2
公开(公告)日：2007-09-18
申请号：US11043187
申请日：2005-01-27
CPC分类号： G01S17/936
摘要： If the maximum time width Lt of the intensity of received light of reflected waves from a vehicle ahead is smaller than a reference time width, it is judged that the vehicle ahead is positioned in proximity to the detection limit distance of an obstacle detection device for vehicle. Thus, there is no problem, for example, even if a cut-in vehicle is present in reality between the vehicle ahead and the vehicle of interest and nevertheless, the distance to the cut-in vehicle cannot be detected. It can be judged whether the vehicle ahead is positioned in proximity to the detection limit distance of the device by judging the magnitude relation between Lt and the reference time width. As a result, the detecting capability of the device can be judged with accuracy.
摘要翻译： 如果来自前方的车辆的反射波的接收光的强度的最大时间宽度Lt小于基准时间宽度，则判断为前方的车辆位于车辆的障碍物检测装置的检测限制距离附近 。 因此，例如即使在前方的车辆和感兴趣的车辆之间实际存在切入车辆也是没有问题的，然而，不能检测到切入车辆的距离。 通过判断Lt与基准时间宽度之间的大小关系，可以判断前方的车辆是否位于设备的检测极限距离附近。 结果，可以准确地判断装置的检测能力。
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公开(公告)号：US20050128133A1
公开(公告)日：2005-06-16
申请号：US11043187
申请日：2005-01-27
CPC分类号： G01S17/936
摘要： If the maximum time width Lt of the intensity of received light of reflected waves from a vehicle ahead is smaller than a reference time width, it is judged that the vehicle ahead is positioned in proximity to the detection limit distance of an obstacle detection device for vehicle. Thus, there is no problem, for example, even if a cut-in vehicle is present in reality between the vehicle ahead and the vehicle of interest and nevertheless, the distance to the cut-in vehicle cannot be detected. It can be judged whether the vehicle ahead is positioned in proximity to the detection limit distance of the device by judging the magnitude relation between Lt and the reference time width. As a result, the detecting capability of the device can be judged with accuracy.
摘要翻译： 如果来自前方的车辆的反射波的接收光的强度的最大时间宽度Lt小于基准时间宽度，则判断为前方的车辆位于车辆的障碍物检测装置的检测限制距离附近 。 因此，例如即使在前方的车辆和感兴趣的车辆之间实际存在切入车辆也是没有问题的，然而，不能检测到切入车辆的距离。 通过判断Lt与基准时间宽度之间的大小关系，可以判断前方的车辆是否位于设备的检测极限距离附近。 结果，可以准确地判断装置的检测能力。
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公开(公告)号：US06665056B2
公开(公告)日：2003-12-16
申请号：US10293285
申请日：2002-11-14
IPC分类号： G01C308
CPC分类号： G01S7/489 , G01S7/484 , G01S7/497 , G01S17/105
摘要： A method and apparatus of measuring a distance to a reflection object is disclosed. A sensitivity time control (STC) process is applied to a received signal from the reflection object to provide an STC-processed signal. The radar apparatus includes a controller. The controller obtains a quantity corresponding to the distance from a transmission time of the transmission signal and a detection time of the STC-processed signal. The quantity is corrected by using a first correction value associated with the intensity of the STC-processed reflection signal to provide a corrected quantity. The corrected quantity is further corrected by using a second correction value associated with the corrected quantity and the intensity of the STC-processed reflection signal to correct the error regardless of the intensity of the STC-processed reflection signal.
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公开(公告)号：US20120271483A1
公开(公告)日：2012-10-25
申请号：US13424735
申请日：2012-03-20
申请人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
发明人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
IPC分类号： G06F17/00
CPC分类号： B60W40/072 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/12 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/62 , B60W2510/0604 , B60W2520/10 , B60W2520/14 , B60W2540/12 , B60W2540/18 , B60W2550/306
摘要： An example of recognition of the shape of a road where a vehicle travels is provided. An object type as to whether an object is a moving or stationary object is determined according to a relative speed of the object and a speed of the vehicle. Object-unit data effective for recognizing a road shape is extracted according to the determination. The object-unit data is used for forming data of a roadside object group, based on which a road edge is recognized. A series of the processes is repeatedly performed at a predetermined cycle. After the extraction process, a data addition process is performed to add object-unit data obtained in the extraction process of the previous cycle to object-unit data obtained in the extraction process of the present cycle. In a recognition process, a road edge is recognized according to the object-unit data obtained in the data addition process.
摘要翻译： 提供车辆行驶的道路的形状识别的一个例子。 根据物体的相对速度和车辆的速度来确定物体是移动物体还是静止物体的物体类型。 根据确定提取对识别道路形状有效的对象单位数据。 对象单元数据用于形成路边对象组的数据，基于该数据识别道路边缘。 以预定的周期重复执行一系列处理。 在提取处理之后，执行数据添加处理以将在前一周期的提取处理中获得的对象单元数据添加到在本周期的提取处理中获得的对象单元数据。 在识别处理中，根据在数据添加处理中获得的对象单位数据来识别路边。
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公开(公告)号：US08781644B2
公开(公告)日：2014-07-15
申请号：US13424735
申请日：2012-03-20
申请人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
发明人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
IPC分类号： G05D1/00 , G05D1/02 , B60W40/072
CPC分类号： B60W40/072 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/12 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/62 , B60W2510/0604 , B60W2520/10 , B60W2520/14 , B60W2540/12 , B60W2540/18 , B60W2550/306
摘要： An example of recognition of the shape of a road where a vehicle travels is provided. An object type as to whether an object is a moving or stationary object is determined according to a relative speed of the object and a speed of the vehicle. Object-unit data effective for recognizing a road shape is extracted according to the determination. The object-unit data is used for forming data of a roadside object group, based on which a road edge is recognized. A series of the processes is repeatedly performed at a predetermined cycle. After the extraction process, a data addition process is performed to add object-unit data obtained in the extraction process of the previous cycle to object-unit data obtained in the extraction process of the present cycle. In a recognition process, a road edge is recognized according to the object-unit data obtained in the data addition process.
摘要翻译： 提供车辆行驶的道路的形状识别的一个例子。 根据物体的相对速度和车辆的速度来确定物体是移动物体还是静止物体的物体类型。 根据确定提取对识别道路形状有效的对象单位数据。 对象单元数据用于形成路边对象组的数据，基于该数据识别道路边缘。 以预定的周期重复执行一系列处理。 在提取处理之后，执行数据添加处理以将在前一周期的提取处理中获得的对象单元数据添加到在本周期的提取处理中获得的对象单元数据。 在识别处理中，根据在数据添加处理中获得的对象单位数据来识别路边。
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9.发明授权Object recognition apparatus for vehicle, and inter-vehicle distance control unit 失效车辆对象识别装置，车辆间距离控制单元公开(公告)号：US06927699B2
公开(公告)日：2005-08-09
申请号：US10716795
申请日：2003-11-20
IPC分类号： B60K31/00 , B60K31/18 , G01S7/40 , G01S7/497 , G01S13/93 , G01S17/42 , G01S17/93 , G05D1/02 , G08G1/16
CPC分类号： G01S17/936 , B60K31/0008 , B60K31/185 , B60W2420/00 , B60W2420/52 , B60W2520/14 , B60W2550/143 , G01S7/4026 , G01S7/4972 , G01S13/931 , G01S17/42 , G01S2007/403 , G01S2007/4034 , G01S2007/4091 , G01S2013/9321 , G01S2013/9325 , G01S2013/9339 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375 , G01S2013/9389 , G05D1/0257 , G05D2201/0213 , G08G1/165 , G08G1/166
摘要： In an object recognition apparatus using a radar unit for a vehicle, in mounting the radar unit on the vehicle, a transmission wave is outputted throughout an appropriate angular range in a forward direction of the vehicle in a state where a margin is given to a tolerance of the mounting angle of the radar unit on the vehicle. Laser beams are radiated at a target placed at a predetermined positional relationship relative to the radar unit mounted on the vehicle to extract a laser beam which provides the maximum light-reception intensity in each of the X-axis and Y-axis directions. Moreover, a predetermined angular range is set in each of the X-axis and Y-axis directions so that the laser beam which provides the maximum light-reception intensity is centered therein, and the predetermined angular range is used as a recognition area.
摘要翻译： 在使用车辆的雷达单元的物体识别装置中，在将雷达单元安装在车辆上时，在向车辆的向前方向的整个适当的角度范围内输出发送波，其中余量被赋予公差 雷达单元在车辆上的安装角度。 激光束相对于安装在车辆上的雷达单元以预定位置关系放置在目标上，以提取在X轴方向和Y轴方向各自提供最大光接收强度的激光束。 此外，在X轴方向和Y轴方向上设定规定的角度范围，使得提供最大光接收强度的激光束位于其中，并且将预定角度范围用作识别区域。
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10.发明授权Object recognition apparatus for vehicle, inter-vehicle control apparatus, and distance measurement apparatus 有权用于车辆，车辆间控制装置和距离测量装置的物体识别装置公开(公告)号：US07136753B2
公开(公告)日：2006-11-14
申请号：US10725269
申请日：2003-12-02
申请人： Yoshie Samukawa , Toyohito Nozawa , Hiroshi Ohkata , Keiji Matsuoka , Yoshiaki Hoashi , Tsutomu Natsume , Eiji Teramura
发明人： Yoshie Samukawa , Toyohito Nozawa , Hiroshi Ohkata , Keiji Matsuoka , Yoshiaki Hoashi , Tsutomu Natsume , Eiji Teramura
IPC分类号： G01C3/00
CPC分类号： G01S17/936 , B60T7/22 , B60W2550/10 , G01S7/4802 , G01S15/931
摘要： In an object recognition apparatus for a vehicle which uses intensities of reflected waves from reflecting objects to make a recognition on whether a reflecting object is a vehicle or a non-vehicle, a plurality of transmission waves are emitted to receive a plurality of reflected waves from the reflecting objects, and a decision is made as to whether or not the reflecting object producing the plurality of reflected waves is a unitary reflecting object. If the decision shows a unitary reflecting object, the highest intensity of intensities of the reflected waves from the unitary reflecting object is compared with a reference intensity to makes a decision on whether the reflecting object is a vehicle or a non-vehicle. This enables univocally making a decision for each unitary reflecting object as to whether the reflecting object is more likely to be a vehicle or to be a non-vehicle, thus improving the recognition accuracy.
摘要翻译： 在使用来自反射物体的反射波的强度来识别反射物体是车辆还是非车辆的车辆的物体识别装置中，发射多个发射波以从多个反射波接收多个反射波 反射物体，并且作出产生多个反射波的反射物体是否为一体反射物体的决定。 如果判定结果为一体的反射物体，将来自单一反射物体的反射波的强度的最高强度与基准强度进行比较，以决定反射物体是车辆还是非车辆。 这能够对每个单一反射对象单方面做出关于反射对象是否更可能是车辆或者是非车辆的决定，从而提高识别精度。
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