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1. 发明授权

US09601020B2 Collision determination device 有权
公开(公告)号：US09601020B2
公开(公告)日：2017-03-21
申请号：US13877337
申请日：2010-10-05
申请人： Kazuaki Aso , Toshiki Kindo , Katsuhiro Sakai , Masahiro Harada
发明人： Kazuaki Aso , Toshiki Kindo , Katsuhiro Sakai , Masahiro Harada
IPC分类号： G08G1/16 , B60W30/095
CPC分类号： G08G1/166 , B60W30/0953 , B60W30/0956 , G08G1/161
摘要： A collision determination device determines the possibility of collision between a host vehicle and the other object on the basis of a shortest arrival time calculated by a shortest arrival time calculation unit and a passage time at each point of the host vehicle acquired by a vehicle route candidate acquisition unit. In this way, even if a locus to be taken by the other object is not generated, the shortest arrival time at which the other object can arrive at each point of the route candidate of the host vehicle with a predetermined first displacement is calculated, thereby determining the possibility of collision between the host vehicle and the other object. Therefore, it is possible to reduce a computational load for determining collision and to accurately determine collision between the host vehicle and the other object.

2. 发明授权

US09501932B2 Vehicular environment estimation device 有权
标题翻译：车载环境估算装置
公开(公告)号：US09501932B2
公开(公告)日：2016-11-22
申请号：US13320706
申请日：2010-04-26
申请人： Katsuhiro Sakai , Hiromitsu Urano , Toshiki Kindo
发明人： Katsuhiro Sakai , Hiromitsu Urano , Toshiki Kindo
IPC分类号： G08G1/16
CPC分类号： G08G1/161
摘要： Disclosed is a vehicular environment estimation device capable of accurately estimating a travel environment around own vehicle on the basis of a predicted route of a mobile object or the like, which is moving in a blind area. A vehicular environment estimation device that is mounted in the own vehicle detects a behavior of another vehicle in the vicinity of the own vehicle, and estimates a travel environment, which affects the traveling of another vehicle, on the basis of the behavior of another vehicle. For example, the presence of another vehicle, which is traveling in a blind area, is estimated on the basis of the behavior of another vehicle. Therefore, it is possible to estimate a vehicle travel environment that cannot be recognized by the own vehicle but can be recognized by another vehicle in the vicinity of the own vehicle.
摘要翻译：公开了一种车辆环境估计装置，其能够基于在盲区移动的移动体等的预测路线来精确地估计本车辆周围的行驶环境。安装在本车辆中的车辆环境估计装置检测本车辆附近的其他车辆的行为，并且根据其他车辆的行为来估计影响另一车辆的行驶的行驶环境。例如，基于另一车辆的行为来估计在盲区行驶的另一车辆的存在。因此，可以估计本车辆不能识别的车辆行驶环境，但是可以在本车辆附近的其他车辆识别车辆行驶环境。

3. 发明授权

US09446711B2 Driving assist device 有权
标题翻译：驾驶辅助装置
公开(公告)号：US09446711B2
公开(公告)日：2016-09-20
申请号：US14399599
申请日：2012-05-09
申请人： Hiromitsu Urano , Katsuhiro Sakai , Toshiki Kindo , Kentaro Ichikawa , Masahiro Harada
发明人： Hiromitsu Urano , Katsuhiro Sakai , Toshiki Kindo , Kentaro Ichikawa , Masahiro Harada
IPC分类号： G08G1/00 , G08G1/123 , B60Q1/00 , G06F17/10 , G01C21/30 , G01S1/24 , B60Q9/00 , G08G1/16 , G01S7/41 , G01S13/86 , G01S13/93 , G06K9/00
CPC分类号： B60W30/09 , B60Q9/008 , B60W50/12 , B60W2420/42 , B60W2420/52 , B60W2550/10 , B60W2710/20 , B60W2720/106 , B60W2750/306 , B60W2750/308 , G01S7/412 , G01S13/865 , G01S13/931 , G05D1/0231 , G06K9/00805 , G08G1/165 , G08G1/166
摘要： Provided is a driving assist device 10 that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the apparatus including: an object detecting unit 12 that detects the object in the vicinity of the moving body; a three dimensional object detecting unit 13 that detects a three dimensional object in the vicinity of the moving body; and an object recognition unit 18 that recognizes the object at a predetermined detection position as a non-obstacle when the object information storing unit 16 stores the position of the object, and the three dimensional object information storing unit 17 does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit 12 and the three dimensional object detecting unit 13.
摘要翻译：提供一种识别移动体附近的物体的驾驶辅助装置10，并且辅助驾驶员驱动移动体，该装置包括：物体检测单元12，其检测移动体附近的物体; 检测移动体附近的三维物体的三维物体检测部13; 以及对象识别单元18，当对象信息存储单元16存储对象的位置时，将预定检测位置处的对象识别为非障碍物，并且三维对象信息存储单元17不存储该对象的位置在由物体检测单元12和三维物体检测单元13进行检测的预定位置处的三维物体。

4. 发明授权

US09373042B2 Subject change detection system and subject change detection method 有权
标题翻译：主体变化检测系统和受试者变化检测方法
公开(公告)号：US09373042B2
公开(公告)日：2016-06-21
申请号：US14346062
申请日：2011-09-20
申请人： Masahiro Ogawa , Toshiki Kindo , Ryuji Funayama , Akio Fukamachi
发明人： Masahiro Ogawa , Toshiki Kindo , Ryuji Funayama , Akio Fukamachi
IPC分类号： G06K9/00 , G08G1/16 , G06K9/46
CPC分类号： G06K9/00791 , B60W2420/40 , B60W2550/10 , G06K9/00335 , G06K9/00348 , G06K9/00805 , G06K9/4604 , G06K9/4671 , G08G1/166
摘要： The invention detects a change in a subject by detecting the subject from an image, acquiring a feature quantity distribution that indicates shape information of the detected subject, accumulating the shape information that is indicated by the acquired feature quantity distribution and comparing the shape information a predetermined period of time before with the current shape information by using the accumulated shape information. Here, the invention acquires the feature quantity distribution of the subject from a processing target area extracted from an image area that includes the subject. The invention detects a change in the subject by using accumulated shape change information acquired from the shape information. The invention detects a change in the subject by using averaged shape change information obtained by averaging the shape change information.
摘要翻译：本发明通过从图像中检测对象来检测被摄体的变化，获取表示被检测对象的形状信息的特征量分布，累积由获取的特征量分布指示的形状信息，并将形状信息与规定的通过使用累积的形状信息与当前形状信息之间的时间段。这里，本发明从从包括被摄体的图像区域提取的处理目标区域中获取被摄体的特征量分布。本发明通过使用从形状信息获取的累积形状变化信息来检测被摄体的变化。本发明通过使用通过对形状变化信息进行平均而获得的平均形状变化信息来检测被摄体的变化。

5. 发明授权

US09304513B2 Driving assistance device 有权
标题翻译：驾驶辅助装置
公开(公告)号：US09304513B2
公开(公告)日：2016-04-05
申请号：US13704251
申请日：2010-06-16
申请人： Kentaro Ichikawa , Toshiki Kindo
发明人： Kentaro Ichikawa , Toshiki Kindo
IPC分类号： G05D1/00 , G05D1/02 , B60W50/10 , G01C21/36 , B60K28/06
CPC分类号： G05D1/0061 , B60K28/06 , B60Q1/46 , B60W50/10 , B60W2720/10 , G01C21/3415 , G01C21/3617 , G05D1/00 , G05D1/021 , G05D1/0214
摘要： An object of the present invention is to provide a driving assistance device which it is easy to instinctively manipulate without causing a driver to feel a sense of discomfort. According to the driving assistance device according to the present invention, when it is instructed to perform automated driving using an automated driving switch and a destination has been set using a destination setting unit, an ECU generates a route for automated driving to the destination and starts the automated driving. When a destination has not been set using the destination setting unit and it is detected that the driver has travel continuation intention by a travel intention detection unit, the ECU generates a route for automated driving along the road and starts the automated driving. When a destination has not been set using the destination setting unit and it is detected that the driver does not have the travel continuation intention by the travel intention detection unit, the ECU generates a route for automated stopping and starts the automated driving. Therefore, since the automated driving automatically starts based on the intention of the driver, the driving assistance device is easy to instinctively manipulate without causing the driver to feel a sense of discomfort.
摘要翻译：本发明的目的是提供一种驾驶辅助装置，其易于本能地操纵而不会使驾驶员感到不适感。根据本发明的驾驶辅助装置，当指示使用自动驾驶开关进行自动驾驶并且已经使用目的地设定单元设定了目的地时，ECU生成用于自动驾驶到目的地的路线并开始自动驾驶当目的地没有使用目的地设定单元设定，并且检测到驾驶员具有旅行意图检测单元的旅行连续意图时，ECU产生沿道路自动行驶的路线，开始自动驾驶。当目的地没有使用目的地设定单元设定，并且检测到驾驶员不具有旅行意图检测单元的旅行连续意图时，ECU产生用于自动停止的路线并开始自动驾驶。因此，由于基于驾驶员的意图自动开始自动驾驶，驾驶辅助装置易于本能地操纵而不会使驾驶员感到不适感。

6. 发明授权

US08565997B2 Driving assist device 有权
公开(公告)号：US08565997B2
公开(公告)日：2013-10-22
申请号：US13257191
申请日：2010-05-12
申请人： Toshiki Kindo , Hiromitsu Urano
发明人： Toshiki Kindo , Hiromitsu Urano
IPC分类号： G05D1/00
CPC分类号： G05D1/0061 , B60W30/12 , B60W30/143
摘要： A driving assist device includes a first control portion that controls a vehicle to carry out automated driving, and a second control portion that controls the vehicle to make a shift to manual driving, in which the vehicle travels on a basis of an driving operation by a driver, when canceling the automated driving, and changes a manner of canceling the automated driving in accordance with an elapsed time from a start of the automated driving.

7. 发明授权

US08457892B2 Own-vehicle-path determining method and own-vehicle-path determining apparatus 有权
标题翻译：本车路径确定方法和本车路线确定装置
公开(公告)号：US08457892B2
公开(公告)日：2013-06-04
申请号：US12083239
申请日：2007-03-01
申请人： Kazuaki Aso , Toshiki Kindo
发明人： Kazuaki Aso , Toshiki Kindo
IPC分类号： G01C21/00
CPC分类号： B60W30/10 , B60W40/02 , G05D1/0214 , G05D1/0217 , G08G1/166 , G08G1/167
摘要： An own-vehicle-path determining method includes calculating a first evaluation value of each of plural predicted own-vehicle-path candidates, calculating a second evaluation value of each of the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high first evaluation values from the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high second evaluation values as appropriate own-vehicle-path candidates from the selected own-vehicle-path candidates, and selecting any one of the appropriate own-vehicle-path candidates as an own-vehicle path.
摘要翻译：本车路径确定方法包括：计算多个预测的本车路线候选中的每一个的第一评估值，计算多个本车路线候选中的每一个的第二评估值，选择本车路线候选具有来自多个本车路线候选的高第一评估值，从所选择的本车路线候选中选择具有高第二评估值的自身车辆路线候选作为适当的本车路线候选，并且选择作为自身车辆路径的适当的本车路线候选者。

8. 发明授权

US07903021B2 Obstacle detecting method, obstacle detecting apparatus, and standard moving-body model 有权
标题翻译：障碍物检测方法，障碍物检测装置和标准移动体模型
公开(公告)号：US07903021B2
公开(公告)日：2011-03-08
申请号：US12083219
申请日：2007-02-28
申请人： Kazuaki Aso , Toshiki Kindo
发明人： Kazuaki Aso , Toshiki Kindo
IPC分类号： G01S13/00
CPC分类号： B60W40/02 , G01S13/931 , G01S2013/9339 , G01S2013/9353 , G01S2013/9375 , G08G1/166
摘要： An obstacle detecting method for detecting a presence of an obstacle to a moving body using a sensor mounted on the moving body. The obstacle detecting method includes setting a movable area which is a surrounding area of the moving body and in which the moving body can move, arranging plural unconfirmed bodies over an entire area of the movable area as obstacle candidates as an initial state, and deleting the obstacle candidate which is determined not to be actually present as a result of detection by the sensor from the obstacle candidates arranged as the initial state.
摘要翻译：一种障碍物检测方法，用于使用安装在移动体上的传感器来检测障碍物的存在。障碍物检测方法包括设置作为移动体的周围区域的可移动区域，移动体可移动的可移动区域，将作为候选的可移动区域的整个区域上的多个未确认体设置为初始状态，由传感器从作为初始状态排列的障碍物候补检测结果而确定不实际存在的障碍物候补。

9. 发明申请

US20110010046A1 OBJECT DETECTION DEVICE 有权
标题翻译：对象检测装置
公开(公告)号：US20110010046A1
公开(公告)日：2011-01-13
申请号：US12831473
申请日：2010-07-07
申请人： Masahiro HARADA , Katsuhiro SAKAI , Toshiki KINDO
发明人： Masahiro HARADA , Katsuhiro SAKAI , Toshiki KINDO
IPC分类号： G08G1/16 , G06F7/00
CPC分类号： G08G1/166 , B60K31/0008 , B60L3/0007 , B60L3/0015 , B60Q1/525 , B60Q5/006 , B60Q9/004 , B60Q9/006 , B60Q9/008 , B60R21/013 , B60R21/0134 , B60R2021/01013 , B60R2300/8093 , B60T8/17558 , B60T2201/022 , B60W30/08 , B60W30/095 , B60W30/16 , B62D15/0265 , G01S13/93 , G01S13/94 , G01S15/93 , G05B2219/39082 , G05B2219/39091 , G05D1/0289 , G06K9/00805 , G08G1/16 , G08G3/02 , G08G5/04 , G08G5/045 , G08G7/02
摘要： An object detection device can acquire information of an object in the vicinity of a host-vehicle for appropriate traveling assistance. An object detection device 1 includes a vehicle state detection section 2, an environmental situation acquisition section 3, a road information acquisition section 4, a detection control section 6, and a detection section 7. A host-vehicle state prediction section 61 acquires a target state of a host-vehicle 81. The detection section 7 detects an object. A parameter setting section 63 switches the detection characteristic of the object in the detection section 7 in accordance with the target state.
摘要翻译：物体检测装置可以获取主车辆附近的物体的信息以获得适当的行驶辅助。物体检测装置1包括车辆状态检测部2，环境情况获取部3，道路信息获取部4，检测控制部6以及检测部7.主车辆状态预测部61获取目标主机78的状态。检测部7检测对象。参数设定部63根据目标状态切换检测部7中的物体的检测特性。

10. 发明申请

US20100063735A1 METHOD, APPARATUS AND PROGRAM OF PREDICTING OBSTACLE COURSE 审中-公开
标题翻译：方法，预测障碍课程的设备和程序
公开(公告)号：US20100063735A1
公开(公告)日：2010-03-11
申请号：US12312195
申请日：2007-11-12
申请人： Toshiki Kindo , Kazuaki Aso , Masahiro Harada
发明人： Toshiki Kindo , Kazuaki Aso , Masahiro Harada
IPC分类号： G08G1/16
CPC分类号： B60W40/072 , B60W30/0956 , B60W40/076 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0278 , G05D2201/0213 , G08G1/165 , G08G1/166
摘要： A method, an apparatus, and a program of predicting an obstacle course, capable of appropriately predicting a course of an obstacle even under a complicated traffic environment, are provided. For this purpose, the course, which the obstacle may take, is predicted based on the position and the internal state of the obstacle, and at the time of the prediction, a plurality of courses are probabilistically predicted for at least one obstacle. When there are a plurality of obstacles, the course in which different obstacles interfere with each other is obtained from the predicted courses, which a plurality of obstacles may take, and the predictive probability of the course for which the probabilistic prediction is performed from the courses in which they interfere with each other is lowered. Probability of realizing each of a plurality of courses including the course of which predicted probability is lowered is calculated.
摘要翻译：提供了即使在复杂的交通环境下能够适当地预测障碍物的路线的预测障碍物路线的方法，装置和程序。为此目的，基于障碍物的位置和内部状态来预测障碍物可能采取的过程，并且在预测时，对于至少一个障碍物概率地预测多个课程。当存在多个障碍物时，可以从多个障碍物可能采取的预测课程获得不同障碍物相互干扰的过程，并且从课程中进行概率预测的课程的预测概率其中它们彼此干扰降低。计算实现包括预测概率降低的过程的多个课程中的每一个的概率。

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