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1. 发明申请

US20130038484A1 OBSTACLE DETECTION DEVICE 审中-公开
标题翻译：障碍物检测装置
公开(公告)号：US20130038484A1
公开(公告)日：2013-02-14
申请号：US13514304
申请日：2010-12-08
申请人： Makoto Ohkado , Masaru Ogawa , Setsuo Tokoro , Koji Suzuki
发明人： Makoto Ohkado , Masaru Ogawa , Setsuo Tokoro , Koji Suzuki
IPC分类号： G01S13/93
CPC分类号： G01S13/46 , G01S13/345 , G01S13/931 , G01S2013/462 , G01S2013/9375
摘要： An obstacle detection device includes; a primary device that determines the presence or absence of the target object on the basis of a comparison between the transmitted wave and the reception wave; a storage device that, when it is determined that the object is present, acquires a reception power of the reception wave at a control period determined beforehand, and stores the reception power as reception power time series data; a secondary device that determines whether a value relating to a time series change pattern of the data falls within a predetermined range set beforehand on the basis of phase interference, of the reception wave, that depends on a height of the object from a road; and a output device that determines the object to be an obstacle and outputs a result of this determination, when it is determined that the value relating to the pattern falls within the range.
摘要翻译：障碍物检测装置包括：基于发送波和接收波之间的比较来确定目标对象的存在或不存在的主要装置; 存储装置，当确定存在对象时，以预先确定的控制周期获取接收波的接收功率，并将接收功率存储为接收功率时间序列数据; 确定与数据的时间序列变化模式有关的值是否基于接收波的相位干扰预先设定的预定范围内的次级装置，其取决于物体从道路的高度; 以及当确定与图案相关的值落在该范围内时，确定该对象成为障碍物并输出该确定的结果的输出装置。

2. 发明授权

US07358889B2 Object detection system and method of detecting object 有权
标题翻译：物体检测系统及物体检测方法
公开(公告)号：US07358889B2
公开(公告)日：2008-04-15
申请号：US10560307
申请日：2004-09-09
申请人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
发明人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
IPC分类号： G01S13/86 , G01S13/93
CPC分类号： G01S17/936 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/023 , G01S17/48 , G01S2013/9375
摘要： An object detection system is provided with radar detection means (2), image detection means (3), and collating means (4). The collating means (4) detects a combination of an object detected by the radar detection means (2) and an object selected among those detected by the image detection means (3), which is the closest to the object detected by the radar detection means (S1, S2), detects a combination of an object detected by the image detection means (3) and an object selected among those detected by the radar detection means (2), which is the closest to the object detected by the image detection means (S3, S4), and determines when there is a coincidence between the combination of the object detected by the radar detection means (2) and the selected object as being closest thereto and the combination of the object detected by the image detection means (3) and the selected object as being closest thereto, that the object detected by the radar detection means (2) is the same as the object detected by the image detection means (S5).
摘要翻译：物体检测系统具有雷达检测装置（2），图像检测装置（3）和对照装置（4）。对照装置（4）检测由雷达检测装置（2）检测到的物体与由图像检测装置（3）检测到的物体中选择的物体的组合，该物体最接近雷达检测装置检测到的物体（S 1，S 2）检测由图像检测装置（3）检测到的物体与由雷达检测装置（2）检测到的物体中选择的物体的组合，该雷达检测装置（2）最接近由图像检测到的物体检测装置（S 3，S 4），并且确定由雷达检测装置（2）检测到的物体的组合与所选择的对象最接近的对象之间的重合以及由图像检测到的对象的组合检测装置（3）和所选择的对象最接近，由雷达检测装置（2）检测到的物体与由图像检测装置检测到的物体相同（S 5）。

3. 发明申请

US20070168128A1 Running support system for vehicle 有权
标题翻译：车辆运行支撑系统
公开(公告)号：US20070168128A1
公开(公告)日：2007-07-19
申请号：US10587322
申请日：2005-01-21
申请人： Setsuo Tokoro , Kyoichi Abe , Koji Suzuki
发明人： Setsuo Tokoro , Kyoichi Abe , Koji Suzuki
IPC分类号： G08G1/16
CPC分类号： G01S13/931 , B60K28/06 , B60K31/0008 , B60R21/013 , B60R21/0134 , G01S13/867 , G01S2013/9325 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： There is provided a running support system for a vehicle, which supports running of a vehicle by using a radar and image recognition means as obstacle detecting means, and in which appropriate support control based on a result of detection performed by each control means is set. A result of obstacle detection performed by a millimeter wave radar (21) is checked against a result of obstacle detection performed by image recognition means (22). Then, a starting condition for the running support control is changed depending on whether an obstacle has been detected by both the millimeter wave radar (21) and the image recognition means (22), or an obstacle has been detected by only one of the millimeter wave radar (21) and the image recognition means (22). Thus, the control support is performed based on an inattentive condition of a driver.
摘要翻译：提供了一种用于车辆的运行支持系统，其支持通过使用雷达和图像识别装置作为障碍物检测装置来运行车辆，并且其中设置了基于由每个控制装置执行的检测结果的适当的支持控制。针对由图像识别装置执行的障碍物检测的结果，检查由毫米波雷达（21）执行的障碍物检测的结果。然后，根据毫米波雷达（21）和图像识别装置（22）是否检测到障碍物，改变运行支持控制的起始条件，或仅通过毫米波中的一个检测到障碍物波形雷达（21）和图像识别装置（22）。因此，基于驾驶员的不注意情况来执行控制支持。

4. 发明申请

US20060139204A1 Object detection system and method of detecting object 有权
标题翻译：物体检测系统及物体检测方法
公开(公告)号：US20060139204A1
公开(公告)日：2006-06-29
申请号：US10560307
申请日：2004-09-09
申请人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
发明人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
IPC分类号： G01S13/86 , G01S13/93
CPC分类号： G01S17/936 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/023 , G01S17/48 , G01S2013/9375
摘要： An object detection system is provided with radar detection means (2), image detection means (3), and collating means (4). The collating means (4) detects a combination of an object detected by the radar detection means (2) and an object selected among those detected by the image detection means (3), which is the closest to the object detected by the radar detection means (S1, S2), detects a combination of an object detected by the image detection means (3) and an object selected among those detected by the radar detection means (2), which is the closest to the object detected by the image detection means (S3, S4), and determines when there is a coincidence between the combination of the object detected by the radar detection means (2) and the selected object as being closest thereto and the combination of the object detected by the image detection means (3) and the selected object as being closest thereto, that the object detected by the radar detection means (2) is the same as the object detected by the image detection means (S5).
摘要翻译：物体检测系统具有雷达检测装置（2），图像检测装置（3）和对照装置（4）。对照装置（4）检测由雷达检测装置（2）检测到的物体与由图像检测装置（3）检测到的物体中选择的物体的组合，该物体最接近雷达检测装置检测到的物体（S 1，S 2）检测由图像检测装置（3）检测到的物体与由雷达检测装置（2）检测到的物体中选择的物体的组合，该雷达检测装置（2）最接近由图像检测到的物体检测装置（S 3，S 4），并且确定由雷达检测装置（2）检测到的物体的组合与所选择的对象最接近的对象之间的重合以及由图像检测到的对象的组合检测装置（3）和所选择的对象最接近，由雷达检测装置（2）检测到的物体与由图像检测装置检测到的物体相同（S 5）。

5. 发明授权

US07689359B2 Running support system for vehicle 有权
标题翻译：车辆运行支撑系统
公开(公告)号：US07689359B2
公开(公告)日：2010-03-30
申请号：US10587322
申请日：2005-01-21
申请人： Setsuo Tokoro , Kyoichi Abe , Koji Suzuki
发明人： Setsuo Tokoro , Kyoichi Abe , Koji Suzuki
IPC分类号： B60K31/00 , G01S17/93 , G06F19/00
CPC分类号： G01S13/931 , B60K28/06 , B60K31/0008 , B60R21/013 , B60R21/0134 , G01S13/867 , G01S2013/9325 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： There is provided a running support system for a vehicle, which supports running of a vehicle by using a radar and image recognition means as obstacle detecting means, and in which appropriate support control based on a result of detection performed by each control means is set. A result of obstacle detection performed by a millimeter wave radar (21) is checked against a result of obstacle detection performed by image recognition means (22). Then, a starting condition for the running support control is changed depending on whether an obstacle has been detected by both the millimeter wave radar (21) and the image recognition means (22), or an obstacle has been detected by only one of the millimeter wave radar (21) and the image recognition means (22). Thus, the control support is performed based on an inattentive condition of a driver.
摘要翻译：提供了一种用于车辆的运行支持系统，其支持通过使用雷达和图像识别装置作为障碍物检测装置来运行车辆，并且其中设置了基于由每个控制装置执行的检测结果的适当的支持控制。针对由图像识别装置执行的障碍物检测的结果，检查由毫米波雷达（21）执行的障碍物检测的结果。然后，根据毫米波雷达（21）和图像识别装置（22）是否检测到障碍物，改变运行支持控制的起始条件，或仅通过毫米波中的一个检测到障碍物波形雷达（21）和图像识别装置（22）。因此，基于驾驶员的不注意情况来执行控制支持。

6. 发明授权

US07417580B2 Object detection system and object detection method 有权
标题翻译：物体检测系统和物体检测方法
公开(公告)号：US07417580B2
公开(公告)日：2008-08-26
申请号：US10571427
申请日：2004-09-09
申请人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
发明人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
IPC分类号： G01S13/00
CPC分类号： G01S13/931 , G01S11/12 , G01S13/726 , G01S13/867 , G01S2013/9321 , G01S2013/9375
摘要： An object detection system includes a radar detection means (2), an image detection means (3), and a collating means (4). The collating means (4) performs a collation between an object detected by the radar detection means (2) in a present collation and an object that has been determined as being detected by the radar detection means (2) and the image detection means (3) in a previous collation (S 10, S 11), further performs a collation between an object detected by the image detection means (3) in a present collation and an object that has been determined as being detected by the radar detection means (2) and the image detection means (3) in the previous collation (S 12, S 13) when it is determined that the identical object is detected by the radar detection means (2) and the image detection means (3) in the previous collation. Then the collating means (4) determines whether the radar detection means (2) and the image detection means (3) detect the identical object based on the collations (S 14).
摘要翻译：物体检测系统包括雷达检测装置（2），图像检测装置（3）和对照装置（4）。对照装置（4）在当前对照中由雷达检测装置（2）检测到的物体与由雷达检测装置（2）和图像检测装置（3）检测到的物体之间进行核对）（S 10，S 11）中，还进行在本次对照中由图像检测单元（3）检测出的物体与由雷达检测单元（2）检测出的物体之间的核对）和图像检测装置（3）中，当确定由雷达检测装置（2）和图像检测装置（3）在先前核对中检测到相同的对象时，在先前核对（S12，S13）。然后，对照装置（4）基于排序确定雷达检测装置（2）和图像检测装置（3）是否检测相同的对象（S14）。

7. 发明申请

US20070080850A1 Object detection system and object detection method 有权
标题翻译：物体检测系统和物体检测方法
公开(公告)号：US20070080850A1
公开(公告)日：2007-04-12
申请号：US10571427
申请日：2004-09-09
申请人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
发明人： Kyoichi Abe , Setsuo Tokoro , Koji Suzuki
IPC分类号： G01S13/86 , G01S13/89
CPC分类号： G01S13/931 , G01S11/12 , G01S13/726 , G01S13/867 , G01S2013/9321 , G01S2013/9375
摘要： An object detection system includes a radar detection means (2), an image detection means (3), and a collating means (4). The collating means (4) performs a collation between an object detected by the radar detection means (2) in a present collation and an object that has been determined as being detected by the radar detection means (2) and the image detection means (3) in a previous collation (S 10, S 11), further performs a collation between an object detected by the image detection means (3) in a present collation and an object that has been determined as being detected by the radar detection means (2) and the image detection means (3) in the previous collation (S 12, S 13) when it is determined that the identical object is detected by the radar detection means (2) and the image detection means (3) in the previous collation. Then the collating means (4) determines whether the radar detection means (2) and the image detection means (3) detect the identical object based on the collations (S 14).
摘要翻译：物体检测系统包括雷达检测装置（2），图像检测装置（3）和对照装置（4）。对照装置（4）在当前对照中由雷达检测装置（2）检测到的物体与由雷达检测装置（2）和图像检测装置（3）检测到的物体之间进行核对）（S 10，S 11）中，还进行在本次对照中由图像检测单元（3）检测出的物体与由雷达检测单元（2）检测出的物体之间的核对）和图像检测装置（3）中，当确定由雷达检测装置（2）和图像检测装置（3）在先前核对中检测到相同的对象时，在先前核对（S12，S13）。然后，对照装置（4）基于排序确定雷达检测装置（2）和图像检测装置（3）是否检测相同的对象（S14）。

8. 发明授权

US08854251B2 Object identification device and method 有权
标题翻译：物体识别装置及方法
公开(公告)号：US08854251B2
公开(公告)日：2014-10-07
申请号：US13517422
申请日：2010-06-16
申请人： Setsuo Tokoro
发明人： Setsuo Tokoro
IPC分类号： G01S13/93 , G01S7/40 , G01S13/34 , G01S13/536 , G08G1/16 , G01S13/00 , G01S7/00 , G01S13/46
CPC分类号： G01S13/931 , G01S13/34 , G01S13/536 , G01S2013/462 , G08G1/166
摘要： Provided is an object identification device and a method for the same that are capable of identifying a three-dimensional object and a road surface static object, irrespective of situations. The object identification device identifies an object, based on a transmission signal and a reflection signal caused by the object reflecting the transmission signal. The object identification device includes: a measurement section configured to measure at least one of the relative distance and the relative velocity with respect to the object; an intensity detection section configured to detect the intensity of the reflection signal; and an object identification section configured to identify the object which can be an obstacle object, based on at least one of the relative velocity and the variation in the relative distance, and on the variation in the intensity.
摘要翻译：提供了一种能够识别三维物体和路面静止物体的物体识别装置及其方法，而不管情况如何。物体识别装置基于由反映发送信号的对象引起的发送信号和反射信号来识别对象。物体识别装置包括：测量部，被配置为测量相对于物体的相对距离和相对速度中的至少一个; 强度检测部，被配置为检测反射信号的强度; 以及对象识别部件，其被配置为基于相对距离的相对速度和变化以及强度的变化中的至少一个来识别可以是障碍物的物体。

9. 发明授权

US07777669B2 Object detection device 有权
标题翻译：物体检测装置
公开(公告)号：US07777669B2
公开(公告)日：2010-08-17
申请号：US12093244
申请日：2006-10-31
申请人： Setsuo Tokoro , Jun Tsuchida
发明人： Setsuo Tokoro , Jun Tsuchida
IPC分类号： G01S13/00 , G01S13/08
CPC分类号： G01S13/931 , B60R21/0134 , B60R2021/01313 , B60R2021/01327 , B60W30/09 , B60W30/095 , B60W2420/42 , B60W2420/52 , G01S13/867 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375
摘要： An object of the present invention is to provide an object detection apparatus capable of detecting an object at high precision in accordance with the type of the object. The object detection apparatus of the present invention comprises: object position detection means 2, 22, 3, 23 for detecting the positions of objects; object type estimating means 24 for estimating the types of the objects; and object estimating means 24 for integrating a plurality of detection results for positions within a search area obtained by the object position detection means 2, 22, 3, 23 and thereby estimating the sizes of the objects, the object detection apparatus of the present invention being characterized in that the search area is set based on the types of the objects estimated by the object type estimating means 24. Moreover, the object detection apparatus of the present invention is characterized in that the object position detection means 2, 22, 3, 23 detects the positions of the objects by using a plurality of position detection criteria, that the object type estimating means 24 estimates the types of the objects based on the position detection criteria, according to which the object position detection means 2, 22, 3, 23 have been able to detect the positions of the objects, and that the search area is set based on the position detection criteria, according to which the positions of the objects have been detected.
摘要翻译：本发明的目的是提供一种能够根据物体的类型以高精度检测物体的物体检测装置。本发明的物体检测装置包括：用于检测物体位置的物体位置检测装置2,22,3,23; 对象类型估计装置24，用于估计物体的类型; 以及对象估计装置24，用于对由对象位置检测装置2,22,3,23获得的搜索区域内的位置进行积分，从而估计对象的大小，本发明的对象检测装置是其特征在于，基于由对象类型估计装置24估计的对象的类型设置搜索区域。此外，本发明的对象检测装置的特征在于，对象位置检测装置2,22,3,23 通过使用多个位置检测标准来检测物体的位置，对象类型估计装置24基于位置检测标准来估计对象的类型，根据该位置检测标准，对象位置检测装置2,22,3,23 已经能够检测对象的位置，并且基于位置检测标准设置搜索区域，根据该位置检测标准，检测到物体。

10. 发明授权

US06573859B2 Radar apparatus 失效
标题翻译：雷达装置
公开(公告)号：US06573859B2
公开(公告)日：2003-06-03
申请号：US09750920
申请日：2001-01-02
申请人： Setsuo Tokoro
发明人： Setsuo Tokoro
IPC分类号： G01S1393
CPC分类号： G01S13/931 , G01S7/352 , G01S7/354 , G01S13/345 , G01S13/42 , G01S2007/356 , G01S2013/9353 , G01S2013/9375
摘要： A radar apparatus of the present invention is provided with a reception array antenna having a plurality of antenna elements, a first bearing detector for detecting a bearing of a target by carrying out signal processing on individual element signals received on an element-by-element basis through the respective antenna elements, and a second bearing detector for detecting a bearing of a target by carrying out signal processing different from that of the first bearing detector, on the individual element signals received through the respective antenna elements. Since the radar apparatus is provided with the two detectors of the first bearing detector and second bearing detector as means for acquiring the target bearing, both or either one of the results of detection by the two detectors can be selectively utilized as occasion demands.
摘要翻译：本发明的雷达装置设置有具有多个天线元件的接收阵列天线，第一轴承检测器，用于通过对逐个元件接收的各个元件信号进行信号处理来检测目标的方位通过相应的天线元件和通过执行与第一轴承检测器的信号处理不同的信号处理来检测目标的方位的第二轴承检测器。由于雷达装置设置有第一轴承检测器和第二轴承检测器的两个检测器作为用于获取目标轴承的装置，所以可以根据需要选择性地利用两个检测器的检测结果中的任一个或任何一个。

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