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公开(公告)号：US20160116583A1
公开(公告)日：2016-04-28
申请号：US14887625
申请日：2015-10-20
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S7/527 , G01S15/46 , G01S15/878 , G01S2015/465 , G01S2015/938
摘要： An object detection apparatus for detecting an object around a moving object carrying the apparatus by transmitting a probe wave and receiving reflections of the probe wave from the object via a plurality of ranging sensors attached to the moving object. In the apparatus, a position determiner determines whether or not a position of the object calculated by a position calculator based on the reflections received by a pair of adjacent ranging sensors, from one of which is the probe wave is transmitted, is out of an overlapping range of ranges of object detection for the respective adjacent ranging sensors. A position invalidator is configured to, based on the determination made by the position determiner, determine that the object position calculated by the position calculator is invalid.
摘要翻译： 一种物体检测装置，用于通过发送探测波来检测携带该装置的移动物体周围的物体，并通过安装在移动物体上的多个测距传感器从物体接收探测波的反射。 在该装置中，位置确定器确定由位置计算器计算出的物体的位置是否基于从其中一个是探测波的一对相邻测距传感器接收到的反射是不重叠的 各个相邻测距传感器的物体检测范围。 位置无效化器被配置为基于由位置确定器做出的确定来确定由位置计算器计算出的对象位置无效。
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公开(公告)号：US10175354B2
公开(公告)日：2019-01-08
申请号：US14887623
申请日：2015-10-20
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
摘要： An object detection apparatus for detecting objects around the apparatus by transmitting a probe wave and receiving reflections from the objects. If it is determined that both first and second object positions can be calculated using a combination of first direct and indirect waves and a combination of second direct and indirect waves, respectively, and at least one of third and fourth object positions can be calculated using a combination of the second direct wave and the first indirect wave and a combination of the first direct wave and the second indirect wave, only the first object position is calculated. The second direct wave is received at a first location after receipt of the first direct wave at the first location. The second indirect wave is received at a second location away from the first location after receipt of the first indirect wave at the second location.
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公开(公告)号：US09594166B2
公开(公告)日：2017-03-14
申请号：US14918304
申请日：2015-10-20
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S15/46 , G01S15/878 , G01S2015/465 , G01S2015/938
摘要： An object detecting apparatus that detects an object using a distance measuring sensor and is mounted in a moving body includes a position calculator that calculates a position of the object relative to the moving body, a speed detector that detects a speed of the moving body, a displacement calculator that calculates an distance moved by the moving body, a relative speed calculator that calculates a relative speed between the moving body and the object, a first determiner that determines whether a position calculation in the position calculator is possible, a second determiner that determines whether the moved distance calculation by the displacement calculator is possible, and an estimator that estimate the position of the object based on a last known position of the object, a last known distance moved by the moving body, or a last known relative speed.
摘要翻译： 使用距离测量传感器检测物体并安装在移动体中的物体检测装置包括：计算物体相对于移动体的位置的位置计算器，检测移动体的速度的速度检测器， 计算由所述移动体移动的距离的位移计算器，计算所述移动体和所述物体之间的相对速度的相对速度计算器，确定位置计算器中的位置计算是否可行的第一判定器， 是否可以通过位移计算器进行移动距离计算，以及估计器，其基于对象的最后已知位置，由移动体移动的最后已知距离或最后已知的相对速度来估计对象的位置。
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公开(公告)号：US20160116590A1
公开(公告)日：2016-04-28
申请号：US14918319
申请日：2015-10-20
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S15/46 , G01S15/66 , G01S15/878 , G01S2015/465 , G01S2015/938
摘要： An object detection apparatus for detecting an object around a moving object by transmitting a probe wave and receiving reflections of the probe wave from the object via the plurality of ranging sensors. In the apparatus, an interaction determiner is configured to, if an object position calculated by a position calculator is within a range of a moving-object's course, determine whether or not the detected object is likely to interact with the moving object based on a lateral position of the detected object and a degree of confidence of the object position calculated by the position calculator. The lateral position of the detected object is the object position calculated by the position calculator in a direction perpendicular to a moving direction of the moving object.
摘要翻译： 一种物体检测装置，用于通过发送探测波并经由多个测距传感器从对象接收探测波的反射来检测运动物体周围的物体。 在该装置中，如果由位置计算器计算出的物体位置在运动物体的路线的范围内，则相互作用确定器被配置为：基于侧面判定所检测到的物体是否可能与移动物体相互作用 被检测物体的位置和由位置计算器计算出的物体位置的置信度。 检测对象的横向位置是由位置计算器在与移动物体的移动方向垂直的方向上计算出的物体位置。
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公开(公告)号：US11417115B2
公开(公告)日：2022-08-16
申请号：US17069078
申请日：2020-10-13
发明人： Koki Osada , Takayuki Hiromitsu , Tomoyuki Fujimoto , Takuya Miwa , Yutaka Hamamoto , Masumi Fukuman , Akihiro Kida , Kunihiro Sugihara
摘要： An obstacle recognition device of a vehicle provided with a camera capturing an image around the vehicle, includes an acquiring unit sequentially acquiring the image captured by the camera; a feature point extracting unit extracting a plurality of feature points of an object included in the image; a calculation unit calculating each motion distance of the plurality of feature points between the image previously acquired and the image currently acquired by the acquiring unit; a first determination unit determining whether each motion distance of the feature points is larger than or equal to a first threshold; a second determination unit determining whether each motion distance of the feature points is larger than or equal to a second threshold; and an obstacle recognition unit recognizing an obstacle.
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公开(公告)号：US20160116589A1
公开(公告)日：2016-04-28
申请号：US14918304
申请日：2015-10-20
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S15/46 , G01S15/878 , G01S2015/465 , G01S2015/938
摘要： An object detecting apparatus that detects an object using a distance measuring sensor and is mounted in a moving body includes a position calculator that calculates a position of the object relative to the moving body, a speed detector that detects a speed of the moving body, a displacement calculator that calculates an distance moved by the moving body, a relative speed calculator that calculates a relative speed between the moving body and the object, a first determiner that determines whether a position calculation in the position calculator is possible, a second determiner that determines whether the moved distance calculation by the displacement calculator is possible, and an estimator that estimate the position of the object based on a last known position of the object, a last known distance moved by the moving body, or a last known relative speed.
摘要翻译： 使用距离测量传感器检测物体并安装在移动体中的物体检测装置包括：计算物体相对于移动体的位置的位置计算器，检测移动体的速度的速度检测器， 计算由所述移动体移动的距离的位移计算器，计算所述移动体和所述物体之间的相对速度的相对速度计算器，确定位置计算器中的位置计算是否可行的第一判定器， 是否可以通过位移计算器进行移动距离计算，以及估计器，其基于对象的最后已知位置，由移动体移动的最后已知距离或最后已知的相对速度来估计对象的位置。
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公开(公告)号：US20160116588A1
公开(公告)日：2016-04-28
申请号：US14919562
申请日：2015-10-21
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S7/023 , G01S7/52001 , G01S7/52004 , G01S7/527 , G01S15/46 , G01S15/878 , G01S2007/4039 , G01S2007/52009 , G01S2015/465 , G01S2015/938
摘要： An object detection apparatus is applied to a movable body including an object detection sensor which transmits a search wave and receives a reflected wave of the search wave as detection information of an object, and detects the object present around the movable body based on the detection information. The apparatus includes a frequency detection section which detects an occurrence frequency of a disturbance signal at the same time within a predetermined transmission time period determined with reference to a transmission period of the search wave, and a disturbance determination section which determines presence or absence of occurrence of disturbance based on the occurrence frequency detected by the frequency detection section.
摘要翻译： 一种物体检测装置被应用于包括物体检测传感器的移动体，所述物体检测传感器发送搜索波并接收搜索波的反射波作为对象的检测信息，并且基于检测信息来检测存在于可移动体周围的物体 。 该装置包括频率检测部分，其在参考搜索波的传输周期确定的预定传输时间段内同时检测干扰信号的出现频率;以及干扰确定部分，其确定是否存在发生 基于由频率检测部检测到的发生频率的干扰。
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公开(公告)号：US20160116584A1
公开(公告)日：2016-04-28
申请号：US14919498
申请日：2015-10-21
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S15/46 , G01S15/878 , G01S2015/465 , G01S2015/938
摘要： An object detection apparatus is installed in a movable body and detects an object. The apparatus includes a first detection section which transmits search waves in a moving direction of the moving object, and receives reflected waves as detection information to detect the object, a second detection section which transmits search waves in the moving direction, and receives reflected waves as detection information, an obstacle determination section which determines that an obstacle is present in the moving direction, based on detection results of the first and second detection sections, and a crossing determination section which determines that the obstacle has crossed, in a state where the obstacle determination section determines that the obstacle is present, if the determination that the obstacle is present is made by continuous detection, and if a state where the object is continuously detected changes to a state where the object is not detected.
摘要翻译： 物体检测装置安装在移动体中并检测物体。 该装置包括：第一检测部，其在移动物体的移动方向上发送搜索波，并且接收反射波作为检测信息以检测物体;第二检测部，其在移动方向上发送搜索波，并将反射波接收为 检测信息，基于第一和第二检测部分的检测结果确定障碍物在移动方向上存在的障碍物确定部分，以及确定障碍物已经越过的交叉判定部分，在障碍物 如果通过连续检测进行了存在障碍物的确定，并且如果连续检测到物体的状态改变为未检测到物体的状态，则确定部确定存在障碍物。
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公开(公告)号：US20210110176A1
公开(公告)日：2021-04-15
申请号：US17068251
申请日：2020-10-12
发明人： Takuya Miwa , Takayuki Hiromitsu , Yutaka Hamamoto , Masumi Fukuman , Akihiro Kida , Kunihiro Sugihara
摘要： An obstacle identification apparatus acquires an image that is captured by a camera that is mounted to a vehicle. The obstacle identification apparatus calculates a first gradient that is a gradient in a first direction of a luminance value of pixels in the image and a second gradient that is a gradient of the luminance value in a second direction orthogonal to the first direction of the first gradient. Based on the first gradient and the second gradient, the obstacle identification apparatus estimates a shadow boundary that is a boundary between an own-vehicle shadow that is a shadow of the own vehicle and an object outside the vehicle. Based on the estimated shadow boundary, the obstacle identification apparatus estimates the own-vehicle shadow.
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公开(公告)号：US10578736B2
公开(公告)日：2020-03-03
申请号：US14918319
申请日：2015-10-20
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
IPC分类号： G01S15/00 , G01S15/931 , G01S15/46 , G01S15/87 , G01S15/66
摘要： An object detection apparatus for detecting an object around a moving object by transmitting a probe wave and receiving reflections of the probe wave from the object via the plurality of ranging sensors. In the apparatus, an interaction determiner is configured to, if an object position calculated by a position calculator is within a range of a moving-object's course, determine whether or not the detected object is likely to interact with the moving object based on a lateral position of the detected object and a degree of confidence of the object position calculated by the position calculator. The lateral position of the detected object is the object position calculated by the position calculator in a direction perpendicular to a moving direction of the moving object.
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