公开(公告)号：US20200057897A1

公开(公告)日：2020-02-20

申请号：US16662380

申请日：2019-10-24

Applicant: DENSO CORPORATION

Inventor： Mitsuyasu MATSUURA ,  Taketo HARADA ,  Yu MAEDA ,  Hirohiko YANAGAWA

IPC: G06K9/00 ,  G06T7/62 ,  G06T7/50 ,  G01S15/08 ,  G01S15/93 ,  G01S15/02

Abstract: A position acquisition unit acquires relative position information between an own vehicle and an obstacle based on a reception wave received by a distance measurement sensor. A shape recognition unit executes shape recognition of the obstacle based on image information acquired by an image capturing unit. A detection processing unit detects the obstacle based on the relative position information acquired by the position acquisition unit and a shape recognition result obtained by the shape recognition unit. The detection processing unit determines whether the height of the obstacle is equal to or greater than a predetermined height or not. The detection processing unit discards the relative position information corresponding to the obstacle in a case where the shape recognition result obtained by the shape recognition unit indicates that the height of the obstacle is less than the predetermined height.

公开(公告)号：US20190132543A1

公开(公告)日：2019-05-02

申请号：US16096042

申请日：2017-04-25

Applicant: DENSO CORPORATION

Inventor： Yu MAEDA ,  Taketo HARADA ,  Mitsuyasu MATSUURA ,  Hirohiko YANAGAWA ,  Muneaki MATSUMOTO

IPC: H04N5/445 ,  G06K9/00 ,  G06T7/13 ,  H04N5/272 ,  H04N5/262 ,  B60R1/00

Abstract: An image processing unit identifies the shape of an obstacle that is identified from an area that appears in a peripheral image based on an image captured by a camera. The shape of the obstacle includes at least a tilt of a section of the obstacle in a road-surface direction. The section of the obstacle faces a vehicle. The image processing unit generates a superimposed image in which a mark image that is generated as a pattern that indicates the identified obstacle is superimposed onto a position that corresponds to the obstacle in the peripheral image. At this time, the image processing unit variably changes properties of the mark image based on the tilt of the obstacle identified by an obstacle identifying unit. The image processing unit then displays the generated superimposed image on display apparatus.

公开(公告)号：US20190009720A1

公开(公告)日：2019-01-10

申请号：US16069060

申请日：2017-01-11

Applicant: DENSO CORPORATION

Inventor： Shogo OMIYA ,  Akihiro SUNASAKA ,  Nobuyuki YOKOTA ,  Hirohiko YANAGAWA

IPC: B60R1/00 ,  H04N5/265 ,  H04N5/247 ,  H04N5/445 ,  H04N5/262

Abstract: A driving assistance device converts an image captured by an in-vehicle camera configured to image the periphery of a vehicle into an image viewed from a virtual viewpoint. The driving assistance device combines, as a higher-level layer, a vehicle image indicating the position and shape of the vehicle with a converted target image. The driving assistance device adjusts the opacity of the vehicle image such that the target image as a lower-level layer is visible at a superimposed portion of the vehicle image and the target image. At this point, the opacity of the vehicle image is variably set according to at least one of an own vehicle surrounding condition or a vehicle running condition. The driving assistance device outputs, as a driving assistance image, the target image combined with the adjusted vehicle image.

公开(公告)号：US20200267353A1

公开(公告)日：2020-08-20

申请号：US16869966

申请日：2020-05-08

Applicant: DENSO CORPORATION

Inventor： Hiroshi ISHIDA ,  Hirohiko YANAGAWA ,  Shusaku SHIGEMURA

IPC: H04N7/18 ,  H04N5/272 ,  H04N5/225 ,  H04N5/247 ,  B60R1/00

Abstract: In a display processing device, an acquisition section acquires a captured image of surroundings of the vehicle from at least one imaging device installed in a vehicle. A first generation section generates a first converted image that is an image as seen from a first viewpoint in the vehicle, based on the captured image at a latest imaging time point. A calculation section calculates displacement of the vehicle. A second generation section generates a second converted image that is an image as seen from the first viewpoint at the latest imaging time point and is an image of an area including under the vehicle, based on the captured image captured earlier than the latest imaging time point and the displacement. The display processing section causes a display device visible to an occupant of the vehicle to display a display image obtained by compositing the first and second converted images.

公开(公告)号：US20200082184A1

公开(公告)日：2020-03-12

申请号：US16682367

申请日：2019-11-13

Applicant: DENSO CORPORATION

Inventor： Hideki SHIRAI ,  Masayuki IMANISHI ,  Hirohiko YANAGAWA

IPC: G06K9/00 ,  G06T7/20

Abstract: An object detection device acquires a plurality of images captured by a camera mounted in a moving body and acquires movement information of the camera. The object detection device extracts an edge from a first image among the acquired images. The object detection device calculates a plurality of candidate points corresponding to the edge in a second image, based on the movement information and calculates candidate points corresponding to a plurality of heights as height candidates of the edge. The object detection device calculates a correlation index value between the edge and each of the plurality of candidate points and detects the candidate point with the largest correlation as a correspondence point of the edge. The object detection device detects an object at a position of the edge when the correlation index value of the detected correspondence point is equal to or smaller than a predetermined threshold.

公开(公告)号：US20200051230A1

公开(公告)日：2020-02-13

申请号：US16342672

申请日：2017-10-12

Applicant: DENSO CORPORATION

Inventor： Yoshinori OZAKI ,  Hirohiko YANAGAWA

IPC: G06T7/00 ,  G06T7/20 ,  G06K9/00

Abstract: An image recognition device includes an image acquisition unit, a moving object detection unit, and a pedestrian detection unit. The image acquisition unit acquires consecutive captured images of a surrounding of a vehicle from a camera mounted to the vehicle. The moving object detection unit calculates a moving amount based on consecutive captured images in time series acquired by the image acquisition unit to detect a moving object from the captured images. The pedestrian detection unit detects a pedestrian using an identifier for identifying a pedestrian from the captured images acquired by the image acquisition unit. The pedestrian detection unit relaxes a detection criterion for detecting a pedestrian using the identifier in a region of a captured image where the moving object is detected.

公开(公告)号：US20190246068A1

公开(公告)日：2019-08-08

申请号：US16340847

申请日：2017-10-05

Applicant: DENSO CORPORATION

Inventor： Kenji KOHARA ,  Hirohiko YANAGAWA ,  Akihiro SUNASAKA ,  Satoshi HOSHI

IPC: H04N7/18 ,  B60R1/00

CPC classification number: H04N7/18 ,  B60R1/00 ,  B60R2300/303 ,  B60R2300/607 ,  B60R2300/80

Abstract: An image processing unit repeatedly acquires a captured bird's-eye image which is obtained by bird's-eye conversion of a captured image of the surroundings of a vehicle. An image processing unit acquires a history image that is a bird's-eye image corresponding to a predetermined area in front in the traveling direction at each timing determined according to a predetermined condition. The image processing unit acquires a history image at every predetermined first cycle if an unstable condition related to a behavior of the vehicle is not satisfied. If an unstable condition is satisfied, the history image is acquired at a later timing than the first cycle. The image processing unit creates a bird's-eye image for display by extracting an area corresponding to a non-imaging area of the latest captured bird's-eye image from among the accumulated history images, and combining the extracted area with the non-imaging area.

公开(公告)号：US20190087665A1

公开(公告)日：2019-03-21

申请号：US16082395

申请日：2017-03-06

Applicant: DENSO CORPORATION

Inventor： Nobuyuki YOKOTA ,  Hirohiko YANAGAWA

IPC: G06K9/00 ,  B60R1/00 ,  G06T15/20 ,  B60W40/105

Abstract: An information processing apparatus includes a status determining unit, a speed detecting unit, and a display controlling unit. The status determining unit determines a control status of control performed by an output control apparatus controlling an output direction of a driving force for a vehicle. The speed detecting unit detects a traveling speed of the vehicle. The display controlling unit allows a display apparatus to display one or more surrounding images included in a plurality of surrounding images and determined according to the control status determined by the status determining unit and the traveling speed detected by the speed detecting unit, the plurality of surrounding images being images which show surroundings of the vehicle based on images captured by one or more cameras capturing images of the surroundings of the vehicle and which differ from one another in at least one of a viewpoint and a display range.

公开(公告)号：US20170368993A1

公开(公告)日：2017-12-28

申请号：US15534435

申请日：2015-10-29

Applicant: DENSO CORPORATION

Inventor： Shingo IMURA ,  Hirohiko YANAGAWA

IPC: B60R1/00 ,  G06T3/40 ,  G06T7/70 ,  H04N7/18

CPC classification number: B60R1/00 ,  B60R2300/301 ,  B60R2300/306 ,  B60R2300/8033 ,  G06T1/00 ,  G06T3/40 ,  G06T7/70 ,  G06T2207/10016 ,  G06T2207/30261 ,  G08G1/16 ,  H04N7/18

Abstract: An ECU captures an image of an imaging region around an own vehicle, and acquires image data, the imaging region being configured by a plurality of imaging areas. The ECU determines whether the object is present in the imaging areas, on the basis of detection results of an object present around the own vehicle. The ECU selects a target area to be displayed in an easy-to-see state from among the plurality of imaging areas, on the basis of determination results. The ECU reduces and corrects the image data of each imaging area such that an image of the target area is displayed in the easy-to-see state compared to an image of each imaging area to generate display image data.