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1. 发明授权

US08903603B2 Environment recognizing device for a vehicle and vehicle control system using the same 有权
标题翻译：用于车辆和车辆控制系统的环境识别装置
公开(公告)号：US08903603B2
公开(公告)日：2014-12-02
申请号：US13545849
申请日：2012-07-10
申请人： Takehito Ogata , Shoji Muramatsu , Takashi Tsutsui , Katsuyuki Nakamura , Mitsutoshi Morinaga
发明人： Takehito Ogata , Shoji Muramatsu , Takashi Tsutsui , Katsuyuki Nakamura , Mitsutoshi Morinaga
IPC分类号： G06F7/00 , G06K9/00 , B60K35/00 , G01C21/26 , B60R16/03 , B60R16/023 , B60K37/06
CPC分类号： G06K9/00825 , B60K35/00 , B60K37/06 , B60R16/0231 , B60R16/0315 , G01C21/26 , G06K9/00805
摘要： An environment recognizing device for a vehicle is provided that can correctly detect a preceding vehicle in a scene, such as for instance the dusk, which is under an illumination condition different from that in the daytime. The device detects a vehicle external shape while detecting vehicle taillights, and determines a region in which the vehicle external shape and the vehicle taillights move in synchronization, as a vehicle.
摘要翻译：提供一种用于车辆的环境识别装置，其能够正确地检测与白天不同的照明条件的场景（例如黄昏）中的前方车辆。该装置在检测车辆尾灯时检测车辆外形，并且确定车辆外部形状和车辆尾灯同步移动的区域作为车辆。

2. 发明申请

US20090267822A1 MOBILE RADAR AND PLANAR ANTENNA 失效
标题翻译：移动雷达和平面天线
公开(公告)号：US20090267822A1
公开(公告)日：2009-10-29
申请号：US12422276
申请日：2009-04-12
申请人： Hiroshi SHINODA , Mitsutoshi MORINAGA
发明人： Hiroshi SHINODA , Mitsutoshi MORINAGA
IPC分类号： G01S13/00
CPC分类号： G01S13/931 , G01S3/74 , G01S7/2813 , G01S7/352 , G01S7/4017 , G01S7/4021 , G01S7/4056 , G01S13/34 , G01S13/42 , G01S13/4454 , G01S13/4463 , G01S2007/356 , G01S2007/403 , G01S2007/4091 , G01S2013/0263 , G01S2013/9321 , G01S2013/9375 , H01Q3/2635
摘要： In a conventional automotive radar, a return occurs in a phase difference characteristic necessary for a super-resolution method, resulting in an increase of a detection error, or an extremely narrowed azimuth detection range. A transmitting array antenna, and receiving array antennas are composed of antenna elements respectively, and aligned in a horizontal direction. The weighting of receiving sensitivities of the antenna elements of the receiving array antenna 1 is A1, A2, A3, and A4, which are monotonically decreased from an inner side toward an outer side as represented by A1≧A2≧A3≧A4. On the other hand, the receiving array antenna 3 is symmetrical with the receiving array antenna with respect to the receiving array antenna 1.
摘要翻译：在传统的汽车雷达中，在超分辨率方法所需的相位差特性中返回，导致检测误差增加或方位检测范围极窄。发射阵列天线和接收阵列天线分别由天线元件组成，并在水平方向上排列。接收阵列天线1的天线元件的接收灵敏度的加权是A1，A2，A3和A4，其从内侧朝向外侧单调地减小，如A1> = A2> = A3> = A4 。另一方面，接收阵列天线3与接收阵列天线相对于接收阵列天线1对称。

3. 发明授权

US08009082B2 Mobile radar and planar antenna 失效
标题翻译：移动雷达和平面天线
公开(公告)号：US08009082B2
公开(公告)日：2011-08-30
申请号：US12422276
申请日：2009-04-12
申请人： Hiroshi Shinoda , Mitsutoshi Morinaga
发明人： Hiroshi Shinoda , Mitsutoshi Morinaga
IPC分类号： G01S13/00 , H01Q21/08
CPC分类号： G01S13/931 , G01S3/74 , G01S7/2813 , G01S7/352 , G01S7/4017 , G01S7/4021 , G01S7/4056 , G01S13/34 , G01S13/42 , G01S13/4454 , G01S13/4463 , G01S2007/356 , G01S2007/403 , G01S2007/4091 , G01S2013/0263 , G01S2013/9321 , G01S2013/9375 , H01Q3/2635
摘要： In a conventional automotive radar, a return occurs in a phase difference characteristic necessary for a super-resolution method, resulting in an increase of a detection error, or an extremely narrowed azimuth detection range. A transmitting array antenna, and receiving array antennas are composed of antenna elements respectively, and aligned in a horizontal direction. The weighting of receiving sensitivities of the antenna elements of the receiving array antenna 1 is A1, A2, A3, and A4, which are monotonically decreased from an inner side toward an outer side as represented by A1≧A2≧A3≧A4. On the other hand, the receiving array antenna 3 is symmetrical with the receiving array antenna with respect to the receiving array antenna 1.
摘要翻译：在传统的汽车雷达中，在超分辨率方法所需的相位差特性中返回，导致检测误差增加或方位检测范围极窄。发射阵列天线和接收阵列天线分别由天线元件组成，并在水平方向上排列。接收阵列天线1的天线元件的接收灵敏度的加权为A1，A2，A3和A4，如A1≥A2≥A3≥A4所示，从内侧朝向外侧单调减小。另一方面，接收阵列天线3与接收阵列天线相对于接收阵列天线1对称。

4. 发明授权

US07508337B2 Radar apparatus and signal processing method 有权
标题翻译：雷达装置和信号处理方法
公开(公告)号：US07508337B2
公开(公告)日：2009-03-24
申请号：US11979222
申请日：2007-10-31
申请人： Mitsutoshi Morinaga , Keiichiro Nagatsuka
发明人： Mitsutoshi Morinaga , Keiichiro Nagatsuka
IPC分类号： G01S13/42
CPC分类号： G01S13/584 , G01S7/352 , G01S13/34 , G01S2007/356
摘要： The radar apparatus of the present invention can obtain distance to a target and speed with higher accuracy even when multiple targets are running within a detecting field of a radar. The radar apparatus can transmit a radio wave by alternately switching a section having a frequency slope and a section having no frequency slope with the radar for simultaneously transmitting a couple of frequencies having a frequency difference. Measurement of distance to the target and relative speed is conducted in the above two sections, results of measurement are compared with each other in the adjacent sections, and the result of measurement is determined correct only when there is no inconsistency in these measurement results.
摘要翻译：本发明的雷达装置即使在雷达的检测区域内运行多个目标时，也能够以更高的精度获得与目标的距离和速度。雷达装置可以通过交替地切换具有频率斜率的部分和与雷达不具有频率斜率的部分来同时发送具有频率差的一对频率来发射无线电波。在上述两部分中进行与目标的距离的测量和相对速度的测量，在相邻部分中将测量结果彼此进行比较，并且仅当这些测量结果不一致时才将测量结果确定为正确的结果。

5. 发明申请

US20130073194A1 VEHICLE SYSTEMS, DEVICES, AND METHODS FOR RECOGNIZING EXTERNAL WORLDS 审中-公开
标题翻译：车辆系统，设备和识别外部人员的方法
公开(公告)号：US20130073194A1
公开(公告)日：2013-03-21
申请号：US13565335
申请日：2012-08-02
申请人： Katsuyuki NAKAMURA , Tomoaki YOSHINAGA , Mitsutoshi MORINAGA , Takehito OGATA
发明人： Katsuyuki NAKAMURA , Tomoaki YOSHINAGA , Mitsutoshi MORINAGA , Takehito OGATA
IPC分类号： H04N7/18 , G08G1/16
CPC分类号： G06K9/00805 , G06K9/00798
摘要： Preferably, an object such as a vehicle is detected regardless of a distance up to the object. A device for recognizing external worlds that analyzes an image acquired by capturing the vicinity of a self-vehicle includes: a processing area setting unit setting a first area of the image indicating a short range and a second area of the image indicating a long range, a first object detecting unit detecting the object by means of a first classifier in the set first area, a second object detecting unit detecting the object by considering even a background pattern by means of a second classifier in the set second area, a rectangular correction unit correcting a detected object rectangular shape and a time to collision (TTC) computing unit computing a prediction time up to a collision based on the detected object rectangular shape.
摘要翻译：优选地，检测诸如车辆的物体，而不管到达对象的距离。用于识别分析通过捕获自车辆附近而获取的图像的外部世界的设备包括：处理区域设置单元，设置指示短距离的图像的第一区域和指示长距离的图像的第二区域，第一对象检测单元，借助于所设定的第一区域中的第一分类器检测对象;第二对象检测单元，通过在所述第二区域中利用第二分类器考虑偶数背景图案来检测所述对象;矩形校正单元校正检测对象矩形形状和碰撞时间（TTC）计算单元，基于检测到的对象矩形来计算直到碰撞的预测时间。

6. 发明授权

US07760134B2 Radar apparatus and method of measuring azimuth angle of target 有权
标题翻译：雷达装置及测量目标方位角的方法
公开(公告)号：US07760134B2
公开(公告)日：2010-07-20
申请号：US12314578
申请日：2008-12-12
申请人： Mitsutoshi Morinaga , Hiroto Mitoma
发明人： Mitsutoshi Morinaga , Hiroto Mitoma
IPC分类号： G01S13/00
CPC分类号： G01S5/04 , G01S7/352 , G01S13/348 , G01S13/4454 , G01S13/931 , G01S2007/356 , G01S2013/9321 , G01S2013/9353
摘要： A radar apparatus capable of determining the position of targets at a high accuracy even when plural objects of an identical relative velocity are present in a detection view field of the radar, using signal processing of obtaining an effect which is similar with that of virtually increasing the number of antennas along the moving direction of the radar by determining the change of intensity of reception signals using data in the past in which an identical antenna was positioned at a slightly different place (T1) and data at present (T1+ΔT) as a unit data set.
摘要翻译：即使在具有相同相对速度的多个物体存在于雷达的检测视场中的雷达装置中，能够以高精度确定目标的位置，使用获得与实际增加的效果相似的效果的信号处理通过使用过去相同天线位于稍微不同的地方（T1）和当前数据（T1 +＆Dgr; T）的数据确定接收信号的强度变化，沿着雷达移动方向的天线数量，作为单位数据集。

7. 发明申请

US20090153395A1 Radar apparatus and method of measuring azimuth angle of target 有权
标题翻译：雷达装置及测量目标方位角的方法
公开(公告)号：US20090153395A1
公开(公告)日：2009-06-18
申请号：US12314578
申请日：2008-12-12
申请人： Mitsutoshi Morinaga , Hiroto Mitoma
发明人： Mitsutoshi Morinaga , Hiroto Mitoma
IPC分类号： G01S13/06
CPC分类号： G01S5/04 , G01S7/352 , G01S13/348 , G01S13/4454 , G01S13/931 , G01S2007/356 , G01S2013/9321 , G01S2013/9353
摘要： A radar apparatus capable of determining the position of targets at a high accuracy even when plural objects of an identical relative velocity are present in a detection view field of the radar, using signal processing of obtaining an effect which is similar with that of virtually increasing the number of antennas along the moving direction of the radar by determining the change of intensity of reception signals using data in the past in which an identical antenna was positioned at a slightly different place (T1) and data at present (T1+ΔT) as a unit data set.
摘要翻译：即使在具有相同相对速度的多个物体存在于雷达的检测视场中的雷达装置中，能够以高精度确定目标的位置，使用获得与实际增加的效果相似的效果的信号处理通过使用过去相同天线位于稍微不同的位置（T1）的数据和目前的数据（T1 + DeltaT）来确定接收信号的强度的变化来确定接收信号的沿着雷达移动方向的天线数量单位数据集。

8. 发明授权

US07463182B1 Radar apparatus 失效
标题翻译：雷达装置
公开(公告)号：US07463182B1
公开(公告)日：2008-12-09
申请号：US11483100
申请日：2006-07-10
申请人： Mitsutoshi Morinaga , Toshiyuki Nagasaku
发明人： Mitsutoshi Morinaga , Toshiyuki Nagasaku
IPC分类号： G01S13/42
CPC分类号： G01S13/931 , G01S7/415 , G01S13/38 , G01S13/4445 , G01S13/536 , G01S13/584 , G01S13/886 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385
摘要： An inexpensive surveillance radar apparatus capable of identifying the kind of an object by using a monopulse radar that performs wide-angle two-dimensional surveillance. The radar apparatus receives reflected waves from a plurality of points on a moving object within a monitoring area, using a monopulse radar apparatus for measuring of angles, and determines the reflection point for each reflected wave, and then calculates the position and the width in the measuring angle of the surveillance radar of a moving object.
摘要翻译：能够通过使用进行广角二维监视的单脉冲雷达识别物体的种类的便宜的监视雷达装置。雷达装置使用用于测量角度的单脉冲雷达装置从监视区域内的移动物体上的多个点接收反射波，并且确定每个反射波的反射点，然后计算位置和宽度测量移动物体的监视雷达的角度。

9. 发明申请

US20060267764A1 Object detection sensor 审中-公开
标题翻译：物体检测传感器
公开(公告)号：US20060267764A1
公开(公告)日：2006-11-30
申请号：US11441172
申请日：2006-05-26
申请人： Mitsutoshi Morinaga , Toshiyuki Nagasaku
发明人： Mitsutoshi Morinaga , Toshiyuki Nagasaku
IPC分类号： G01S13/00 , G08B13/08
CPC分类号： G08B13/1609 , G01S13/04 , G01S13/44 , G01S13/48 , G06K9/00369
摘要： An object detection sensor, which can accurately measure the position of an object within a predetermined monitoring area including the vicinity of a position directly under a sensor, is provided. A monitoring area is divided into a plurality of sections and the distances to the section from the sensor are different from one another. A plurality of antennas designed to monitor the each sections respectively are switched therebetween in use. A signal processing circuit performs a calculation for determining a position and a height of an object within a monitoring surface in the area including the position directly under the sensor set, making use of output information of a radar and taking a radiation path into consideration.
摘要翻译：提供一种能够精确地测量包括传感器正下方的位置附近的预定监视区域内的物体的位置的物体检测传感器。监视区域被分成多个部分，并且距离传感器的部分的距离彼此不同。设计用于分别监视各部分的多个天线在使用中被切换。信号处理电路利用雷达的输出信息并考虑辐射路，进行用于确定包括传感器组正下方的位置的区域内的监视表面内的物体的位置和高度的计算。

10. 发明申请

US20130018547A1 Environment Recognizing Device for a Vehicle and Vehicle Control System Using the Same 有权
标题翻译：使用该车辆和车辆控制系统的环境识别装置
公开(公告)号：US20130018547A1
公开(公告)日：2013-01-17
申请号：US13545849
申请日：2012-07-10
申请人： Takehito Ogata , Shoji Muramatsu , Takashi Tsutsui , Katsuyuki Nakamura , Mitsutoshi Morinaga
发明人： Takehito Ogata , Shoji Muramatsu , Takashi Tsutsui , Katsuyuki Nakamura , Mitsutoshi Morinaga
IPC分类号： G08G1/16 , H04N7/18 , G06F7/00
CPC分类号： G06K9/00825 , B60K35/00 , B60K37/06 , B60R16/0231 , B60R16/0315 , G01C21/26 , G06K9/00805
摘要： An environment recognizing device for a vehicle is provided that can correctly detect a preceding vehicle in a scene, such as for instance the dusk, which is under an illumination condition different from that in the daytime. The device detects a vehicle external shape while detecting vehicle taillights, and determines a region in which the vehicle external shape and the vehicle taillights move in synchronization, as a vehicle.
摘要翻译：提供一种用于车辆的环境识别装置，其能够正确地检测与白天不同的照明条件的场景（例如黄昏）中的前方车辆。该装置在检测车辆尾灯时检测车辆外形，并且确定车辆外部形状和车辆尾灯同步移动的区域作为车辆。

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