公开(公告)号：US07271880B2

公开(公告)日：2007-09-18

申请号：US10868910

申请日：2004-06-17

申请人： Yoshie Samukawa ,  Mamoru Shimamoto ,  Tadashi Hyodo ,  Toyohito Nozawa ,  Yoshiaki Hoashi

发明人： Yoshie Samukawa ,  Mamoru Shimamoto ,  Tadashi Hyodo ,  Toyohito Nozawa ,  Yoshiaki Hoashi

IPC分类号： G01C3/08

CPC分类号： G01S7/497 ,  G01S17/936 ,  G01S2007/4975

摘要： An object recognition apparatus for vehicles is provided which is equipped with a radar. The apparatus is designed to detect adhesion of any dirt to the radar which will disturbs emission of radar waves to and reception radar echoes from a target. When the number of radar waves is great which cause the times required by the radar waves to travel to and return from a target to be measured as being shorter than a predetermined period of time and the intensities of the radar returns to be greater than a predetermined value, it is determined that the dirt is adhered to the radar, thereby improving the accuracy of detecting the adhesion of dirt to the radar.

摘要翻译： 提供了一种装备有雷达的车辆物体识别装置。 该装置设计用于检测任何污垢对雷达的粘附，这将干扰雷达波的发射和来自目标的接收雷达回波。 当雷达波数量大时，导致雷达波所需的时间行进到要测量的目标并返回到要测量的目标为短于预定的时间段，并且雷达的强度返回到大于预定的时间 值，确定灰尘粘附到雷达，从而提高检测灰尘与雷达粘附的准确性。

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。

公开(公告)号：US20090045999A1

公开(公告)日：2009-02-19

申请号：US12285199

申请日：2008-09-30

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： G01S13/00 ,  G01S13/08

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。

公开(公告)号：US20070032953A1

公开(公告)日：2007-02-08

申请号：US11543864

申请日：2006-10-06

申请人： Yoshie Samukawa ,  Toyohito Nozawa ,  Hiroshi Ohkata ,  Keiji Matsuoka ,  Yoshiaki Hoashi ,  Tsutomu Natsuma ,  Eiji Teramura

发明人： Yoshie Samukawa ,  Toyohito Nozawa ,  Hiroshi Ohkata ,  Keiji Matsuoka ,  Yoshiaki Hoashi ,  Tsutomu Natsuma ,  Eiji Teramura

IPC分类号： G08G1/16

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。

公开(公告)号：US07761236B2

公开(公告)日：2010-07-20

申请号：US12285199

申请日：2008-09-30

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： G01S13/00

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。

公开(公告)号：US07496449B2

公开(公告)日：2009-02-24

申请号：US11543864

申请日：2006-10-06

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： G01S13/58

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。

公开(公告)号：US20050093735A1

公开(公告)日：2005-05-05

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： B60T7/22 ,  G01S7/48 ,  G01S15/93 ,  G01S17/93 ,  G01S13/93

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。

公开(公告)号：US07650239B2

公开(公告)日：2010-01-19

申请号：US11273340

申请日：2005-11-14

申请人： Yoshie Samukawa ,  Yoshiaki Hoashi ,  Mamoru Shimamoto ,  Keiji Matsuoka

发明人： Yoshie Samukawa ,  Yoshiaki Hoashi ,  Mamoru Shimamoto ,  Keiji Matsuoka

IPC分类号： G05D1/02

CPC分类号： G01S17/936 ,  G01S7/4972 ,  G01S17/42 ,  G06K9/3241

摘要： An object recognition apparatus in a subject vehicle includes a radar unit for transmitting a plurality of laser beams in a scan range spread in horizontal and vertical directions of the subject vehicle and receiving a reflection, a recognition unit for recognizing the object in front of the subject vehicle based on the reflection, a determination sub-unit in the radar unit, a calculation sub-unit in the radar unit; and an adjustment sub-unit in the radar unit. The radar unit is so disposed in the subject vehicle with a center axis of one of the plurality of the laser beams aligned with a target angle that the determination sub-unit uses coverage in the vertical direction of the laser beam being sufficient for variation of heights of the reflector on the object at a first distance detected by the radar unit as the predetermined condition for selecting of the object.

摘要翻译： 目标车辆中的物体识别装置包括：雷达单元，用于在本车辆的水平和垂直方向上分布的扫描范围内发射多个激光束并接收反射;识别单元，用于识别被摄体前方的物体 基于反射的车辆，雷达单元中的确定子单元，雷达单元中的计算子单元; 以及雷达单元中的调整子单元。 所述雷达单元设置在所述主体车辆中，所述多个激光束中的一个激光束的中心轴与目标角度对准，所述目标角度使得所述确定子单元在所述激光束的垂直方向上使用覆盖范围足以改变高度 的雷达单元检测到的第一距离处的物体上的反射器作为用于选择物体的预定条件。

公开(公告)号：US20060103927A1

公开(公告)日：2006-05-18

申请号：US11273340

申请日：2005-11-14

申请人： Yoshie Samukawa ,  Yoshiaki Hoashi ,  Mamoru Shimamoto ,  Keiji Matsuoka

发明人： Yoshie Samukawa ,  Yoshiaki Hoashi ,  Mamoru Shimamoto ,  Keiji Matsuoka

IPC分类号： G02B27/02

CPC分类号： G01S17/936 ,  G01S7/4972 ,  G01S17/42 ,  G06K9/3241

摘要： An object recognition apparatus in a subject vehicle includes a radar unit for transmitting a plurality of laser beams in a scan range spread in horizontal and vertical directions of the subject vehicle and receiving a reflection, a recognition unit for recognizing the object in front of the subject vehicle based on the reflection, a determination sub-unit in the radar unit, a calculation sub-unit in the radar unit; and an adjustment sub-unit in the radar unit. The radar unit is so disposed in the subject vehicle with a center axis of one of the plurality of the laser beams aligned with a target angle that the determination sub-unit uses coverage in the vertical direction of the laser beam being sufficient for variation of heights of the reflector on the object at a first distance detected by the radar unit as the predetermined condition for selecting of the object.

摘要翻译： 目标车辆中的物体识别装置包括：雷达单元，用于在本车辆的水平和垂直方向上分布的扫描范围内发射多个激光束并接收反射;识别单元，用于识别被摄体前方的物体 基于反射的车辆，雷达单元中的确定子单元，雷达单元中的计算子单元; 以及雷达单元中的调整子单元。 所述雷达单元设置在所述主体车辆中，所述多个激光束中的一个激光束的中心轴与目标角度对准，所述目标角度使得所述确定子单元在所述激光束的垂直方向上使用覆盖范围足以改变高度 的雷达单元检测到的第一距离处的物体上的反射器作为用于选择物体的预定条件。

公开(公告)号：US06903680B2

公开(公告)日：2005-06-07

申请号：US10694003

申请日：2003-10-28

申请人： Yoshie Samukawa ,  Keiji Matsuoka ,  Hiroshi Ookata ,  Toyohito Nozawa

发明人： Yoshie Samukawa ,  Keiji Matsuoka ,  Hiroshi Ookata ,  Toyohito Nozawa

IPC分类号： G08G1/16 ,  B60R21/00 ,  G01S13/93 ,  G01S17/10 ,  G01S17/93 ,  G01S7/40

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。