公开(公告)号：US20160110617A1

公开(公告)日：2016-04-21

申请号：US14886941

申请日：2015-10-19

Applicant: DENSO CORPORATION

Inventor： Naoki Kawasaki ,  Tomohiko Tsuruta ,  Shunsuke Suzuki

IPC: G06K9/00 ,  B60R1/00 ,  H04N7/18

CPC classification number: G06K9/00798 ,  B60R1/00 ,  B60R2300/804 ,  H04N7/183

Abstract: An apparatus for recognizing lane partition lines on opposite sides of a traveling lane of a vehicle based on a forward image captured by a camera mounted in the vehicle. In the apparatus, an allowable range limiter is configured to, based on a learned value of a lane width learned by a lane width learner, limit allowable ranges for the respective lane partition lines, where in the allowable ranges the respective lane partition lines are allowed to be detected in the forward image. A lane change determiner is configured to determine whether or not there is a lane change made by the vehicle. The allowable range limiter is further configured to, if it is determined by the lane change determiner that there is a lane change, enlarge at least one of the allowable ranges limited by the allowable range limiter based on the learned value of the lane width.

Abstract translation: 一种用于基于由安装在车辆中的相机拍摄的前向图像来识别车辆行驶车道的相对侧上的车道划分线的装置。 在该设备中，允许范围限制器被配置为基于由车道宽度学习者学习的车道宽度的学习值来限制各车道分隔线的允许范围，其中在允许范围内允许各车道分隔线 在正向图像中被检测。 车道变化确定器被配置为确定是否存在由车辆进行的车道改变。 另外，上述容许范围限制器进一步构成为，如果由所述车道变更确定器确定存在车道变更，则基于车道宽度的学习值，扩大由所述容许范围限制器限制的所述容许范围中的至少一个。

公开(公告)号：US20160110616A1

公开(公告)日：2016-04-21

申请号：US14886918

申请日：2015-10-19

Applicant: DENSO CORPORATION

Inventor： Naoki Kawasaki ,  Tomohiko Tsuruta ,  Shunsuke Suzuki

IPC: G06K9/00 ,  B60R1/00 ,  G06K9/32 ,  H04N7/18

CPC classification number: G06K9/00798 ,  B60R1/00 ,  B60R2300/306 ,  G06K9/3233 ,  H04N7/183

Abstract: An apparatus for recognizing lane partition lines on opposite sides of a traveling lane in a processing area of a forward image captured by a camera mounted in a vehicle. In the apparatus, a lane change determiner is configured to determine whether or not there is a lane change made by the vehicle. A processing area changer is configured to, while it is determined by the lane change determiner that there is a lane change, change the processing area from a predefined processing area to a processing area that can accommodate the lane change.

Abstract translation: 一种用于在由安装在车辆中的照相机拍摄的前向图像的处理区域中识别行驶车道的相对侧上的车道划分线的装置。 在该装置中，车道变更确定器被配置为确定是否存在由车辆进行的车道改变。 处理区域更换器被配置为，在由车道变化确定器确定存在车道改变的同时，将处理区域从预定义的处理区域改变为可以适应车道改变的处理区域。

公开(公告)号：US10134282B2

公开(公告)日：2018-11-20

申请号：US13772844

申请日：2013-02-21

Applicant: DENSO CORPORATION

Inventor： Tomohiko Tsuruta ,  Motonori Tominaga ,  Yusuke Ueda ,  Takeshi Hatoh

IPC: G08G1/16 ,  B60W30/16

Abstract: A tracking control apparatus for tracking a preceding vehicle includes information acquiring unit for acquiring information about surrounding the own vehicle, preceding vehicle determining unit for determining the preceding vehicle running ahead of the own vehicle, control unit controls the tracking control to be maintained or released, and turn signal determining unit for determining whether or not a turn signal of a turn signal unit of the preceding vehicle is active. The control unit maintains or releases the tracking control by determining the surrounding of the own vehicle concerning a traffic lane change by the preceding vehicle based on the information acquired by the information acquiring unit, when the turn signal determining unit determines that the turn signal of the turn signal unit is active.

公开(公告)号：US09460352B2

公开(公告)日：2016-10-04

申请号：US14792858

申请日：2015-07-07

Applicant: DENSO CORPORATION

Inventor： Tomohiko Tsuruta ,  Shunsuke Suzuki ,  Naoki Kawasaki ,  Osamu Shimomura

IPC: G06K9/00 ,  G06K9/52 ,  G06T7/60 ,  G06K9/62 ,  G06T7/00 ,  G06K9/46

CPC classification number: G06K9/00798 ,  G06K9/52 ,  G06K9/6215 ,  G06K2009/4666 ,  G06T7/60 ,  G06T2207/30256

Abstract: In a lane boundary line recognition device, an extraction unit extracts lane boundary line candidates from image acquired by an in-vehicle camera. A position estimation unit estimates a position of each lane boundary line based on drive lane information containing a number of drive lanes on a roadway and a width of each drive lane when (a) and (b) are satisfied, (a) when an own vehicle drives on an own vehicle lane specified by the drive lane specifying unit, and (b) when the lane boundary line candidate corresponds to lane boundary lines of the own vehicle lane. A likelihood calculation unit increases a likelihood of the lane boundary line candidate when a distance between a position of the lane boundary line candidate and an estimated position of the lane boundary line candidate obtained by the drive lane boundary line position estimation unit is within a predetermined range.

Abstract translation: 在车道边界线识别装置中，提取单元从车载摄像机获取的图像中提取车道边界线候选。 当满足（a）和（b）时，位置估计单元基于包含道路上的多个驱动车道的驱动车道信息和每个驱动车道的宽度来估计每个车道边界线的位置，（a）当自身 由车道指定单元指定的车辆车道上的车辆驱动，以及（b）当车道边界线候补对应于本车道的车道边界线时。 当车道边界线候补的位置与由行驶车道边界线位置估计单元获得的车道边界线候选者的估计位置之间的距离在预定范围内时，似然度计算单元增加车道边界线候选的可能性 。

公开(公告)号：US20160055383A1

公开(公告)日：2016-02-25

申请号：US14830200

申请日：2015-08-19

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Naoki Kawasaki ,  Tomohiko Tsuruta ,  Shunsuke Suzuki

IPC: G06K9/00 ,  G06K9/66

CPC classification number: G06K9/00798 ,  G06K9/033

Abstract: In a lane boundary line recognition device, a calculation section calculates a degree of uncertainty which affects a correct recognition of white lines on a roadway of a vehicle. A learning section updates a learning value of the degree of uncertainty. A recognition suppression section suppresses execution of a recognition process of recognizing white lines on the roadway when the updated learning value is more than a threshold value. An environment change judgment section judges whether or not a road environment has changed. A learning resetting section resets the learning value of the degree of uncertainty to a previous learning value when the detection result of the environment change judgment section indicates an occurrence of change of the road environment.

Abstract translation: 在车道边界线识别装置中，计算部分计算影响车辆道路上的白线的正确识别的不确定度。 学习部分更新不确定程度的学习价值。 当更新的学习值大于阈值时，识别抑制部分抑制识别道路上的白线的识别处理的执行。 环境变化判断部判断道路环境是否变化。 当环境变化判断部分的检测结果指示道路环境的变化的发生时，学习重置部分将不确定度的学习值重置为先前的学习值。

公开(公告)号：US09002614B2

公开(公告)日：2015-04-07

申请号：US13775826

申请日：2013-02-25

Applicant: Denso Corporation ,  Nippon Soken, Inc.

Inventor： Motonori Tominaga ,  Tomohiko Tsuruta ,  Yusuke Ueda ,  Takeshi Hatoh

IPC: B60T7/12 ,  G05D1/00 ,  G05D1/12 ,  G06F7/00 ,  G06F17/00 ,  B60K31/00 ,  B60W50/00 ,  B60W30/16 ,  B60W30/18

CPC classification number: B60K31/0008 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  B60W2750/308 ,  Y02T10/84

Abstract: An inter-vehicle distance control device is provided. In this control device, an inter-vehicle distance detecting section detects an inter-vehicle distance between an own vehicle and a preceding vehicle traveling in front of the own vehicle. A laterally adjacent vehicle detecting section detects another vehicle present beside the own vehicle. A cut-in detecting section judges whether or not a cut-in by the other vehicle detected by the laterally adjacent vehicle detecting section is likely to occur, before the other vehicle cuts in between the own vehicle and the preceding vehicle. An inter-vehicle distance adjusting section performs an inter-vehicle distance extension adjustment to increase the inter-vehicle distance when the cut-in detecting section judges that a cut-in is likely to occur. An inter-vehicle distance control section controls the inter-vehicle distance based on information from the inter-vehicle distance adjusting section.

Abstract translation: 提供车辆间距离控制装置。 在该控制装置中，车辆间距离检测部检测在本车辆前方行驶的本车和前车之间的车间距离。 横向相邻的车辆检测部分检测在本车辆旁边存在的另一车辆。 在另一车辆在本车和前一车辆之间切入之前，切入检测部判断是否可能发生由横向相邻车辆检测部检测到的其他车辆的切入。 当切入检测部判断为可能发生切入时，车间距离调整部进行车间距离延长调整，以增大车间距离。 车辆间距离控制部基于来自车辆间距离调整部的信息来控制车辆间距离。

公开(公告)号：US20130238194A1

公开(公告)日：2013-09-12

申请号：US13788387

申请日：2013-03-07

Applicant: DENSO CORPORATION

Inventor： Yusuke Ueda ,  Motonori Tominaga ,  Tomohiko Tsuruta ,  Takeshi Hatoh

IPC: B62D6/00

CPC classification number: B62D6/00 ,  B62D15/025

Abstract: A vehicle driving assistance apparatus mounted in a vehicle. In the apparatus, a drivable route detection unit detects a drivable route, a vehicle state quantity detection unit detects state quantities of the vehicle, and a steering control unit controls steering of the vehicle. Further, in the apparatus, an allowable region estimation unit estimates a driving allowable region on the basis of the detected state quantities and a predetermined allowable range of behavior of the vehicle. A deviation determination unit determines that the vehicle will deviate from the drivable route when a minimum width of an overlap region of the drivable route and the driving allowable region is less than a predetermined threshold. An intervention instruction unit then outputs to the steering control unit an intervention control signal to control steering of the vehicle.

Abstract translation: 一种安装在车辆中的车辆驾驶辅助装置。 在该装置中，可驱动路线检测单元检测可驱动路线，车辆状态量检测单元检测车辆的状态量，转向控制单元控制车辆的转向。 此外，在该装置中，允许区域估计单元基于检测到的状态量和车辆的预定的行驶容许范围来估计驾驶容许区域。 当可驱动路线和驾驶允许区域的重叠区域的最小宽度小于预定阈值时，偏差确定单元确定车辆将偏离可驱动路线。 然后，介入指令单元向转向控制单元输出介入控制信号，以控制车辆的转向。

公开(公告)号：US20130226433A1

公开(公告)日：2013-08-29

申请号：US13775826

申请日：2013-02-25

Applicant: DENSO CORPORATION ,  Nippon Soken, Inc.

Inventor： Motonori Tominaga ,  Tomohiko Tsuruta ,  Yusuke Ueda ,  Takeshi Hatoh

IPC: B60K31/00

CPC classification number: B60K31/0008 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  B60W2750/308 ,  Y02T10/84

Abstract: An inter-vehicle distance control device is provided. A typical embodiment of the device comprises, i) an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and the preceding vehicle traveling in front of the own vehicle, ii) a laterally adjacent vehicle detecting means for detecting another vehicle present beside the own vehicle, iii) a cut-in detecting means for judging whether or not a cut-in by the other vehicle detected by the laterally adjacent vehicle detecting means is likely to occur, before the other vehicle cuts in between the own vehicle and the preceding vehicle, iv) an inter-vehicle distance adjusting means for performing inter-vehicle distance extension adjustment to increase the inter-vehicle distance when the cut-in detecting means judges that a cut-in is likely to occur, and v) an inter-vehicle distance control means for controlling the inter-vehicle distance based on information from the inter-vehicle distance adjusting means.

Abstract translation: 提供车辆间距离控制装置。 该装置的典型实施例包括：i）车辆间距离检测装置，用于检测在本车辆前方行驶的前车之间的车间距离; ii）横向邻近车辆检测装置， 存在于本车辆旁边的另一车辆，iii）切入检测装置，用于在另一车辆切入之前判断是否可能发生由横向相邻的车辆检测装置检测到的另一车辆的切入 本车辆和前一车辆; iv）车辆间距离调整装置，用于当所述切入检测装置判断为切入可能发生时，进行车间距离延伸调整，以增加所述车辆间距离;以及 v）车辆间距离控制装置，用于基于来自车辆间距离调节装置的信息来控制车辆间距离。

公开(公告)号：US20130226402A1

公开(公告)日：2013-08-29

申请号：US13772844

申请日：2013-02-21

Applicant: DENSO CORPORATION

Inventor： Tomohiko Tsuruta ,  Motonori Tominaga ,  Yusuke Ueda ,  Takeshi Hatoh

IPC: G08G1/16

CPC classification number: G08G1/166 ,  B60W30/16

Abstract: A tracking control apparatus for tracking a preceding vehicle includes information acquiring unit for acquiring information about surrounding the own vehicle, preceding vehicle determining unit for determining the preceding vehicle running ahead of the own vehicle, control unit controls the tracking control to be maintained or released, and turn signal determining unit for determining whether or not a turn signal of a turn signal unit of the preceding vehicle is active. The control unit maintains or releases the tracking control by determining the surrounding of the own vehicle concerning a traffic lane change by the preceding vehicle based on the information acquired by the information acquiring unit, when the turn signal determining unit determines that the turn signal of the turn signal unit is active.

Abstract translation: 用于跟踪前方车辆的跟踪控制装置包括用于获取关于本车辆的信息的信息获取单元，用于确定在本车辆前方行驶的前一车辆的前方车辆确定单元，控制单元控制要保持或释放的跟踪控制， 以及转向信号确定单元，用于确定前一车辆的转向信号单元的转向信号是否有效。 控制单元通过基于由信息获取单元获取的信息，通过确定本车辆对于前方车辆的行车道变化的周围来维持或释放跟踪控制，当转向信号确定单元确定转向信号 转向信号单元处于活动状态。

公开(公告)号：US09403555B2

公开(公告)日：2016-08-02

申请号：US14132329

申请日：2013-12-18

Applicant: DENSO CORPORATION

Inventor： Yusuke Ueda ,  Tomohiko Tsuruta ,  Takeshi Hatoh ,  Takayuki Kondoh ,  Naoya Inoue

IPC: B62D15/00 ,  B62D15/02 ,  B60W30/165 ,  G08G1/16 ,  B60K31/00 ,  G08G1/00

CPC classification number: B62D15/025 ,  B60K2031/005 ,  B60W30/16 ,  B60W30/165 ,  B60W30/18163 ,  B60W50/0097 ,  B60W2550/306 ,  B62D15/026 ,  G08G1/166 ,  G08G1/167 ,  G08G1/22

Abstract: A selection track setting section in a driving route generation device determines as a selected track a track of a preceding vehicle when a detection section and a track generation section detects a track of the preceding vehicle which is running on the same driving lane of a host vehicle. A candidate track selection section outputs as a candidate track one of tracks of front vehicles, detected by the detection section and the track generation section, other than the track of the preceding vehicle. A switching selection section switches as the selected track from the track of the preceding vehicle to the candidate track when a detection of the track of the preceding vehicle is interrupted during a predetermined detection period. An estimate route generation section generates an estimated driving route of the host vehicle on the bass of the selected track.

Abstract translation: 当检测部分和轨道产生部分检测到在主车辆的同一行驶车道上行驶的前一车辆的轨道时，驾驶路线生成装置中的选择轨道设置部分将所选轨道确定为前方车辆的轨道 。 候选轨道选择部分除了前一车辆的轨道之外，作为候选轨道输出由检测部分和轨道生成部分检测的前车辆的轨道之一。 当在预定检测周期期间中断前一车辆的轨道的检测时，切换选择部分将所选轨道从前方车辆的轨道切换到候选轨道。 估计路线生成部生成所选择的轨道的低音上的本车辆的估计驾驶路线。