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：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：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：US06927699B2

公开(公告)日：2005-08-09

申请号：US10716795

申请日：2003-11-20

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

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

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。

公开(公告)号：US06882303B2

公开(公告)日：2005-04-19

申请号：US10716549

申请日：2003-11-20

申请人： Yoshie Samukawa ,  Toyohito Nozawa ,  Hiroshi Ohkata ,  Tsutomu Natsume

发明人： Yoshie Samukawa ,  Toyohito Nozawa ,  Hiroshi Ohkata ,  Tsutomu Natsume

IPC分类号： G08G1/16 ,  B60K31/00 ,  G01S17/42 ,  G01S17/93 ,  G01S13/93

CPC分类号： G01S17/936 ,  B60K31/0008 ,  B60W2550/143 ,  G01S7/4972 ,  G01S13/931 ,  G01S15/931 ,  G01S17/42 ,  G01S2007/403 ,  G01S2013/9321 ,  G01S2013/9325

摘要： An obstacle detection system includes a laser radar sensor that emits laser beams for scanning a two-dimensional detection area ahead of a vehicle and receives reflected beams in a form of reflecting dots representing the obstacle such as a preceding vehicle. To effectively detect a preceding vehicle traveling on a curved road, a reference angular direction in which the preceding vehicle is most probably located is set based on a traveling speed of the own vehicle and a calculated radius of the curved road. The reflecting dots are selected from those located closer to the reference angular direction until they reach a predetermined number, thereby forming a target model. The preceding vehicle is detected based on the target model.

摘要翻译： 障碍物检测系统包括：激光雷达传感器，其发射用于扫描车辆前方的二维检测区域的激光束，并且以表示前方车辆的障碍物的反射点的形式接收反射光束。 为了有效地检测在弯曲的道路上行驶的前一车辆，基于本车辆的行驶速度和计算出的弯道的半径来设定前方车辆最可能位于的基准角度方向。 反射点选自更靠近参考角方向的反射点，直到它们达到预定数量，从而形成目标模型。 基于目标模型检测前一车辆。