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1. 发明申请

US20120271483A1 METHOD AND APPARATUS FOR RECOGNIZING SHAPE OF ROAD FOR VEHICLES 有权
标题翻译：用于识别车辆道路形状的方法和装置
公开(公告)号：US20120271483A1
公开(公告)日：2012-10-25
申请号：US13424735
申请日：2012-03-20
申请人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
发明人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
IPC分类号： G06F17/00
CPC分类号： B60W40/072 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/12 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/62 , B60W2510/0604 , B60W2520/10 , B60W2520/14 , B60W2540/12 , B60W2540/18 , B60W2550/306
摘要： An example of recognition of the shape of a road where a vehicle travels is provided. An object type as to whether an object is a moving or stationary object is determined according to a relative speed of the object and a speed of the vehicle. Object-unit data effective for recognizing a road shape is extracted according to the determination. The object-unit data is used for forming data of a roadside object group, based on which a road edge is recognized. A series of the processes is repeatedly performed at a predetermined cycle. After the extraction process, a data addition process is performed to add object-unit data obtained in the extraction process of the previous cycle to object-unit data obtained in the extraction process of the present cycle. In a recognition process, a road edge is recognized according to the object-unit data obtained in the data addition process.
摘要翻译：提供车辆行驶的道路的形状识别的一个例子。根据物体的相对速度和车辆的速度来确定物体是移动物体还是静止物体的物体类型。根据确定提取对识别道路形状有效的对象单位数据。对象单元数据用于形成路边对象组的数据，基于该数据识别道路边缘。以预定的周期重复执行一系列处理。在提取处理之后，执行数据添加处理以将在前一周期的提取处理中获得的对象单元数据添加到在本周期的提取处理中获得的对象单元数据。在识别处理中，根据在数据添加处理中获得的对象单位数据来识别路边。

2. 发明授权

US08781644B2 Method and apparatus for recognizing shape of road for vehicles 有权
标题翻译：用于识别车辆道路形状的方法和装置
公开(公告)号：US08781644B2
公开(公告)日：2014-07-15
申请号：US13424735
申请日：2012-03-20
申请人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
发明人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
IPC分类号： G05D1/00 , G05D1/02 , B60W40/072
CPC分类号： B60W40/072 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/12 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/62 , B60W2510/0604 , B60W2520/10 , B60W2520/14 , B60W2540/12 , B60W2540/18 , B60W2550/306
摘要： An example of recognition of the shape of a road where a vehicle travels is provided. An object type as to whether an object is a moving or stationary object is determined according to a relative speed of the object and a speed of the vehicle. Object-unit data effective for recognizing a road shape is extracted according to the determination. The object-unit data is used for forming data of a roadside object group, based on which a road edge is recognized. A series of the processes is repeatedly performed at a predetermined cycle. After the extraction process, a data addition process is performed to add object-unit data obtained in the extraction process of the previous cycle to object-unit data obtained in the extraction process of the present cycle. In a recognition process, a road edge is recognized according to the object-unit data obtained in the data addition process.
摘要翻译：提供车辆行驶的道路的形状识别的一个例子。根据物体的相对速度和车辆的速度来确定物体是移动物体还是静止物体的物体类型。根据确定提取对识别道路形状有效的对象单位数据。对象单元数据用于形成路边对象组的数据，基于该数据识别道路边缘。以预定的周期重复执行一系列处理。在提取处理之后，执行数据添加处理以将在前一周期的提取处理中获得的对象单元数据添加到在本周期的提取处理中获得的对象单元数据。在识别处理中，根据在数据添加处理中获得的对象单位数据来识别路边。

3. 发明授权

US06583752B2 Method and apparatus for recognizing object 有权
公开(公告)号：US06583752B2
公开(公告)日：2003-06-24
申请号：US09880776
申请日：2001-06-15
申请人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa , Noriaki Shirai
发明人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa , Noriaki Shirai
IPC分类号： G01S1393
CPC分类号： G01S17/936 , G01S17/42 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A transmission wave is applied to a predetermined range in a width-wise direction of a vehicle. Objects ahead of the vehicle are recognized on the basis of reflected waves resulting from reflections of the transmission wave. Calculation is made as to a position of each of the objects and also a lane-sameness probability for each of the objects that the object and the subject vehicle are on a same lane. Object information pieces corresponding to the respective objects represent the calculated positions of the objects and the calculated lane-sameness probabilities for the objects. In cases where at least two objects become substantially equal in position, the two objects are recognized as a single object. One is selected from the two objects which relates to a calculated lane-sameness probability equal to or higher than a predetermined value. The single object takes over an object information piece corresponding to the selected object.

4. 发明授权

US06593873B2 Obstacle recognition system for automotive vehicle 有权
公开(公告)号：US06593873B2
公开(公告)日：2003-07-15
申请号：US09909873
申请日：2001-07-23
申请人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa , Noriaki Shirai
发明人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa , Noriaki Shirai
IPC分类号： G01S1300
CPC分类号： G01S13/931 , G01S13/426 , G01S13/726 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353
摘要： An obstacle recognition system for automotive vehicles is provided which is designed to recognize targets such as preceding vehicles to be tracked by a radar by grouping data elements derived through a scan of a frontal detection range using laser pulses. The system determines the radius of a curve in a road on which a system vehicle is traveling and shifts one of the data elements from which the grouping operation is to be initiated as a function of the radius of the curve, thereby enabling the recognition of the targets without decreasing the control reliability even when the system vehicle is turning the curve.

5. 发明授权

US06903680B2 Obstacle detection device for vehicle 有权
标题翻译：车辆障碍物检测装置
公开(公告)号：US06903680B2
公开(公告)日：2005-06-07
申请号：US10694003
申请日：2003-10-28
申请人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa
发明人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa
IPC分类号： G08G1/16 , B60R21/00 , G01S13/93 , G01S17/10 , G01S17/93 , G01S7/40
CPC分类号： G01S17/936
摘要： If the maximum time width Lt of the intensity of received light of reflected waves from a vehicle ahead is smaller than a reference time width, it is judged that the vehicle ahead is positioned in proximity to the detection limit distance of an obstacle detection device for vehicle. Thus, there is no problem, for example, even if a cut-in vehicle is present in reality between the vehicle ahead and the vehicle of interest and nevertheless, the distance to the cut-in vehicle cannot be detected. It can be judged whether the vehicle ahead is positioned in proximity to the detection limit distance of the device by judging the magnitude relation between Lt and the reference time width. As a result, the detecting capability of the device can be judged with accuracy.
摘要翻译：如果来自前方的车辆的反射波的接收光的强度的最大时间宽度Lt小于基准时间宽度，则判断为前方的车辆位于车辆的障碍物检测装置的检测限制距离附近。因此，例如即使在前方的车辆和感兴趣的车辆之间实际存在切入车辆也是没有问题的，然而，不能检测到切入车辆的距离。通过判断Lt与基准时间宽度之间的大小关系，可以判断前方的车辆是否位于设备的检测极限距离附近。结果，可以准确地判断装置的检测能力。

6. 发明授权

US07271762B2 Method for detecting an obstacle around a vehicle 有权
标题翻译：用于检测车辆周围的障碍物的方法
公开(公告)号：US07271762B2
公开(公告)日：2007-09-18
申请号：US11043187
申请日：2005-01-27
申请人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa
发明人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa
IPC分类号： G01S7/40 , G01S13/93 , G01S13/00
CPC分类号： G01S17/936
摘要： If the maximum time width Lt of the intensity of received light of reflected waves from a vehicle ahead is smaller than a reference time width, it is judged that the vehicle ahead is positioned in proximity to the detection limit distance of an obstacle detection device for vehicle. Thus, there is no problem, for example, even if a cut-in vehicle is present in reality between the vehicle ahead and the vehicle of interest and nevertheless, the distance to the cut-in vehicle cannot be detected. It can be judged whether the vehicle ahead is positioned in proximity to the detection limit distance of the device by judging the magnitude relation between Lt and the reference time width. As a result, the detecting capability of the device can be judged with accuracy.
摘要翻译：如果来自前方的车辆的反射波的接收光的强度的最大时间宽度Lt小于基准时间宽度，则判断为前方的车辆位于车辆的障碍物检测装置的检测限制距离附近。因此，例如即使在前方的车辆和感兴趣的车辆之间实际存在切入车辆也是没有问题的，然而，不能检测到切入车辆的距离。通过判断Lt与基准时间宽度之间的大小关系，可以判断前方的车辆是否位于设备的检测极限距离附近。结果，可以准确地判断装置的检测能力。

7. 发明申请

US20050128133A1 Method for detecting an obstacle around a vehicle 有权
标题翻译：用于检测车辆周围的障碍物的方法
公开(公告)号：US20050128133A1
公开(公告)日：2005-06-16
申请号：US11043187
申请日：2005-01-27
申请人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa
发明人： Yoshie Samukawa , Keiji Matsuoka , Hiroshi Ookata , Toyohito Nozawa
IPC分类号： G08G1/16 , B60R21/00 , G01S13/93 , G01S17/10 , G01S17/93
CPC分类号： G01S17/936
摘要： If the maximum time width Lt of the intensity of received light of reflected waves from a vehicle ahead is smaller than a reference time width, it is judged that the vehicle ahead is positioned in proximity to the detection limit distance of an obstacle detection device for vehicle. Thus, there is no problem, for example, even if a cut-in vehicle is present in reality between the vehicle ahead and the vehicle of interest and nevertheless, the distance to the cut-in vehicle cannot be detected. It can be judged whether the vehicle ahead is positioned in proximity to the detection limit distance of the device by judging the magnitude relation between Lt and the reference time width. As a result, the detecting capability of the device can be judged with accuracy.
摘要翻译：如果来自前方的车辆的反射波的接收光的强度的最大时间宽度Lt小于基准时间宽度，则判断为前方的车辆位于车辆的障碍物检测装置的检测限制距离附近。因此，例如即使在前方的车辆和感兴趣的车辆之间实际存在切入车辆也是没有问题的，然而，不能检测到切入车辆的距离。通过判断Lt与基准时间宽度之间的大小关系，可以判断前方的车辆是否位于设备的检测极限距离附近。结果，可以准确地判断装置的检测能力。

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