公开(公告)号：US20180180409A1

公开(公告)日：2018-06-28

申请号：US15735357

申请日：2016-06-24

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Akihiro WATANABE ,  Yusuke KATAOKA ,  Tadashi SAKAI ,  Naoki KAWASAKI

IPC: G01B11/26 ,  G06T7/60

Abstract: An estimating device includes: a movement amount computing section that, on the basis of a position of a predetermined region within an image picked-up at a first time, and a position of a region that corresponds to the predetermined region and is within an image picked-up in a same direction at a second time that is after the first time, computing a movement amount of the predetermined region in a vertical direction; a movement amount integrating section that computes an integrated value of the movement amounts, each time the movement amount is computed; a correcting section that corrects the integrated value of a current point in time on the basis of time series data of the integrated values of the movement amounts within a past predetermined time period; and an estimating section that estimates a pitch angle of the vehicle on the basis of a corrected integrated value.

公开(公告)号：US20180017683A1

公开(公告)日：2018-01-18

申请号：US15648166

申请日：2017-07-12

Applicant: DENSO CORPORATION

Inventor： Kojiro TATEISHI ,  Naoki KAWASAKI ,  Shunsuke SUZUKI ,  Hiroshi MIZUNO ,  Kenji MUTO ,  Mikio SHIMIZU ,  Yusuke TANAKA

IPC: G01S19/48 ,  G01C21/00 ,  B60G17/019 ,  B60W40/06 ,  G05D1/02 ,  G01C21/36

CPC classification number: G01S19/48 ,  B60G17/01908 ,  B60W40/06 ,  G01C21/005 ,  G01C21/30 ,  G01C21/3602 ,  G01S17/023 ,  G01S17/936 ,  G05D1/0268

Abstract: In a location estimation device, a change detection unit detects a point of change in the width of a roadside structure as a width change point. A width correction unit calculates a width deviation between a first relative location of the roadside structure on a map data segment and a second relative location of the roadside structure obtained based on shape information of the roadside structure in the width direction of a vehicle. The width correction unit corrects, as a function of the width deviation and a positional accuracy of the vehicle in the travelling direction, an estimated location of the vehicle in the width direction when it is determined that there is the point of change in the width of the roadside structure in the travelling direction of the vehicle.

公开(公告)号：US20160375903A1

公开(公告)日：2016-12-29

申请号：US15262057

申请日：2016-09-12

Applicant: DENSO CORPORATION

Inventor： Akitoshi MINEMURA ,  Masayoshi TAKEDA ,  Yuusuke MATSUMOTO ,  Taku SAKIMA ,  Naoki KAWASAKI ,  Syunya KUMANO

IPC: B60W30/09 ,  B60Q9/00

CPC classification number: B60W30/09 ,  B60Q9/008 ,  B60T7/12 ,  B60T7/22 ,  B60T2201/022 ,  B60W30/08 ,  B60W2420/42

Abstract: A driving support apparatus installed in a host vehicle calculates an overlap ratio relating to a target object positioned ahead of the host vehicle within the same traffic lane, as the ratio of the width of the target object to its lateral distance from a lane marker line of the traffic lane, and also detects the motion condition of the object (i.e., stationary, moving towards, or in the same direction as the host vehicle, or moving laterally with respect to the forward direction of the host vehicle). An amount of compensation for retarding or advancing the commencement of a collision avoidance operation by the driving support apparatus is determined based on the overlap ratio and/or the motion condition of the target object.

Abstract translation: 安装在主车辆中的驾驶辅助装置计算与位于同一行车道内的本车辆前方的目标物体相关的重叠率，作为目标对象的宽度与其距离车道标记线的横向距离的比率 并且还检测物体的运动状况（即，静止，朝向或与主车辆相同的方向移动，或者相对于主车辆的向前方向横向移动）。 基于目标对象的重叠比和/或运动条件来确定用于延迟或推进驾驶辅助装置的避碰操作开始的补偿量。

公开(公告)号：US20160210519A1

公开(公告)日：2016-07-21

申请号：US14994421

申请日：2016-01-13

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Yusuke KATAOKA ,  Naoki KAWASAKI ,  Tadashi SAKAI ,  Akihiro WATANABE

IPC: G06K9/00 ,  G06K9/52 ,  G06T7/00 ,  G06K9/62 ,  B60R1/00 ,  G06K9/46

CPC classification number: G06K9/00798 ,  B60R1/00 ,  G06K9/4604 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6215 ,  G06K2009/4666 ,  G06T7/13 ,  G06T7/73 ,  G06T2207/30256

Abstract: A complex marking determining device includes a brightness state calculating portion configured to calculate a lane marking representative value indicative of a brightness state of a plurality of pixels that make up a lane marking display region, and calculate a road surface representative value indicative of a brightness state of a plurality of pixels that make up the road surface display region; and a complex marking determining portion configured to determine that the lane marking is a complex marking at least when a degree of deviation between the lane marking representative value and the road surface representative value is equal to or greater than a first threshold value.

Abstract translation: 复合标记确定装置包括：亮度状态计算部，被配置为计算表示构成车道标记显示区域的多个像素的亮度状态的车道标记代表值，并计算表示亮度状态的路面代表值 构成路面显示区域的多个像素; 以及复合标记确定部分，被配置为至少当车道标记代表值和路面代表值之间的偏差程度等于或大于第一阈值时，确定车道标记是复杂标记。