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公开(公告)号：US20210003695A1
公开(公告)日：2021-01-07
申请号：US17026668
申请日：2020-09-21
申请人： SOKEN, INC. , DENSO CORPORATION
发明人： Yusuke AKAMINE , Yasuyuki MIYAKE
摘要： A radar apparatus is mountable to a vehicle. The radar apparatus includes an observing unit, an estimating unit, a predicting unit, a matching processing unit, and a determining unit. The estimating unit calculates, regarding an initial detection target object, a plurality of velocity estimation values in which folding is presumed, using a velocity observation value calculated by the observing unit. The predicting unit calculates a prediction value from each of the plurality of velocity estimation values. The matching processing unit performs association of the velocity prediction value and the velocity observation value.
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公开(公告)号：US20240286628A1
公开(公告)日：2024-08-29
申请号：US18656327
申请日：2024-05-06
发明人： Keita SUGIURA , Yasuyuki MIYAKE , Naotsugu SHIMIZU , Junzoh TSUCHIYA , Masafumi IBUSHI , Seiya FUJITSU , Hiroyuki ISHIMORI
IPC分类号： B60W50/06 , G01S7/292 , G01S13/04 , G01S13/931
CPC分类号： B60W50/06 , G01S7/292 , G01S13/04 , G01S13/931 , B60W2420/408 , B60W2554/802 , G01S2013/9322
摘要： An object recognition device is applied to a vehicle having a range sensor that transmits a probe wave and receives the reflected wave of the probe wave. The object recognition device is configured to recognize an object behind the own vehicle based on detection information of the range sensor. The object recognition device includes a tow determining unit configured to determine whether a towed vehicle is coupled to a rear of the own vehicle, and a changing unit configured to, in response to determining that the towed vehicle is coupled to the rear of the own vehicle, change how the range sensor detects an object to suppress reception of the reflected wave caused by presence of the towed vehicle.
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公开(公告)号：US20210239825A1
公开(公告)日：2021-08-05
申请号：US17237593
申请日：2021-04-22
申请人： DENSO CORPORATION
发明人： Yusuke AKAMINE , Takuya TAKAYAMA , Yasuyuki MIYAKE
摘要： An object tracking apparatus generates a plurality of target candidates in which ambiguity in velocity is assumed for an object detected for a first time, calculates a current prediction value of a state quantity of each target candidate from a past estimation value of the state quantity of each target candidate, using one filter among a plurality of filters, and calculates the current estimation value of the state quantity of the target candidate from each of the calculated prediction values and a current observation value that matches each prediction value. The object tracking apparatus deletes the target candidate of which a determined likelihood is less than a preset threshold among the target candidates, and switches a used filter to a filter that has a larger number of state variables among the filters, in response to the target candidate being deleted and the total number of target candidates decreasing.
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公开(公告)号：US20210190934A1
公开(公告)日：2021-06-24
申请号：US17192577
申请日：2021-03-04
申请人： DENSO CORPORATION
发明人： Katsuhiko KONDO , Yasuyuki MIYAKE
摘要： An object-detecting device includes a first detector, an object tracker, a second detector, and an axial misalignment determiner. The first detector detects a distance between a moving body and an object and an orientation of the object relative to the moving body based on detection information acquired from detection sensors including a search wave sensor that searches a detection region with a search wave. The object tracker tracks the same object passing through a different detection region based on the detection information. The second detector detects at least either one of a height of the object or a lateral distance of the object as object information based on the detection information. The axial misalignment determiner determines whether axial misalignment has occurred in the search wave sensor based on the distance and the orientation of the object detected by the first detector based on the detection information from the search wave sensor and the object information detected in a different detection region by the second detector.
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公开(公告)号：US20200041638A1
公开(公告)日：2020-02-06
申请号：US16339939
申请日：2017-10-03
申请人： DENSO CORPORATION
摘要： A vehicle information providing apparatus (hereinafter, apparatus) repeatedly acquires observation point information. The apparatus calculates at least one position of the predicted point. When the observation point information is acquired, the apparatus extracts a predicted point that can be connected to the observation point from the calculated predicted points. The apparatus calculates the position of the current filtered point based on the position of the current observation point and the position of the latest predicted point. When the observation point information of a new object (an object having no latest predicted point connectable to the observation point) is acquired, the device sets initial vectors. The apparatus calculates the position of the predicted point at time instants succeeding the current time instant for each of the traveling directions indicated by the initial vectors.
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公开(公告)号：US20200346653A1
公开(公告)日：2020-11-05
申请号：US16931350
申请日：2020-07-16
申请人： DENSO CORPORATION
发明人： Katsuhiko KONDO , Yusuke AKAMINE , Yasuyuki MIYAKE
IPC分类号： B60W40/00 , G01S13/08 , G01S13/931 , G01S7/02
摘要： A vehicle radar system includes at least one radar, a detection section, an extraction section, a pair determination section, and a target position determination section. The extraction section extracts at least one observation point pair from a plurality of detected observation points. The observation point pair is a pair of the observation points located in the same direction. The target position determination section calculates a surface direction of a reflection surface from a reflection surface observation point of the observation point pair and observation points around the reflection surface observation point, and determines a position of the target from the calculated surface direction and the at least one observation point pair.
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公开(公告)号：US20190212430A1
公开(公告)日：2019-07-11
申请号：US16315291
申请日：2017-07-07
申请人： DENSO CORPORATION
CPC分类号： G01S13/341 , B60R21/00 , G01S7/352 , G01S13/34 , G01S13/93 , G01S13/931 , G01S2013/9353 , G08G1/16
摘要： A dual-frequency CW processing unit (12) calculates an observation-point orientation of an observation point. An FMCW processing unit (11) calculates at least a power spectrum of a beat signal, which has been generated based on radar waves that have come from the calculated observation-point orientation, in terms of an up-modulation time interval and a down-modulation time interval (termed orientation power spectrum hereinafter). The FMCW processing unit (11) shifts the orientation power spectra of the up- and down-modulation time intervals to positive and negative directions, respectively, by an amount corresponding to a Doppler shift frequency. The FMCW processing unit (11) calculates a differential power spectrum by differentiating the orientation power spectra of the shifted up- and down-modulation time intervals, and detects a peak frequency where intensity is maximum.
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公开(公告)号：US20150268336A1
公开(公告)日：2015-09-24
申请号：US14730283
申请日：2015-06-04
申请人： DENSO CORPORATION
CPC分类号： G01S13/04 , G01S7/28 , G01S7/35 , G01S13/0209 , G01S13/10 , G01S13/32 , G01S13/345 , G01S13/347 , G01S13/58 , G01S13/582 , G01S13/584 , G01S13/87 , G01S13/931 , G01S2013/9317 , G01S2013/9332 , G01S2013/9378 , G01S2013/9385 , H01Q9/285 , H01Q13/085 , H01Q21/062 , H01Q21/064
摘要： An antenna apparatus includes a substrate, a first antenna, and a second antenna. The substrate includes two or more pattern-forming layers which are layered via at least one insulating layer. The two or more pattern-forming layers include a first pattern-forming layer and a second pattern-forming layer which are different from each other. The first pattern-forming layer forms one of both outer layers located at both surfaces of the substrate. The first antenna is formed on the first pattern-forming layer, includes a plurality of antenna elements arrayed in a row, and radiates electromagnetic waves in a layer direction of the plurality of layers. The second antenna is formed on the second pattern-forming layer, is arranged on at least one side of both sides of the antenna array direction of the plurality of antenna elements of the first antenna section, and radiates electromagnetic waves in the antenna array direction.
摘要翻译： 天线装置包括基板，第一天线和第二天线。 衬底包括经由至少一个绝缘层层叠的两个或更多个图案形成层。 两个以上的图案形成层包括彼此不同的第一图案形成层和第二图案形成层。 第一图案形成层形成位于基板的两个表面的两个外层之一。 第一天线形成在第一图案形成层上，包括排列成行的多个天线元件，并且在多层的层方向上辐射电磁波。 第二天线形成在第二图案形成层上，布置在第一天线部分的多个天线元件的天线阵列方向的两侧的至少一侧，并且辐射天线阵列方向上的电磁波。
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公开(公告)号：US20210133465A1
公开(公告)日：2021-05-06
申请号：US17144874
申请日：2021-01-08
申请人： DENSO CORPORATION
发明人： Yusuke AKAMINE , Katsuhiko KONDO , Yasuyuki MIYAKE
IPC分类号： G06K9/00
摘要： An intersecting road estimation device includes an object detection unit that detects an object existing around an own vehicle and a position of the object, an object extraction unit that extracts a stationary object and a position of the stationary object from an object detection result, a first estimation unit that estimates a road edge of a traveling road on which the own vehicle is traveling based on the position of the stationary object, a candidate extraction unit that extracts a stationary object existing outside the road edge of the traveling road estimated by the first estimation unit as a candidate for an outside stationary object representing a road edge of an intersecting road intersecting the traveling road, and a second estimation unit that estimates the road edge of the intersecting road based on a position of the outside stationary object extracted by the candidate extraction unit.
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公开(公告)号：US20200025905A1
公开(公告)日：2020-01-23
申请号：US16585572
申请日：2019-09-27
申请人： DENSO CORPORATION
发明人： Yusuke AKAMINE , Naoki KAWASAKI , Yasuyuki MIYAKE
摘要： An in-vehicle radar device includes a transmission section, a reception section, an analysis section, an extraction section, a speed calculation section, a distance calculation section, and a folding detection section. The folding detection section detects occurrence of erroneous calculation of a distance, when reflection intensity at a frequency peak obtained by the extraction section is smaller than a preset intensity threshold for a distance calculated by the distance calculation section and a frequency width in a frequency spectrum calculated by the analysis section is smaller than a preset width threshold.
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