公开(公告)号：US20180253853A1

公开(公告)日：2018-09-06

申请号：US15974287

申请日：2018-05-08

Applicant: NIPPON SOKEN, INC. ,  DENSO CORPORATION

Inventor： Syunya KUMANO ,  Naoki KAWASAKI ,  Shunsuke SUZUKI ,  Tetsuya TAKAFUJI ,  Kazuma HASHIMOTO

IPC: G06T7/13 ,  G06K9/00 ,  G06T7/12

CPC classification number: G06T7/13 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/10016 ,  G06T2207/10152 ,  G06T2207/20061 ,  G06T2207/20076 ,  G06T2207/30256

Abstract: In a boundary line recognition apparatus, based on luminance levels of an image captured by a camera, candidate edge points of a boundary line sectioning a travel road are extracted, and a candidate line of the boundary line is extracted. An apparent width of the candidate line on an image is calculated, from a width of the candidate line in a horizontal direction of the image and an angle of the candidate line relative to a vertical direction of the image. A probability of a candidate line being a boundary line is calculated to be higher, as a degree of the candidate line having characteristics as a boundary line is higher. The calculated probabilities are integrated in respect of a plurality of characteristics to recognize a boundary line. The characteristics include a ratio of the calculated apparent width to an image blur degree is larger than a predetermined value.

公开(公告)号：US20220413486A1

公开(公告)日：2022-12-29

申请号：US17809108

申请日：2022-06-27

Applicant: DENSO CORPORATION

Inventor： Syoya ISHIDA ,  Shunya KUMANO ,  Tetsuya TAKAFUJI ,  Masaya OKADA ,  Naoya INOUE

IPC: G05D1/00 ,  G05D1/02 ,  B60W40/04 ,  B60W50/00 ,  H04W4/40

Abstract: An evacuation running assistance system includes a road shoulder evacuation possibility determiner to determine if an own vehicle can be evacuated to a road shoulder; an own vehicle situation determiner to determine a current situation of an own vehicle in accordance with a time limit and the road shoulder evacuation possibility, a controller to control an own vehicle in accordance with the situation of the own vehicle; and a road shoulder evacuation possibility road determiner to acquire evacuation space information from a past running history of the own vehicle. The own vehicle situation determiner determines that the own vehicle is in the situation to be controlled to perform the on-lane stopping when the road shoulder evacuation possibility road determiner does not determine within the provisional time that the evacuation of the own vehicle to the road shoulder is possible.

公开(公告)号：US20220410877A1

公开(公告)日：2022-12-29

申请号：US17809111

申请日：2022-06-27

Applicant: DENSO CORPORATION

Inventor： Syoya ISHIDA ,  Shunya KUMANO ,  Tetsuya TAKAFUJI ,  Ukyo TANIKAWA ,  Naoya INOUE

IPC: B60W30/08 ,  B60W40/04 ,  B60W40/06 ,  B60W40/105 ,  B60W40/12 ,  B60W50/00 ,  G06V20/56 ,  G06V20/58 ,  G06V10/44 ,  G01S13/931

Abstract: An evacuation running assistance system includes a peripheral environment recognizer to recognize at least a space of a road shoulder and a free space as a non-traffic portion, a time limit setter to set a time limit on the own vehicle for continuing evacuation running, and an evacuation place setter to determine at least one of the road shoulder space and the free space recognized by the peripheral environment recognizer as an evacuation place where the own vehicle is evacuated. A situation determiner determines a situation of an own vehicle as being in one of situations in which evacuation running is to be continued, running of an own vehicle is to be stopped on a lane, and road shoulder evacuation is to be performed based on the time limit. A controller controls the own vehicle based on the situation of the own vehicle determined by the situation determiner.

公开(公告)号：US20160107645A1

公开(公告)日：2016-04-21

申请号：US14788000

申请日：2014-06-05

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Yuji OKUDA ,  Yoichi IWATA ,  Takahito NAKANO ,  Takashi KAWAI ,  Junpei TATSUKAWA ,  Tetsuya TAKAFUJI

IPC: B60W30/12 ,  B60W10/18 ,  G06K9/00 ,  B60W10/20

CPC classification number: B60W30/12 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/18145 ,  B60W2420/42 ,  B60W2520/28 ,  B60W2550/00 ,  B60W2550/14 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2710/202 ,  B60W2720/14 ,  G06K9/00798

Abstract: A departure prevention support apparatus includes a lane boundary sign recognizing part configured to recognize a lane boundary sign; a departure detecting part configured to detect a departure of the host vehicle from the lane boundary sign; and a target travel line generating part configured to generate a target travel line if the departure detecting part detects the departure, wherein the target travel line includes a first target travel line for reducing the departure, and a second target travel line for modifying a direction of the host vehicle whose departure has been reduced after having traveled along the first target travel line; wherein the target travel line generating part sets one of the first target travel line and the second target travel line such that it is substantially straight, depending on a direction of the departure and a direction of a curvature of the lane boundary sign.

Abstract translation: 一种离境预防支援装置包括：车道边界符号识别部件，被配置为识别车道边界符号; 偏航检测部，被配置为检测所述主车辆与所述车道边界标志的偏离; 以及目标行进线生成部，其被配置为如果所述偏离检测部检测到所述偏离，则生成目标行驶线，其中，所述目标行进线包括用于减少所述偏离的第一目标行进线，以及用于修改所述偏离的方向的第二目标行进线 在沿着第一目标行驶线行驶之后，其起飞已经减少的主车辆; 其中，所述目标行进线生成部根据所述出发的方向和所述车道边界符号的曲率的方向，将所述第一目标行驶线和所述第二目标行驶线中的一个设定为基本上直线。

公开(公告)号：US20150178574A1

公开(公告)日：2015-06-25

申请号：US14576863

申请日：2014-12-19

Applicant: DENSO CORPORATION

Inventor： Shunsuke SUZUKI ,  Syunya KUMANO ,  Naoki KAWASAKI ,  Tetsuya TAKAFUJI

IPC: G06K9/00 ,  G06T7/40

CPC classification number: G06K9/00798 ,  G06K9/4652 ,  G06T7/90 ,  G06T2207/30256

Abstract: A brightness value calculation apparatus includes a color image obtaining section which obtains a color image obtained by imaging a view outside a vehicle and a brightness value calculation section which calculates a brightness value A of a pixel of at least part of the color image based on an expression (1): A=αAR+βAG+γAB  (1) where AR is brightness of R (red) of the pixel for which the brightness value A is to be calculated, AG is brightness of G (green) of the pixel for which the brightness value A is to be calculated, AB is brightness of B (blue) of the pixel for which a brightness value A is to be calculated, and α, β, γ are constants satisfying a relationship α>β>γ.

Abstract translation: 亮度值计算装置包括：彩色图像获取部，其获得通过对车辆外部的视图进行成像而获得的彩色图像;以及亮度值计算部，其基于图像计算部分计算彩色图像的至少一部分的像素的亮度值A 表达式（1）：A =αAR+＆bgr; AG +γAB（1）其中，AR是要计算亮度值A的像素的R（红色）的亮度，AG是G（绿色）的亮度 要计算亮度值A的像素，AB是要计算亮度值A的像素的B（蓝色）的亮度，α，＆bgr;γ是满足关系α>＆bgr的常数; >γ。