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1. 发明申请

US20210239825A1 OBJECT TRACKING APPARATUS 有权
公开(公告)号：US20210239825A1
公开(公告)日：2021-08-05
申请号：US17237593
申请日：2021-04-22
申请人： DENSO CORPORATION
发明人： Yusuke AKAMINE , Takuya TAKAYAMA , Yasuyuki MIYAKE
IPC分类号： G01S13/72 , G01S7/41 , G01S13/52
摘要： An object tracking apparatus generates a plurality of target candidates in which ambiguity in velocity is assumed for an object detected for a first time, calculates a current prediction value of a state quantity of each target candidate from a past estimation value of the state quantity of each target candidate, using one filter among a plurality of filters, and calculates the current estimation value of the state quantity of the target candidate from each of the calculated prediction values and a current observation value that matches each prediction value. The object tracking apparatus deletes the target candidate of which a determined likelihood is less than a preset threshold among the target candidates, and switches a used filter to a filter that has a larger number of state variables among the filters, in response to the target candidate being deleted and the total number of target candidates decreasing.

2. 发明申请

US20210190934A1 OBJECT-DETECTING DEVICE 有权
公开(公告)号：US20210190934A1
公开(公告)日：2021-06-24
申请号：US17192577
申请日：2021-03-04
申请人： DENSO CORPORATION
发明人： Katsuhiko KONDO , Yasuyuki MIYAKE
IPC分类号： G01S13/70 , G01S13/04
摘要： An object-detecting device includes a first detector, an object tracker, a second detector, and an axial misalignment determiner. The first detector detects a distance between a moving body and an object and an orientation of the object relative to the moving body based on detection information acquired from detection sensors including a search wave sensor that searches a detection region with a search wave. The object tracker tracks the same object passing through a different detection region based on the detection information. The second detector detects at least either one of a height of the object or a lateral distance of the object as object information based on the detection information. The axial misalignment determiner determines whether axial misalignment has occurred in the search wave sensor based on the distance and the orientation of the object detected by the first detector based on the detection information from the search wave sensor and the object information detected in a different detection region by the second detector.

3. 发明申请

US20200041638A1 OBJECT DETECTION APPARATUS 审中-公开
公开(公告)号：US20200041638A1
公开(公告)日：2020-02-06
申请号：US16339939
申请日：2017-10-03
申请人： DENSO CORPORATION
发明人： Yusuke AKAMINE , Mitsuyasu MATSUURA , Yasuyuki MIYAKE
IPC分类号： G01S13/72 , G01S13/93
摘要： A vehicle information providing apparatus (hereinafter, apparatus) repeatedly acquires observation point information. The apparatus calculates at least one position of the predicted point. When the observation point information is acquired, the apparatus extracts a predicted point that can be connected to the observation point from the calculated predicted points. The apparatus calculates the position of the current filtered point based on the position of the current observation point and the position of the latest predicted point. When the observation point information of a new object (an object having no latest predicted point connectable to the observation point) is acquired, the device sets initial vectors. The apparatus calculates the position of the predicted point at time instants succeeding the current time instant for each of the traveling directions indicated by the initial vectors.

4. 发明申请

US20200346653A1 VEHICLE RADAR SYSTEM 审中-公开
公开(公告)号：US20200346653A1
公开(公告)日：2020-11-05
申请号：US16931350
申请日：2020-07-16
申请人： DENSO CORPORATION
发明人： Katsuhiko KONDO , Yusuke AKAMINE , Yasuyuki MIYAKE
IPC分类号： B60W40/00 , G01S13/08 , G01S13/931 , G01S7/02
摘要： A vehicle radar system includes at least one radar, a detection section, an extraction section, a pair determination section, and a target position determination section. The extraction section extracts at least one observation point pair from a plurality of detected observation points. The observation point pair is a pair of the observation points located in the same direction. The target position determination section calculates a surface direction of a reflection surface from a reflection surface observation point of the observation point pair and observation points around the reflection surface observation point, and determines a position of the target from the calculated surface direction and the at least one observation point pair.

5. 发明申请

US20190212430A1 RADAR DEVICE 审中-公开
公开(公告)号：US20190212430A1
公开(公告)日：2019-07-11
申请号：US16315291
申请日：2017-07-07
申请人： DENSO CORPORATION
发明人： Yusuke AKAMINE , Mitsuyasu MATSUURA , Yasuyuki MIYAKE
IPC分类号： G01S13/34 , G01S13/93 , G01S7/35
CPC分类号： G01S13/341 , B60R21/00 , G01S7/352 , G01S13/34 , G01S13/93 , G01S13/931 , G01S2013/9353 , G08G1/16
摘要： A dual-frequency CW processing unit (12) calculates an observation-point orientation of an observation point. An FMCW processing unit (11) calculates at least a power spectrum of a beat signal, which has been generated based on radar waves that have come from the calculated observation-point orientation, in terms of an up-modulation time interval and a down-modulation time interval (termed orientation power spectrum hereinafter). The FMCW processing unit (11) shifts the orientation power spectra of the up- and down-modulation time intervals to positive and negative directions, respectively, by an amount corresponding to a Doppler shift frequency. The FMCW processing unit (11) calculates a differential power spectrum by differentiating the orientation power spectra of the shifted up- and down-modulation time intervals, and detects a peak frequency where intensity is maximum.

6. 发明申请

US20150268336A1 ANTENNA APPARATUS, RADAR APPARATUS AND ON-VEHICLE RADAR SYSTEM 审中-公开
标题翻译：天线装置，雷达装置和车载雷达系统
公开(公告)号：US20150268336A1
公开(公告)日：2015-09-24
申请号：US14730283
申请日：2015-06-04
申请人： DENSO CORPORATION
发明人： Masanobu YUKUMATSU , Asahi KONDOU , Yasuyuki MIYAKE
IPC分类号： G01S13/04 , G01S13/87 , G01S7/28 , G01S13/58 , G01S7/35
CPC分类号： G01S13/04 , G01S7/28 , G01S7/35 , G01S13/0209 , G01S13/10 , G01S13/32 , G01S13/345 , G01S13/347 , G01S13/58 , G01S13/582 , G01S13/584 , G01S13/87 , G01S13/931 , G01S2013/9317 , G01S2013/9332 , G01S2013/9378 , G01S2013/9385 , H01Q9/285 , H01Q13/085 , H01Q21/062 , H01Q21/064
摘要： An antenna apparatus includes a substrate, a first antenna, and a second antenna. The substrate includes two or more pattern-forming layers which are layered via at least one insulating layer. The two or more pattern-forming layers include a first pattern-forming layer and a second pattern-forming layer which are different from each other. The first pattern-forming layer forms one of both outer layers located at both surfaces of the substrate. The first antenna is formed on the first pattern-forming layer, includes a plurality of antenna elements arrayed in a row, and radiates electromagnetic waves in a layer direction of the plurality of layers. The second antenna is formed on the second pattern-forming layer, is arranged on at least one side of both sides of the antenna array direction of the plurality of antenna elements of the first antenna section, and radiates electromagnetic waves in the antenna array direction.
摘要翻译：天线装置包括基板，第一天线和第二天线。衬底包括经由至少一个绝缘层层叠的两个或更多个图案形成层。两个以上的图案形成层包括彼此不同的第一图案形成层和第二图案形成层。第一图案形成层形成位于基板的两个表面的两个外层之一。第一天线形成在第一图案形成层上，包括排列成行的多个天线元件，并且在多层的层方向上辐射电磁波。第二天线形成在第二图案形成层上，布置在第一天线部分的多个天线元件的天线阵列方向的两侧的至少一侧，并且辐射天线阵列方向上的电磁波。

7. 发明申请

US20200244840A1 MOVING OBJECT RECOGNITION APPARATUS 审中-公开
公开(公告)号：US20200244840A1
公开(公告)日：2020-07-30
申请号：US16851795
申请日：2020-04-17
申请人： DENSO CORPORATION
发明人： Yusuke AKAMINE , Yasuyuki MIYAKE
IPC分类号： H04N5/14 , B60W30/095 , G06T7/246 , G06T7/277
摘要： A moving object recognition apparatus includes an object detection section, a position detection section, a road direction estimation section, and a moving direction estimation section. The object detection section detects a moving object that moves on a road around an own vehicle and a roadside object by the road, from objects present around the own vehicle. The position detection section detects positions of the moving object and the roadside object detected by the object detection section. The road direction estimation section estimates a road direction of the road on which the moving object is moving, based on the position of the roadside object detected by the position detection section. The moving direction estimation section estimates a moving direction of the moving object based on the road direction estimated by the road direction estimation section.

8. 发明申请

US20200241131A1 OBJECT DETECTION APPARATUS 审中-公开
公开(公告)号：US20200241131A1
公开(公告)日：2020-07-30
申请号：US16851952
申请日：2020-04-17
申请人： DENSO CORPORATION
发明人： Katsuhiko KONDO , Yusuke AKAMINE , Yasuyuki MIYAKE
IPC分类号： G01S13/931 , B60W40/02 , G01S13/86
摘要： An object detection apparatus detects a target object present in a periphery of a moving body. The object detection apparatus derives recognition information indicating a state of a target object, and predicts a state of the target object at a next second observation timing, based on the recognition information derived at a first observation timing. The object detection apparatus derives a score based on a degree of difference between a state of the target object observed at the second observation timing and a next state of the target object predicted at the first observation timing. The object detection apparatus derives a reliability level by statistically processing scores related to the target object derived at a plurality of observation timings from past to present. In response to the reliability level satisfying a predetermined reference, the object detection apparatus determines that the target object related to the reliability level is actually present.

9. 发明申请

US20190315373A1 SENSOR CONTROL APPARATUS 审中-公开
公开(公告)号：US20190315373A1
公开(公告)日：2019-10-17
申请号：US16343129
申请日：2017-10-16
申请人： DENSO CORPORATION
发明人： Katsuhiko KONDO , Yusuke AKAMINE , Yasuyuki MIYAKE
IPC分类号： B60W50/06 , G07C5/02 , G07C5/08 , B62D15/02
摘要： An executing unit is configured to execute at least one of control of operating performance of a plurality of sensors which monitor different regions around a vehicle and predetermined processing for each of a plurality of output values output from the plurality of sensors. A specifying unit is configured to specify a direction of the vehicle with respect to a reference direction set on the basis of a road around the vehicle. A setting unit is configured to set priorities of the plurality of sensors in accordance with the direction of the vehicle specified by the specifying unit. The executing unit changes at least one of ratios of the operating performance of the plurality of sensors and ratios of amounts of processing performed for the plurality of output values on the basis of the priorities.

10. 发明申请

US20190293778A1 ESTIMATION APPARATUS 审中-公开
公开(公告)号：US20190293778A1
公开(公告)日：2019-09-26
申请号：US16350093
申请日：2017-03-22
申请人： DENSO CORPORATION
发明人： Yusuke AKAMINE , Yasuyuki MIYAKE
IPC分类号： G01S13/58 , G01S13/93 , G01S7/41
摘要： An estimation apparatus of the present disclosure includes a same-object point information acquiring section, a candidate estimating section, and a direction estimating section. The candidate estimating section estimates, as a candidate direction, a direction that is matched with an arbitrary horizontal direction upon determining that the relative speeds gradually decrease along the arbitrary horizontal direction. The candidate estimating section estimates, as the candidate direction, an opposite direction of the arbitrary horizontal direction upon determining that the relative speeds gradually increases along the arbitrary horizontal direction. The direction estimating section estimates a moving direction of the same object based on the candidate direction.

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