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1. 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。

2. 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。

3. 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）。

4. 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。

5. 发明授权

US06246365B1 Radar apparatus 有权
标题翻译：雷达装置
公开(公告)号：US06246365B1
公开(公告)日：2001-06-12
申请号：US09267642
申请日：1999-03-15
申请人： Setsuo Tokoro
发明人： Setsuo Tokoro
IPC分类号： G01S1344
CPC分类号： G01S13/42 , G01S13/424 , G01S13/44 , G01S13/4463
摘要： A radar apparatus comprising: a receiving antenna having an array antenna in which a plurality of antenna elements are arrayed in a horizontal direction; and a signal processing section for carrying out recognition of a target existing in a predetermined horizontal bearing range from receive signals received by the receiving antenna, by electrically carrying out horizontal scanning of an antenna pattern of the receiving antenna, wherein at least one of the antenna elements is placed with a shift in a vertical direction, and wherein the signal processing section detects an altitudinal bearing of the target by a monopulse method by use of a receive signal from the antenna element with the shift in the vertical direction.
摘要翻译：一种雷达装置，包括：具有阵列天线的接收天线，其中多个天线元件沿水平方向排列; 信号处理部分，通过电接收天线的天线方向图的水平扫描，对接收天线接收的接收信号进行预定的水平方位范围内的目标的识别，其中至少一个天线元件沿垂直方向移动，并且其中信号处理部分通过使用来自天线元件的接收信号以垂直方向的偏移通过单脉冲方法检测目标的高度方位。

6. 发明授权

US5749427A Constant speed regulator apparatus 失效
标题翻译：恒速调速装置
公开(公告)号：US5749427A
公开(公告)日：1998-05-12
申请号：US678213
申请日：1996-07-11
申请人： Hisashi Satonaka , Setsuo Tokoro
发明人： Hisashi Satonaka , Setsuo Tokoro
IPC分类号： B60K31/00 , B60K31/04 , B60W30/00 , F02D29/02 , G06F15/16
CPC分类号： B60K31/047 , B60W2540/106 , B60W2550/142
摘要： A constant speed regulator apparatus includes a vehicle speed sensing unit which detects a vehicle speed of an automotive vehicle. An idle switch unit detects an OFF state of a throttle valve. A throttle adjusting actuator adjusts a throttle opening angle of the throttle valve to vary the vehicle speed. A target speed determining unit determines a target speed by using the vehicle speed which is detected by the vehicle speed sensing unit immediately after the OFF state of the throttle valve is detected by the idle switch unit. An actuator control unit regulates the throttle adjusting actuator so that the vehicle speed is maintained at the target speed determined by the target speed determining unit.
摘要翻译：恒速调速装置包括检测机动车辆的车速的车速检测部。怠速开关单元检测节气门的OFF状态。节气门调节致动器调节节流阀的节气门开度以改变车速。目标速度确定单元通过使用由怠速开关单元检测到节气门的OFF状态之后立即检测到的车速检测单元来确定目标速度。致动器控制单元调节节气门调节致动器，使得车速保持在由目标速度确定单元确定的目标速度。

7. 发明授权

US5021958A Device and method for determining target value of controllable variable associated with vehicle running state 失效
标题翻译：用于确定与车辆运行状态相关的可控变量的目标值的装置和方法
公开(公告)号：US5021958A
公开(公告)日：1991-06-04
申请号：US437083
申请日：1989-11-16
申请人： Setsuo Tokoro
发明人： Setsuo Tokoro
IPC分类号： B60W10/00 , B60K31/00 , B60W10/02 , B60W10/04 , B60W10/06 , B60W10/10 , B60W50/00 , F02D11/10 , F02D29/02 , F02D37/00 , F02D41/14 , F02D45/00 , F16H59/04 , F16H59/14 , F16H59/52 , F16H59/66 , F16H61/00 , F16H61/02 , F16H63/50
CPC分类号： B60W10/06 , B60W10/04 , B60W10/11 , B60W10/115 , B60W30/18 , B60W30/1819 , F02D11/105 , F02D37/00 , F02D41/1404 , F02D41/1406 , F16H59/14 , B60W2050/0057 , B60W2550/142 , F02D2011/102 , F02D2200/501 , F16H2059/142 , F16H2061/0081 , F16H59/52 , F16H59/66 , Y10S477/90 , Y10S477/901 , Y10S477/904 , Y10S706/90 , Y10T477/675
摘要： Device and apparatus for determining a target value of a controllable variable such as a drive torque associated with a running state of a motor vehicle, so that the variable is controlled so as to coincide with the determined target value. Initially, a basic value used as a basis for determining the target value is determined depending upon at least a currently required output of the vehicle engine which is represented by an accelerator pedal operating amount, for example. Then, control rules for compensating the basic value are defined based on at least one parameter indicative of a running condition of the vehicle, such as a vehicle weight and a road gradient. Finally, a compensation factor for compensating the basic value to obtain the target value is determined based on the control rules according to a fuzzy set theory.
摘要翻译：用于确定诸如与机动车辆的行驶状态相关联的驱动转矩的可控变量的目标值的装置和装置，使得变量被控制以与确定的目标值一致。首先，根据例如由加速踏板操作量表示的车辆发动机的至少当前要求的输出来确定用作确定目标值的基础的基本值。然后，基于指示车辆的行驶状况的至少一个参数（例如车辆重量和道路坡度）来定义用于补偿基本值的控制规则。最后，根据模糊集理论，根据控制规则确定补偿基本值以获得目标值的补偿因子。

8. 发明授权

US07570198B2 Obstacle recognition system and obstacle recognition method 有权
标题翻译：障碍识别系统和障碍物识别方法
公开(公告)号：US07570198B2
公开(公告)日：2009-08-04
申请号：US11142244
申请日：2005-06-02
申请人： Setsuo Tokoro
发明人： Setsuo Tokoro
IPC分类号： G01S13/00 , G06K9/00
CPC分类号： G01S7/4004 , G01S7/497 , G01S13/867 , G01S13/931 , G01S17/87 , G01S17/936 , G01S2013/9342 , G01S2013/9346 , G01S2013/9375
摘要： The present invention relates to an obstacle recognition system and an obstacle recognition method. A radar detects existence of an object around a vehicle, an image taking part such as a camera takes an image of the object around the vehicle, a determination threshold is set at a low value when it is determined based on image information of the photographic image that a possibility of presence of an obstacle is high, the determination threshold is set at a high value when it is determined that the possibility of the presence of the obstacle is low, and these determination threshold values are used to detect the obstacle to travel of the vehicle on the basis of the output from the radar.
摘要翻译：本发明涉及一种障碍物识别系统和障碍物识别方法。雷达检测车辆周围的物体的存在，诸如摄像机的摄像部件拍摄车辆周围的物体的图像，当基于摄影图像的图像信息确定时，将判定阈值设定为低值存在障碍物的可能性高时，当确定障碍物的存在的可能性低时，将确定阈值设置为高值，并且使用这些确定阈值来检测障碍物的行进障碍车辆在雷达输出的基础上。

9. 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。

10. 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）。

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