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1. 发明申请

US20060161331A1 Drive control system for automotive vehicle 审中-公开
标题翻译：汽车驱动控制系统
公开(公告)号：US20060161331A1
公开(公告)日：2006-07-20
申请号：US11326905
申请日：2006-01-06
申请人： Hiroaki Kumon , Yukimasa Tamatsu , Takashi Ogawa
发明人： Hiroaki Kumon , Yukimasa Tamatsu , Takashi Ogawa
IPC分类号： B62D6/00
CPC分类号： G08G1/167 , B62D15/026 , B62D15/0265 , G08G1/166
摘要： In a drive control system, a front image taken by a camera is processed by an image processor, and an electronic control unit generates control target values according to outputs from the image processor. Actuators control a driving speed and/or a lateral position of an own vehicle in a driving lane, based on the control target values. Front obstacles, such as a preceding vehicle, a blind curve and an uphill road, are included in a front image, and a ratio of the front obstacle occupying a front vision field is calculated. The vehicle is controlled based on information including various obstacles located in front of the vehicle to thereby give an improved security to a driver.
摘要翻译：在驱动控制系统中，通过图像处理器处理由相机拍摄的前置图像，并且电子控制单元根据来自图像处理器的输出来生成控制目标值。执行器基于控制目标值来控制本车辆在行驶车道中的行驶速度和/或横向位置。正面图像中包含前方车辆，盲曲线，上坡路等前方的障碍物，并且计算出占据前视野的前方障碍物的比例。基于位于车辆前方的各种障碍物的信息来控制车辆，从而对驾驶员提供改进的安全性。

2. 发明授权

US06999024B2 Method and apparatus for discriminating a target objective, and related program 有权
标题翻译：用于区分目标目标的方法和装置以及相关程序
公开(公告)号：US06999024B2
公开(公告)日：2006-02-14
申请号：US10730270
申请日：2003-12-09
申请人： Hiroaki Kumon , Yukimasa Tamatsu
发明人： Hiroaki Kumon , Yukimasa Tamatsu
IPC分类号： G01S13/93
CPC分类号： G01S13/345 , G01S7/41 , G01S13/867 , G01S13/931
摘要： An average power value of a peak pair corresponding to a subjective target objective is converted into a radar cross section, to calculate a normalized average power value NP and a standard deviation DP representing a temporal dispersion of a power difference between peak pairs. When the value NP is larger than an automotive vehicle discriminating threshold THnp, the attribute of the subjective target objective is set to “automotive vehicle.” When the value NP is not larger than the threshold THnp and the deviation DP is larger than a human objective discriminating threshold THdp, the attribute of the subjective target objective is set to “non-vehicle objective: human objective.” Furthermore, when the value NP is not larger than the threshold THnp and the deviation DP is not larger than the threshold THdp, the attribute of the subjective target objective is set to “non-vehicle objective: non-human.”
摘要翻译：对应于主观目标的峰对的平均功率值被转换为雷达横截面，以计算归一化平均功率值NP和表示峰对之间的功率差的时间色散的标准偏差DP。当值NP大于机动车识别阈值THnp时，主观目标的属性被设定为“机动车辆”。当值NP不大于阈值THnp并且偏差DP大于人物目标判别阈值THdp时，将主观目标物体的属性设置为“非车辆目标：人的目标”。此外，当值NP不大于阈值THnp且偏差DP不大于阈值THdp时，主观目标的属性被设置为“非车辆目标：非人”。

3. 发明授权

US06941216B2 Cruise control apparatus performing automatic adjustment of object recognition processing in response to driver actions relating to vehicle speed alteration 有权
标题翻译：巡航控制装置响应于与车速变化有关的驾驶员动作，执行物体识别处理的自动调整
公开(公告)号：US06941216B2
公开(公告)日：2005-09-06
申请号：US10384769
申请日：2003-03-11
申请人： Akira Isogai , Yukimasa Tamatsu , Hiroaki Kumon , Eiji Teramura
发明人： Akira Isogai , Yukimasa Tamatsu , Hiroaki Kumon , Eiji Teramura
IPC分类号： B60R21/00 , B60K31/00 , F02D29/02 , G01S13/93 , G08G1/16 , B60K31/04 , G06F7/00 , G06F17/00
CPC分类号： B60W30/16 , B60K31/0008 , B60W2520/14 , B60W2540/10 , B60W2540/12 , B60W2550/12 , G01S2013/9321 , G01S2013/9353
摘要： A cruise control apparatus can control a host vehicle to run with a fixed separation from a preceding vehicle when such a preceding vehicle is detected based on received radar signals and to run at a preset fixed speed when no preceding vehicle is detected. The cruise control apparatus is configured to respond to one of a set of predetermined actions by the vehicle driver, which indicate an intention to change the vehicle speed, by making it easier or more difficult for a preceding vehicle to be detected, in accordance with whether the indicated intention may signify that an actual preceding vehicle is not being detected or may signify that a non-existent preceding vehicle is being detected and that the host vehicle speed has been reduced accordingly. Improved performance is thereby achieved by utilizing the cognitive abilities of the driver to augment the detection operation of the cruise control apparatus.
摘要翻译：当基于接收到的雷达信号检测到前方车辆时，巡航控制装置可以控制主车辆与前方车辆的固定分离，并且在没有检测到前方车辆时以预定的固定速度行驶。巡航控制装置被配置为根据车辆驾驶员的一组预定动作中的一个来响应，其指示改变车辆速度的意图，通过使前一车辆被检测更容易或更困难，根据是否所指示的意图可以表示没有检测到实际的前一车辆，或者可以表示正在检测到不存在的前车辆，并且相应地减小了主车速。从而通过利用驾驶员的认知能力来增加巡航控制装置的检测操作来实现改进的性能。

4. 发明授权

US06970129B2 Radar apparatus, and program therefor 失效
标题翻译：雷达装置及其程序
公开(公告)号：US06970129B2
公开(公告)日：2005-11-29
申请号：US10737749
申请日：2003-12-18
申请人： Hiroaki Kumon , Yukimasa Tamatsu
发明人： Hiroaki Kumon , Yukimasa Tamatsu
IPC分类号： B60K31/00 , G01S13/34 , G01S13/58 , G01S13/93 , G08G1/16
CPC分类号： G01S13/931 , G01S7/354 , G01S13/345 , G01S13/584 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353
摘要： Provided is a radar apparatus capable of continuously and stably making a detection of a target even if a reflected wave from a target already detected falls into obscurity due to the presence of low-frequency noises or reflected waves from other targets. An estimated value of information on a target to be obtained when the target is detected in the present cycle are acquired from the target detected in a previous cycle. When a peak compatible with the estimated value is detected in only one of a frequency-rising section and a frequency falling section of a radar wave, if the frequency of the non-detected peak pertains a low-frequency noise domain or if a side-by-side travel flag is set with respect to the target detected in the previous cycle, the non-detected peak is considered as buried by low-frequency noises or peaks of other targets, and a peak pair corresponding to the detected target is extrapolated.
摘要翻译：提供一种能够连续且稳定地进行目标的检测的雷达装置，即使来自已经检测到的目标的反射波由于存在来自其他目标的低频噪声或反射波而变得不明确。从在前一周期中检测到的目标中获取当前周期中检测到目标时要获得的目标信息的估计值。当仅在雷达波的增频部分和频率下降部分中的一个中检测到与估计值兼容的峰值时，如果未检测到的峰值的频率属于低频噪声域，相对于在前一周期中检测到的目标设置并行行驶标志，将未检测到的峰值视为被低频噪声或其他目标的峰值掩埋，并且外推与检测到的目标对应的峰值对。

5. 发明授权

US06768446B2 Vehicle-mounted radar apparatus providing improved accuracy of detection of lateral position of preceding vehicle 有权
标题翻译：车载雷达装置提供前方车辆横向位置检测精度提高
公开(公告)号：US06768446B2
公开(公告)日：2004-07-27
申请号：US10443796
申请日：2003-05-23
申请人： Yukimasa Tamatsu , Hiroaki Kumon , Akira Isogai
发明人： Yukimasa Tamatsu , Hiroaki Kumon , Akira Isogai
IPC分类号： G01S1393
CPC分类号： G01S13/931 , G01S7/414 , G01S2013/9321 , G01S2013/9325 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375
摘要： A vehicle-mounted radar apparatus which periodically derives and registers successive momentary position values for a target object such as a preceding vehicle based on received reflected radio waves and derives final lateral position data by smoothing the momentary position data, judges when a degree of scattering of the registered momentary position values exceeds a first predetermined level and in that case derives corrected position data based on differences between envelope curve line values which are generated based on local extreme values of the momentary position data, and performs smoothing of the corrected position data instead of the momentary position data, to obtain the final lateral position data. If the target object is not estimated to be located directly ahead of the host vehicle along a straight route, the corrected position data are adjusted in accordance with relative positions and orientations of the target object and host vehicle.
摘要翻译：一种车载雷达装置，其基于接收的反射无线电周期性地导出并登记诸如前一车辆的目标对象的连续瞬时位置值，并且通过平滑瞬时位置数据导出最终横向位置数据，判断当所登记的瞬时位置值超过第一预定水平，并且在这种情况下，基于根据瞬时位置数据的局部极值产生的包络线线值之间的差异来导出校正位置数据，并且执行校正位置数据的平滑化，而不是瞬时位置数据，以获得最终横向位置数据。如果目标对象不被估计为沿直线路线直接位于主车辆的正前方，则根据目标对象和主车辆的相对位置和方向来调整校正位置数据。

6. 发明授权

US06741204B2 Signal process apparatus for an on-vehicle radar and method thereof 失效
标题翻译：车载雷达信号处理装置及其方法
公开(公告)号：US06741204B2
公开(公告)日：2004-05-25
申请号：US10391198
申请日：2003-03-19
申请人： Hiroaki Kumon , Yukimasa Tamatsu
发明人： Hiroaki Kumon , Yukimasa Tamatsu
IPC分类号： G01S1393
CPC分类号： G01S7/35 , G01S13/34 , G01S13/345 , G01S13/931
摘要： The invention provides a signal process apparatus for an on-vehicle radar and a method thereof that can reduce operation load and obtain a sufficient detection capability. According to information on a detected object, the invention registers as peak data a frequency BIN contained in a frequency region around a prediction peak that is to be detected on a distance power spectrum. The invention predicts a running line on which a predetermined vehicle runs, obtains a power spectrum along the running line, and registers as peak data the peak of the power spectrum. Then, the invention averages the distance power spectrum obtained for each channel, registers as peak data the peak of the averaged distance power spectrum, and only with regard to the registered peak data (frequency BIN), seeks a directional power spectrum.
摘要翻译：本发明提供了一种用于车载雷达的信号处理装置及其方法，其可以减少操作负载并获得足够的检测能力。根据检测对象的信息，本发明将峰值数据注册为频率包含在频率围绕要在距离功率谱上检测的预测峰值的区域。本发明预测在其上运行预定车辆的行驶线，沿着行驶线获得功率谱，并将峰值数据作为功率谱峰值登记。然后，本发明平均化每个通道获得的距离功率谱，将平均距离功率谱的峰值作为峰值数据寄存，并且仅针对登记的峰值数据（频率BIN）寻找定向功率谱。

7. 发明授权

US06903678B2 Vehicle radar apparatus 失效
标题翻译：车载雷达装置
公开(公告)号：US06903678B2
公开(公告)日：2005-06-07
申请号：US10764551
申请日：2004-01-27
申请人： Hiroaki Kumon , Yukimasa Tamatsu
发明人： Hiroaki Kumon , Yukimasa Tamatsu
IPC分类号： B60R21/00 , G01S13/34 , G01S13/48 , G01S13/93 , G08G1/16 , G01S13/95
CPC分类号： G01S13/48 , G01S13/345 , G01S13/5244 , G01S13/931 , G01S2013/9375
摘要： A vehicle radar system extracts peak frequencies fbu and fbd of respective beat signals B1 to B9 representing the frequency difference between a transmission signal fs and a plurality of received signals fr1 to fr9. The phase difference of respective beat signals B1 to B9 at the peak frequencies fbu and fbd is converted into a frequency signal. In the case of reflection from a close range road surface or raindrops, the phase difference of each beat signal is irregular. The peak frequency intensity of a converted frequency signal is small. This system compares the peak frequency intensity of the converted frequency signal with predetermined criterion intensity. Then, the system identifies an objective with a close range road surface or raindrops when the peak frequency intensity of the converted frequency signal is not larger than the predetermined criterion intensity.
摘要翻译：车辆雷达系统提取表示发送信号fs和多个接收信号fr 1〜fr 9之间的频率差的各个节拍信号B 1〜B 9的峰值频率fbu，fbd。在峰值频率fbu和fbd处的各个节拍信号B 1至B 9的相位差被转换成频率信号。在近距离路面或雨滴的反射的情况下，每个拍子信号的相位差是不规则的。转换频率信号的峰值频率强度很小。该系统将转换的频率信号的峰值频率强度与预定的标准强度进行比较。然后，当转换的频率信号的峰值频率强度不大于预定的标准强度时，系统识别具有近距离路面或雨滴的目标。

8. 发明授权

US06888494B2 FMCW radar system 有权
标题翻译： FMCW雷达系统
公开(公告)号：US06888494B2
公开(公告)日：2005-05-03
申请号：US10367842
申请日：2003-02-19
申请人： Yukimasa Tamatsu , Hiroaki Kumon
发明人： Yukimasa Tamatsu , Hiroaki Kumon
IPC分类号： B60R21/00 , G01S13/34 , G01S13/58 , G01S13/93 , G08B21/00 , G08G1/16
CPC分类号： G01S13/584 , G01S13/345 , G01S13/931 , G01S2013/9375
摘要： An inventive frequency modulated continuous wave (FMCW) radar system realizes both a quick detection of a higher relative speed provisional target and a sure detection of a smaller relative speed provisional target. The number of detection cycles used for a paring validity check, used to see if a detected target or a pair of frequencies is an actual target or a pair for an actual target, is set in response to the relative velocity enabling the target information for a target of higher relative velocity to be output more quickly.
摘要翻译：本发明的频率调制连续波（FMCW）雷达系统实现了较高相对速度临时目标的快速检测和较小相对速度临时目标的可靠检测。响应于相对速度来设置用于查验有效性检查的检测周期的数量，用于查看检测到的目标或一对频率是否是实际目标的实际目标或对，更高相对速度的目标可以更快地输出。

9. 发明授权

US06812883B2 In-vehicle radar system 失效
标题翻译：车载雷达系统
公开(公告)号：US06812883B2
公开(公告)日：2004-11-02
申请号：US10747221
申请日：2003-12-30
申请人： Hiroaki Kumon , Yukimasa Tamatsu
发明人： Hiroaki Kumon , Yukimasa Tamatsu
IPC分类号： G01S1393
CPC分类号： G01S7/412 , G01S13/34 , G01S13/72 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375
摘要： A radar system mounted in a reference vehicle can detect a distance and orientation of a preceding vehicle to thereby compute a relative position of a width center of the preceding vehicle. A curving radius of the reference vehicle is then detected for computing a relative rotation angle between a direction from the reference vehicle and a longitudinal direction of the preceding vehicle. Relationship between a relative rotation angle and a lateral bias of the relative position of the width center is previously prepared in a map. The computed relative rotation angle is applied on the map, so that the corresponding lateral bias is obtained to correct the computed relative position of the width center of the preceding vehicle. Thus, the width center of the preceding vehicle moving in an adjacent lane can be accurately estimated.
摘要翻译：安装在参考车辆中的雷达系统可以检测前方车辆的距离和方位，从而计算前方车辆的宽度中心的相对位置。然后检测参考车辆的弯曲半径，用于计算从参考车辆的方向和前方车辆的纵向方向之间的相对旋转角度。预先在地图中准备宽度中心的相对位置的相对旋转角度和横向偏置之间的关系。将计算出的相对旋转角度施加在地图上，从而获得相应的横向偏移以校正计算出的前一车辆的宽度中心的相对位置。因此，可以准确地估计在相邻车道中移动的前一车辆的宽度中心。

10. 发明授权

US06198426B1 Method and apparatus for detecting road circumstances around a traveling vehicle and a recording medium for storing a related software program 有权
标题翻译：用于检测行驶车辆周围的道路环境的方法和装置以及用于存储相关软件程序的记录介质
公开(公告)号：US06198426B1
公开(公告)日：2001-03-06
申请号：US09390680
申请日：1999-09-07
申请人： Yukimasa Tamatsu , Hiroaki Kumon
发明人： Yukimasa Tamatsu , Hiroaki Kumon
IPC分类号： G01S1393
CPC分类号： G01S13/931 , G01S2013/9339 , G01S2013/9353 , G01S2013/9375 , G08G1/165 , G08G1/167
摘要： The present position of a previously recognized stationary object group (SOp) is estimated based on past position data and the movement of the traveling vehicle during a past time (&Dgr;T). A clearance (Mwr, Mwl) between a traveling vehicle (Mx) and an adjacent stationary object group (Mxr, Mxl) is obtained based on the estimated position data. A clearance (Twr, Twl) between a preceding vehicle (Tx) and an adjacent stationary object group (Txr, Txl) is obtained based on the estimated position data and the position data of the preceding vehicle. A same lane judgement is performed to judge whether the traveling vehicle (VM) and the preceding vehicle (VT) are traveling on a same traffic lane based on at least one of the detected clearances (Mwr, Mwl, Twr, Twl).
摘要翻译：基于过去位置数据和行驶车辆在过去时间（DELTAT）中的移动来估计先前识别的静止物体组（SOp）的当前位置。基于所估计的位置数据，求出行驶车辆（Mx）与相邻静止物体组（Mxr，Mx1）之间的间隙（Mwr，Mw1）。基于所估计的位置数据和前一车辆的位置数据，获得前一车辆（Tx）和相邻静止物体组（Txr，Tx1）之间的间隙（Twr，Tw1）。基于检测到的间隙（Mwr，Mw1，Twr，Tw1）中的至少一个，执行相同的车道判断以判断行驶车辆（VM）和前一车辆（VT）是否在相同行车道上行驶。

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