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1.发明申请ROAD CONFIGURATION ESTIMATION APPARATUS, COMPUTER PROGRAM, AND ROAD CONFIGURATION ESTIMATION METHOD 有权道路配置估算装置，计算机程序和道路配置估算方法公开(公告)号：US20110295548A1
公开(公告)日：2011-12-01
申请号：US13020286
申请日：2011-02-03
CPC分类号： G06K9/00798 , G01S7/2955 , G01S7/411 , G01S13/931 , G01S2013/9353
摘要： There is provided a road configuration estimation apparatus that precludes influences of erroneous detection of an object and erroneous still determination and estimates a road configuration.A radar (peripheral object observation device) 110 repeatedly observes a relative position of an object relative to the moving object, which is located in the vicinity of a moving object. A stationary object identification unit (stationary object determination unit) 130 determines whether or not the object the relative positions of which have been observed by the radar 110 is still. A road approximate curve temporary computation unit (object correlation unit) 140 determines a plurality of the relative positions of an identical object observed by the radar 110 from among the relative positions observed by the radar 110. A road approximate curve main computation unit (approximate curve computation unit) 160 computes an approximate curve that approximates the configuration of a road on which the moving object is located, based on a result of the determination by the stationary object identification unit 130 and a result of the determination by the road approximate curve computation unit 140.
摘要翻译： 提供了一种排除物体的错误检测和错误的静止确定的影响并估计道路构造的道路配置估计装置。 雷达（周边物体观察装置）110重复地观察物体相对于位于运动物体附近的运动物体的相对位置。 静止物体识别单元（静止物体确定单元）130确定雷达110的相对位置是否仍然被观察到的对象。 道路近似曲线临时计算单元（物体相关单元）140从由雷达110观察到的相对位置中确定由雷达110观察到的相同物体的多个相对位置。道路近似曲线主计算单元（近似曲线 计算单元）160基于静止对象识别单元130的确定结果和道路近似曲线计算单元的确定结果来计算近似运动对象所在的道路的构造的近似曲线 140。
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2.发明申请ANGULAR VELOCITY ESTIMATION APPARATUS, COMPUTER PROGRAM, AND ANGULAR VELOCITY ESTIMATION METHOD 审中-公开角速度估计装置，计算机程序和角速度估计方法公开(公告)号：US20110295549A1
公开(公告)日：2011-12-01
申请号：US13020411
申请日：2011-02-03
CPC分类号： G01S13/60 , G01S13/86 , G01S13/931 , G01S2007/403
摘要： An angular velocity estimation apparatus of the invention is provided to estimate the angular velocity of a moving object with good accuracy.A peripheral object observation device (radar) 811 repeatedly observes a relative position of an object relative to the moving object, located in the vicinity of the moving object. A relative position acquisition unit 211 obtains a result of the observation by the peripheral object observation device 811. A stationary object determination unit (stationary object identification unit) 220 determines whether or not the object the relative position of which have been observed by the peripheral object observation device 811 is still. An object correlation unit (stationary object tracking unit) 230 determines a plurality of the relative positions of an identical object observed by the peripheral object observation device 811, from among the relative positions observed by the peripheral object observation device 811. An angular velocity estimation unit (state estimation unit 240, trajectory estimation unit) estimates the angular velocity of the moving object.
摘要翻译： 提供本发明的角速度估计装置用于以高精度估计移动物体的角速度。 周边物体观察装置（雷达）811重复地观察物体相对于位于运动物体附近的运动物体的相对位置。 相对位置获取单元211通过周边物体观察装置811获得观察结果。静止物体确定单元（静止物体识别单元）220确定由周边物体观察到的相对位置的物体 观察装置811仍然。 物体相关单元（静止物体跟踪单元）230从周边物体观察装置811观察到的相对位置之中确定由周边物体观察装置811观察到的相同物体的多个相对位置。角速度估计单元 （状态估计单元240，轨迹估计单元）估计移动物体的角速度。
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公开(公告)号：US20100271258A1
公开(公告)日：2010-10-28
申请号：US12574070
申请日：2009-10-06
申请人： Yuki TAKABAYASHI , Hiroshi Kameda
发明人： Yuki TAKABAYASHI , Hiroshi Kameda
CPC分类号： G01S13/345 , G01S13/931
摘要： A radar device includes: a signal processor that receives an FMCW signal, detects a peak of a beat signal according to a reception signal and a transmission signal, and performs a correspondence of the beat frequency and an angle measurement process to generate target information; a beat frequency tracking filter that receives the beat frequency and updates a position and a velocity of the target; a pair observation value tracking filter that receives the observation value of the position and the velocity of the target to update the position and the velocity of the target; an integration/selection unit that integrates the tracks of both the tracking filters together or selects one thereof; a system track memory; and an abnormal value determination unit.
摘要翻译： 雷达装置包括：接收FMCW信号的信号处理器，根据接收信号和发送信号检测拍频信号的峰值，并进行拍频和角度测量处理的对应，生成目标信息; 节拍频率跟踪滤波器，其接收拍频并更新目标的位置和速度; 一对观察值跟踪滤波器，其接收所述目标的位置和速度的观测值，以更新所述目标的位置和速度; 集成/选择单元，其将两个跟踪滤波器的轨道集成在一起或选择一个; 系统跟踪记忆; 和异常值确定单元。
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