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    WATER DROPLET DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION DEVICE USING SAID WATER DROPLET DETECTION DEVICE
    2.
    发明公开
    WATER DROPLET DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION DEVICE USING SAID WATER DROPLET DETECTION DEVICE 审中-公开
    装置上使用此设备检测水滴用于检测三维物体水珠检测和设备

    公开(公告)号：EP2879369A4

    公开(公告)日：2016-09-07

    申请号：EP13822857

    申请日：2013-07-24

    申请人： NISSAN MOTOR ,  CLARION CO LTD

    发明人： HAYAKAWA YASUHISA ,  FUKATA OSAMU ,  TAKEMURA MASAYUKI ,  UTAGAWA AKIRA ,  MURAMATSU SHOJI ,  IRIE KOTA

    IPC分类号： H04N5/225 ,  B60R1/00 ,  B60R21/00 ,  G03B15/00 ,  G06T1/00 ,  G08G1/16 ,  H04N7/18

    CPC分类号： G06T7/2053 ,  B60S1/0844 ,  B60S1/0848 ,  B60S1/56 ,  G06K9/00825 ,  G06T7/174 ,  G06T7/254 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/20224 ,  G06T2207/30261 ,  G08G1/166 ,  G08G1/167 ,  H04N5/3595 ,  H04N7/18

    摘要： The present invention is provided with: an image capturing means (10) having an photographic optical system (11) and adapted for capturing an image of a predetermined area, an image conversion means (31) for viewpoint-converting an image obtained by the image capturing means to create a bird's-eye-view image; a water droplet detection means (40) for setting an arbitrary attention point in the image, a plurality of first reference points inside an imaginary circle of a predetermined radius having the attention point as the center thereof, and a plurality of second reference points corresponding to the first reference points outside the imaginary circle, detecting edge information between the first reference points and second reference points, and assessing the circularity strength of these edge information, thereby detecting water droplets attached to the photographic optical system; a first three-dimensional object detection means (33) for generating differential waveform information from the differential image of the bird's-eye-view images at different points in time obtained by the image conversion means and detecting a three-dimensional object based on the differential waveform information; a three-dimensional object assessment means (38) for assessing whether the three-dimensional object that has been detected by the first three-dimensional object detection means is another vehicle; a water droplet removal device (41) for removing water droplets attached to the photographic optical system; and a control unit (39) for operating the water droplet removal means in accordance with the water droplet attachment state detected by the water droplet detection means.

    CAMERA DEVICE, THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND LENS CLEANING METHOD
    4.
    发明公开
    CAMERA DEVICE, THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND LENS CLEANING METHOD 有权
    野蛮人，野蛮人对手EN EN EN UNG EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN

    公开(公告)号：EP2878498A4

    公开(公告)日：2017-03-15

    申请号：EP13822720

    申请日：2013-07-26

    申请人： NISSAN MOTOR ,  CLARION CO LTD

    发明人： HAYAKAWA YASUHISA ,  FUKATA OSAMU ,  TAKEMURA MASAYUKI ,  KIYOHARA MASAHIRO ,  MURAMATSU SHOJI ,  IRIE KOTA

    IPC分类号： B60S1/60 ,  B60R1/00 ,  G06K9/00 ,  H04N5/225

    CPC分类号： G02B27/0006 ,  B60S1/0848 ,  B60S1/56 ,  G03B17/02 ,  G03B17/08 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/0002 ,  H04N5/2171

    摘要： Installed on a vehicle and provided with a camera 10 comprising a lens 11, a lens cleaning device 100 for cleaning the lens following a predetermined lens cleaning step, an adhesion state assessment unit 38 for assessing the adhesion state, including the adhesion degree of foreign matter adhered to the lens 11 based on the pixel values of pixels included in an obtained captured image, and a controller 101 for controlling the supply time of the cleaning fluid based on the assessed adhesion state of foreign matter, wherein the adhesion state assessment unit 38 assesses that the state of adhered lens contamination 11 is a first state when the adhesion degree of foreign matter is within a predetermined threshold value of equal to or greater than a first adhesion threshold and less than a second adhesion threshold, and conduct a control to cause the lens cleaning device 100 to delay the supply time of the cleaning fluid when the state of adhered lens contamination 11 is assessed as being the first state.

    摘要翻译： 安装在车辆上并设置有包括透镜11的相机10，用于在预定透镜清洁步骤之后清洁透镜的透镜清洁装置100，用于评估粘附状态的粘附状态评估单元38，包括异物粘附度 基于所获得的捕获图像中包括的像素的像素值粘附到透镜11，以及用于基于所评估的异物粘附状态来控制清洁流体的供给时间的控制器101，其中粘附状态评估单元38评估 当异物的粘合度在等于或大于第一粘合阈值且小于第二粘合阈值的预定阈值内时，粘附透镜污染物11的状态是第一状态，并且进行控制以使 透镜清洁装置100，当粘贴的透镜污染物11的状态被评估为时延迟清洁液的供应时间 e先状态

    THREE-DIMENSIONAL OBJECT DETECTION DEVICE AND FOREIGN OBJECT DETECTION DEVICE
    5.
    发明公开
    THREE-DIMENSIONAL OBJECT DETECTION DEVICE AND FOREIGN OBJECT DETECTION DEVICE 审中-公开
    DEVICE三维对象上的识别异物检测和设备

    公开(公告)号：EP2879382A4

    公开(公告)日：2017-01-04

    申请号：EP13822311

    申请日：2013-07-12

    申请人： NISSAN MOTOR ,  CLARION CO LTD

    发明人： FUKATA OSAMU ,  HAYAKAWA YASUHISA ,  TAKEMURA MASAYUKI ,  UTAGAWA AKIRA ,  KIYOHARA MASAHIRO ,  MURAMATSU SHOJI ,  IRIE KOTA

    IPC分类号： H04N7/18 ,  G06K9/00 ,  G06T1/00 ,  G06T7/00 ,  G06T7/20 ,  G08G1/16

    CPC分类号： G02B27/0006 ,  G06K9/00825 ,  G06T1/0007 ,  G06T7/254 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/20224 ,  G06T2207/30261 ,  G08G1/166 ,  G08G1/167 ,  H04N1/4097 ,  H04N5/2171 ,  H04N5/225 ,  H04N7/18

    摘要： The present invention is provided with a camera (10) for capturing images rearward of a vehicle, three-dimensional object detection units (33, 37) for detecting three-dimensional objects based on image information, a three-dimensional object assessment unit (34) for assessing whether or not a detected three-dimensional object is another vehicle (VX), a foreign matter detection unit (38) for detecting whether or not foreign matter has adhered to a lens based on the change over time in luminance values for each predetermined pixel of the image capturing element and the change over time in the difference between an evaluation value and a reference value, and a controller (39) for outputting control commands to the other means to suppress the assessment of foreign matter as another vehicle (VX) when foreign matter has been detected.

    摘要翻译： 本发明是用于基于图像信息检测三维物体拍摄图像向后的车辆中，三维物体检测单元（33，37）的设置有照相机（10），一个三维物体判断部（34 ），用于assesing检测到的三维物体是否是另一个车辆（VX），异物检测单元（38），用于检测基于随时间的亮度值的每个变化异物是否已经粘附到透镜 图像拍摄元件和随时间的之间的差值（以及用于输出铃声控制命令给其他手段改变在评价值的基准值，以及控制器（39）的预定像素来抑制异物的评估，作为其它车辆VX ）当检测异物。

    ON-BOARD DEVICE
    8.
    发明公开
    ON-BOARD DEVICE 审中-公开
    BOARD自己的设备

    公开(公告)号：EP2871831A4

    公开(公告)日：2016-03-23

    申请号：EP13813697

    申请日：2013-07-03

    申请人： CLARION CO LTD ,  NISSAN MOTOR

    发明人： KIYOHARA MASAHIRO ,  IRIE KOTA ,  NAKAMURA KATSUYUKI ,  MURAMATSU SHOJI ,  TAKEMURA MASAYUKI ,  FUKATA OSAMU ,  HAYAKAWA YASUHISA

    IPC分类号： H04N5/225 ,  B60R1/00 ,  B60S1/08 ,  G08G1/16 ,  H04N5/217

    CPC分类号： B60S1/0848 ,  B05B12/08 ,  B60R1/00 ,  B60S1/0844 ,  G08G1/166 ,  G08G1/167 ,  H04N5/2171 ,  H04N5/2252

    摘要： An on-board device, that outputs a control signal to a cleaning control unit that controls accumulation removing units used to remove accumulations settled on a photographic lens in an on-board camera by adopting a plurality of methods, includes: an accumulation detection unit that detects an accumulation settled on the photographic lens from a photographic image output from the on-board camera when a vehicle speed input thereto is equal to or higher than a predetermined vehicle speed; a selection unit that selects an accumulation removing unit adopting a first method among the accumulation removing units adopting the plurality of methods; and a removal decision unit that makes a decision, based upon the photographic image, as to whether or not the accumulation has been removed from the photographic lens through a removal operation performed by the accumulation removing unit adopting the first method, which has been selected by the selection unit, wherein: if the removal decision unit decides that the accumulation has not been removed from the photographic lens, the selection unit selects an accumulation removing unit adopting a second method, different from the accumulation removing unit adopting the first method, based upon a number of times that the removal operation has been performed by engaging the accumulation removing unit adopting the first method.

    THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION METHOD
    9.
    发明公开
    THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION METHOD 有权
    设备技术的三维物体用于检测三维物体检测和方法

    公开(公告)号：EP2879386A4

    公开(公告)日：2015-07-22

    申请号：EP13823494

    申请日：2013-07-26

    申请人： NISSAN MOTOR ,  CLARION CO LTD

    发明人： HAYAKAWA YASUHISA ,  FUKATA OSAMU ,  TAKEMURA MASAYUKI ,  UTAGAWA AKIRA ,  MURAMATSU SHOJI ,  IRIE KOTA

    IPC分类号： H04N7/18 ,  B60R1/00 ,  G06K9/00 ,  H04N5/232

    CPC分类号： H04N7/188 ,  B60R1/00 ,  B60R2300/607 ,  B60R2300/8026 ,  G03B2217/005 ,  G06K9/00201 ,  G06K9/00805 ,  G06K9/2027 ,  G06K9/4604 ,  G06T7/12 ,  G06T7/136 ,  G06T2207/10028 ,  G06T2207/30261 ,  H04N5/217 ,  H04N5/232 ,  H04N2101/00

    摘要： A three-dimensional object detection device wherein, an assessment is made regarding whether the present is daytime or nighttime when detecting a three-dimensional object based on a captured image; when an assessment has been made that the present is daytime, the edges of a subject are extracted from a first edge extraction area, including a horizon reference area that references the horizon, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges in the first edge extraction area; when an assessment has been made that the present is nighttime, the edges of a subject are extracted from a second edge extraction area, including a road edge reference area that references the road edge, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges that are extracted from the second edge extraction area.

    摘要翻译： 其中做出评估关于是否现在是白天或夜间当基于所拍摄的图像上检测三维物体的三维物体检测装置worin; 当评估了进展，本DASS管芯是白天，对象的边缘从第一边缘提取区域中提取，包括地平线参考区域做引用地平线上，和用于检测三维物体的阈值是基于设置 在第一边缘提取区域的边缘的强度; 当评估了进展，本DASS管芯是晚上的时间，一个对象的边缘从第二边缘提取区域中提取，包括道路边缘基准区域做引用道路边缘，以及用于检测三维物体是一个阈值 基于边缘的强度设定并从所述第二边缘提取区域提取。