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1. 发明专利

JP3915742B2 Object recognition device for a vehicle 有权
公开(公告)号：JP3915742B2
公开(公告)日：2007-05-16
申请号：JP2003176820
申请日：2003-06-20
申请人：株式会社デンソー
发明人：忠史兵藤 , 佳江寒川 , 守島本 , 善明帆足 , 豊史野沢
IPC分类号： G01S17/93 , G01S7/497
CPC分类号： G01S7/497 , G01S17/936 , G01S2007/4975
摘要： An object recognition apparatus for vehicles is provided which is equipped with a radar. The apparatus is designed to detect adhesion of any dirt to the radar which will disturbs emission of radar waves to and reception radar echoes from a target. When the number of radar waves is great which cause the times required by the radar waves to travel to and return from a target to be measured as being shorter than a predetermined period of time and the intensities of the radar returns to be greater than a predetermined value, it is determined that the dirt is adhered to the radar, thereby improving the accuracy of detecting the adhesion of dirt to the radar.

2. 发明专利

JP3736521B2 Object recognition device for a vehicle 有权
公开(公告)号：JP3736521B2
公开(公告)日：2006-01-18
申请号：JP2002368903
申请日：2002-12-19
申请人：株式会社デンソー
发明人：浩司大方 , 佳江寒川 , 圭司松岡 , 豊史野沢
IPC分类号： B60R21/00 , G01S13/93 , G01S7/48 , G01S17/93 , G08G1/16
CPC分类号： G01S17/936 , G01S7/486

3. 发明专利

JP3681620B2 Vehicle obstacle recognition device 有权
公开(公告)号：JP3681620B2
公开(公告)日：2005-08-10
申请号：JP2000225348
申请日：2000-07-26
申请人：トヨタ自動車株式会社 , 株式会社デンソー
发明人：浩司大方 , 佳江寒川 , 圭司松岡 , 孝昌白井 , 豊史野澤
IPC分类号： B60R21/00 , B60W30/00 , G01S7/48 , G01S13/42 , G01S13/72 , G01S13/93 , G01S17/93 , G08G1/16
CPC分类号： G01S13/931 , G01S13/426 , G01S13/726 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353

4. 发明专利

JP3639190B2 Object recognition device, recording medium 有权
公开(公告)号：JP3639190B2
公开(公告)日：2005-04-20
申请号：JP2000208559
申请日：2000-07-10
申请人：トヨタ自動車株式会社 , 株式会社デンソー
发明人：佳江寒川 , 圭司松岡 , 孝昌白井
IPC分类号： G08G1/16 , B60Q1/52 , G01S7/48 , G01S13/93 , G01S17/93
CPC分类号： G01S17/936 , B60Q9/008 , G01S7/4802 , G01S2013/9353 , G01S2013/9367

5. 发明专利

JP5402983B2 Road vehicle shape recognition method and apparatus, recording medium 有权
公开(公告)号：JP5402983B2
公开(公告)日：2014-01-29
申请号：JP2011110222
申请日：2011-05-17
申请人：株式会社デンソー
发明人：佳江寒川 , 豊史野沢
IPC分类号： G08G1/16 , G01S13/93

6. 发明专利

JP5353946B2 Road vehicle shape recognition method and apparatus, recording medium 有权
公开(公告)号：JP5353946B2
公开(公告)日：2013-11-27
申请号：JP2011110221
申请日：2011-05-17
申请人：株式会社デンソー
发明人：佳江寒川 , 麻衣坂本 , 豊史野沢
IPC分类号： G08G1/16 , G01S13/93
摘要： PROBLEM TO BE SOLVED: To provide a vehicular road shape recognition method and device capable of frequently calculating a more accurate road shape, and a recording medium. SOLUTION: The vehicular road shape recognition method includes: determining the recognition classification as to whether an object is a moving object or a stationary object on the basis of relative speed of the object and self-vehicle speed; extracting object unit data effective to recognize a road shape on the basis of a determination result of the recognition classification; forming data on a road side object group on the basis of the object unit data; and recognizing the road edge on the basis of the formed data on a road side object group. The series of processing are repeatedly executed at a predetermined cycle. After the extraction processing, data addition processing is performed for adding the object unit data obtained by the extraction processing in a previous cycle to the object unit data obtained by the extraction processing in a present cycle. In the recognition processing, the road edge is recognized based on the object unit data obtained by the data addition processing. COPYRIGHT: (C)2013,JPO&INPIT

7. 发明专利

JP4807444B2 Control object extraction device and a vehicle control device 有权
公开(公告)号：JP4807444B2
公开(公告)日：2011-11-02
申请号：JP2009162774
申请日：2009-07-09
申请人：株式会社デンソー
发明人：佳江寒川 , 豊史野沢
IPC分类号： G08G1/16 , B60R1/00 , B60W30/00 , B60W30/165 , G06T1/00
CPC分类号： B60W30/16

8. 发明专利

JP4589974B2 Dirt determination device 有权
公开(公告)号：JP4589974B2
公开(公告)日：2010-12-01
申请号：JP2008034770
申请日：2008-02-15
申请人：トヨタ自動車株式会社 , 株式会社デンソー
发明人：佳江寒川 , 淳史川久保 , 好浩阿部
IPC分类号： G01S7/40 , B60K31/00 , B60R21/00 , B60W30/16 , G01S7/03 , G01S13/93 , G08G1/16
CPC分类号： G01S7/4017 , G01S7/032 , G01S13/345 , G01S13/42 , G01S13/931 , G01S2007/4039 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375 , G01S2013/9389 , H01Q1/3233 , H01Q3/40 , H01Q21/06
摘要： A radar sensor receives a radar wave signal through a radome in each of antennas while judging existence of an attenuating thing in a detecting unit. This unit extracts a maximum level channel from receiving channels assigned to the antennas every modulation period, calculates a difference in signal level between the maximum level channel and each receiving channel every modulation period, sets each receiving channel corresponding to large level differences in one measuring period including plural modulation periods as a candidate channel every measuring period, increments a preliminary variable of each candidate channel every measuring period, increases a final variable each time the preliminary variable of at least one receiving channel reaches or exceeds a preliminary value in one measuring period, and judges in response to the final variable reaching a final value that the attenuating thing attenuates the radar wave directed toward the random.

9. 发明专利

JP5327272B2 Road vehicle shape recognition method and apparatus, recording medium 有权
公开(公告)号：JP5327272B2
公开(公告)日：2013-10-30
申请号：JP2011110225
申请日：2011-05-17
申请人：株式会社デンソー
发明人：佳江寒川 , 豊史野沢
IPC分类号： B60W40/06 , B60R21/00 , G01S13/93 , G01S15/93 , G01S17/93 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a method and apparatus which calculate the more exact shape of a road at a proper frequency, and a recording medium therefor. SOLUTION: Object unit data of reflectors is extracted from stopped objects on a road, a circle passing through a row of the reflectors is approximated based on the object unit data of the reflectors to calculate a road shape estimation R, and the estimation R is used to recognize a road shape. This series of processes are repeated at a given cycle. When object unit data of the reflectors is extracted, object unit data situated in a given range in a radial direction based on a road shape estimation R calculated at the previous cycle out of object unit data of the reflectors extracted at the previous cycle is added to object unit data extracted at the present cycle. When a road shape is recognized, a road shape estimation R is calculated based on the object unit data of the reflectors after the data addition, and the calculated road shape estimation R is used to recognize the road shape. COPYRIGHT: (C)2013,JPO&INPIT

10. 发明专利

JP5321640B2 Road vehicle shape recognition method and apparatus, recording medium 有权
公开(公告)号：JP5321640B2
公开(公告)日：2013-10-23
申请号：JP2011110224
申请日：2011-05-17
申请人：株式会社デンソー
发明人：佳江寒川 , 麻衣坂本 , 豊史野沢
IPC分类号： G08G1/16 , B60R21/00 , G01S13/93
摘要： PROBLEM TO BE SOLVED: To provide a vehicular road shape recognition method and device capable of frequently calculating a more accurate road shape, and a recording medium. SOLUTION: The vehicular road shape recognition method includes: determining the recognition classification as to whether an object is a moving object or a stationary object on the basis of relative speed of the object and self-vehicle speed; extracting object unit data effective to recognize a road shape on the basis of a determination result of the recognition classification; extracting a horizontal position of a stationary object with the shortest distance, in the vehicle width direction, to the self-vehicle side from among the extracted object unit data and determining a stationary object, which is positioned within a range apart from the horizontal position of the stationary object closest to the self-vehicle in the vehicle width direction by a predetermined distance and has the shortest direct distance from the self-vehicle, as an original point; then forming data on a road side object group by connecting data pieces where the distance monotonously increases as a connection condition from the original point and grouping them; and recognizing a road edge on the basis of the formed data on the road side object group. COPYRIGHT: (C)2013,JPO&INPIT

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