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    • 7. 发明申请
    • ANGULAR VELOCITY ESTIMATION APPARATUS, COMPUTER PROGRAM, AND ANGULAR VELOCITY ESTIMATION METHOD
    • 角速度估计装置,计算机程序和角速度估计方法
    • US20110295549A1
    • 2011-12-01
    • US13020411
    • 2011-02-03
    • Yuki TAKABAYASHITakashi MatsuzakiHiroshi Kameda
    • Yuki TAKABAYASHITakashi MatsuzakiHiroshi Kameda
    • G01P3/00G06F15/00
    • G01S13/60G01S13/86G01S13/931G01S2007/403
    • 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.
    • 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。
    • 8. 发明申请
    • ROAD CONFIGURATION ESTIMATION APPARATUS, COMPUTER PROGRAM, AND ROAD CONFIGURATION ESTIMATION METHOD
    • 道路配置估算装置,计算机程序和道路配置估算方法
    • US20110295548A1
    • 2011-12-01
    • US13020286
    • 2011-02-03
    • Yuki TAKABAYASHITakashi MatsuzakiHiroshi KamedaYasushi Obata
    • Yuki TAKABAYASHITakashi MatsuzakiHiroshi KamedaYasushi Obata
    • G06F15/00G01P3/00
    • G06K9/00798G01S7/2955G01S7/411G01S13/931G01S2013/9353
    • 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.
    • 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。