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公开(公告)号：US12227172B2
公开(公告)日：2025-02-18
申请号：US17817264
申请日：2022-08-03
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu
Abstract: A monitoring area setting apparatus is mountable to an own vehicle and sets a monitoring area that indicates an area for monitoring objects in a vicinity of the own vehicle. The monitoring area setting apparatus acquires (i) at least either of a vehicle-width movement amount that indicates an amount of movement in a vehicle-width direction of the own vehicle and an inclination amount that indicates a degree of inclination of the own vehicle relative to an extending direction of a road on which the own vehicle is traveling, and (ii) information that the own vehicle has changed traffic lanes. The monitoring area setting apparatus sets the monitoring area taking into consideration at least either of the vehicle-width movement amount and the inclination amount in response to the own vehicle changing traffic lanes.
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公开(公告)号：US11346939B2
公开(公告)日：2022-05-31
申请号：US16595769
申请日：2019-10-08
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu
Abstract: A surrounding monitoring radar device includes a signal generation unit, a spectrum generation unit, a cycle setting unit, a learning unit, and an update unit. At an update timing, the update unit updates a determination reference to a learned value calculated by the learning unit. the learning unit is configured to: set the learning value to an initial value at a start timing of the learning period; compare the learned value with a value of a noise floor of the generated frequency spectrum during the learning period; and update the learned value to the value of the noise floor upon the value of the noise floor being smaller than the learned value.
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公开(公告)号：US11047969B2
公开(公告)日：2021-06-29
申请号：US16716872
申请日：2019-12-17
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu , Takayuki Kitamura
IPC: G01S13/34 , G01S13/931 , G01S7/35 , G01S13/68
Abstract: A periphery monitoring radar device includes a transmission unit, a reception unit, a spectrum generation unit, an azimuth calculation unit, an environment determination unit, and a position calculation unit. The transmission unit transmits a combination of transmission signals modulated using a plurality of modulation modes. The environment determination unit determines whether a peripheral environment is a complex environment from the degree of randomness of a frequency spectrum for each modulation mode. The position calculation unit removes, upon the peripheral environment for at least one modulation mode being determined to be the complex environment, at least one azimuth corresponding to the at least one modulation mode from the azimuths respectively calculated for modulation modes to thereby obtain at least one target azimuth that is at least one of the remaining azimuths except for the removed azimuth; and calculates a position of the vehicle based on the at least one target azimuth.
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公开(公告)号：US11768287B2
公开(公告)日：2023-09-26
申请号：US17179207
申请日：2021-02-18
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu
IPC: G01S13/931 , G01S13/04
CPC classification number: G01S13/931 , G01S13/04 , G01S2013/93272
Abstract: An object detection apparatus is configured to be mounted to a vehicle to detect objects existing around the vehicle. The object detection apparatus includes an output acquisition unit, an accuracy estimation unit, a weighting setting unit and a position calculation unit. The output acquisition unit is configured to acquire output signals from a plurality of radar sensors mounted respectively at different positions in the vehicle. The accuracy estimation unit is configured to estimate, based on the output signals from the radar sensors, detection accuracies of the radar sensors. The weighting setting unit is configured to set, according to the detection accuracies of the radar sensors, weighting for the output signals from the radar sensors. The position calculation unit is configured to calculate a position of an object by using in combination the output signals from the radar sensors reflecting the set weighting.
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公开(公告)号：US11693108B2
公开(公告)日：2023-07-04
申请号：US17151487
申请日：2021-01-18
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu
IPC: G01S13/66 , G01S13/931
CPC classification number: G01S13/66 , G01S13/931
Abstract: A moving object detection apparatus repeatedly acquires, from a radar apparatus, observed-point information indicating observed-point positions that are positions of observed points where radar waves are reflected. The apparatus estimates, based on the observed-point positions indicated respectively by a plurality of pieces of the observed-point information and tracking filter coefficients indicating the degree of tracking the observed-point positions, a tracking trajectory tracking movement of a moving object corresponding to a plurality of the observed points. The apparatus determines whether distribution of the plurality of the observed points on both sides of the tracking trajectory is continuously biased to one side of the tracking trajectory. The apparatus sets the tracking filter coefficients so that the tracking degree is higher when the distribution of the plurality of the observed points is determined to be biased than when the distribution of the plurality of the observed points is determined to be not biased.
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Patent Agency Ranking
公开(公告)号：US11181612B2
公开(公告)日：2021-11-23
申请号：US16524518
申请日：2019-07-29
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu
Abstract: A prevention section generates a prevention signal by performing an interference removal process of preventing an influence of radio wave interference with respect to a non-prevention signal acquired by an acquisition section from a radar sensor for each processing cycle. An analysis section performs a frequency analysis process by using the prevention signal when an operation mode is an interference mode and by using the non-prevention signal when the operation mode is a normal mode. A determination section determines, based on an analysis result obtained by the analysis section, whether radio wave interference is present. When the operation mode is the normal mode and the interference is determined to be present, a switching section switches the operation mode to the interference mode, maintains the interference mode during a certain number of processing cycles, and then switches the operation mode to the normal mode.
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公开(公告)号：US12111418B2
公开(公告)日：2024-10-08
申请号：US17496289
申请日：2021-10-07
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu , Seiya Fujitsu
IPC: G01S7/35 , G01S13/42 , G01S13/58 , G01S13/931
CPC classification number: G01S7/356 , G01S13/42 , G01S13/584 , G01S13/931
Abstract: A feature quantity calculation unit calculates one or more predetermined types of feature quantities using information correlated to respective extracted peaks. An environment determination unit calculates a specific environment probability from a calculation result of the feature quantity calculation unit using the positive distribution and a non-specific environment probability from a calculation result of the feature quantity calculation unit using the negative distribution. The environment determination unit further determines whether the mobile body is in the specific environment or the non-specific environment in accordance with a result of integration of the specific environment probability and the non-specific environment probability which are calculated for respective feature quantities.
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公开(公告)号：US11155272B2
公开(公告)日：2021-10-26
申请号：US15998908
申请日：2017-02-17
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu
IPC: B60W40/114 , B60W40/06 , G05D1/02 , G08G1/16
Abstract: An odometry acquiring unit acquires odometry information including a yaw rate applied to a vehicle and a steering angle of the vehicle. An estimate calculating unit calculates an estimate of a turning radius based on the steering angle and the yaw rate acquired by the odometry acquiring unit. A change rate calculating unit calculates a yaw change rate representing a degree of change in the yaw rate acquired by the odometry acquiring unit. A contribution adjusting unit makes an adjustment of decreasing a contribution of the yaw rate and increasing a contribution of the steering angle, to calculation of an estimate performed by the estimate calculating unit, as the yaw change rate increases.
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公开(公告)号：US20170345312A1
公开(公告)日：2017-11-30
申请号：US15521002
申请日：2015-09-29
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu , Koichiro Suzuki
CPC classification number: G08G1/167 , B60R21/00 , B60W30/18163 , B60W40/04 , G01S13/87 , G01S13/878 , G01S13/931 , G01S2013/9332 , G01S2013/9353 , G07C5/0841
Abstract: In an apparatus for monitoring an adjacent lane to a lane in which an own vehicle that is a vehicle carrying the apparatus is traveling, a travel trajectory calculation unit calculates a travel trajectory of the own vehicle based on odometry information of the own vehicle. An adjacent lane estimation unit estimates an adjacent-lane region based on the travel trajectory of the own vehicle. An other-vehicle determination unit determines whether or not a target (the other vehicle) is present in the adjacent lane based on a position of the target detected by an other-vehicle detector and the estimated adjacent-lane region.
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公开(公告)号：US12085633B2
公开(公告)日：2024-09-10
申请号：US17655428
申请日：2022-03-18
Applicant: DENSO CORPORATION
Inventor： Naotsugu Shimizu
IPC: G01S13/46 , B60Q9/00 , G01S7/41 , G01S13/89 , G01S13/931
CPC classification number: G01S13/46 , G01S7/41 , G01S13/89 , G01S13/931 , B60Q9/00
Abstract: A measurement apparatus repeatedly executes measurement determination of whether measurement of a wall object has succeeded. If the wall-object measurement has succeeded, the measurement apparatus calculates an instantaneous wall-distance value indicative of a distance of the wall object from the own object. Otherwise, if the wall-object measurement has not succeeded, the measurement apparatus executes first extrapolation of an additional instantaneous wall-distance value. The measurement apparatus prevents an additional execution of the first extrapolation upon determination that the frequency of continuously repeated executions of the first extrapolation is not less than a prevention threshold frequency. The measurement apparatus sets, if the result of the measurement determination is correct, a correct-state threshold as the prevention threshold frequency, and sets, if the result of the measurement determination is incorrect, an incorrect-state threshold as the prevention threshold frequency; the incorrect-state threshold is smaller than the correct-state threshold.
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