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公开(公告)号：US08818026B2
公开(公告)日：2014-08-26
申请号：US12918042
申请日：2009-04-24
申请人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
发明人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
IPC分类号： G06K9/00
CPC分类号： G01C21/26 , G06K9/00798 , G06T5/006 , G06T7/254 , G06T2207/30256 , G08G1/09623 , G08G1/165
摘要： An object recognition device includes; an image-capturing unit mounted to a mobile body; an image generation unit that converts images captured by the image-capturing unit at different time points to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares together a plurality of the synthesized images and detects corresponding regions; and a recognition unit that recognizes an object present upon the road surface from a difference between the corresponding regions.
摘要翻译： 物体识别装置包括： 安装到移动体的图像捕获单元; 图像生成单元，其将从不同时间点的图像拍摄单元拍摄的图像转换成从上方垂直向下观看的对应合成图像; 检测单元，其将多个合成图像进行比较并检测相应的区域; 以及识别单元，从相应区域之间的差异识别路面上存在的物体。
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公开(公告)号：US20120327189A1
公开(公告)日：2012-12-27
申请号：US13577712
申请日：2010-08-13
申请人： Shoji Muramatsu , Mirai Higuchi , Tatsuhiko Monji , Soichiro Yokota , Morihiko Sakano , Takeshi Shima
发明人： Shoji Muramatsu , Mirai Higuchi , Tatsuhiko Monji , Soichiro Yokota , Morihiko Sakano , Takeshi Shima
IPC分类号： H04N13/02
CPC分类号： G06T7/593 , G01C3/06 , G06K9/00805 , G06T2207/10012 , G06T2207/20012 , G06T2207/30261 , G08G1/166
摘要： A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.
摘要翻译： 提供了一种立体相机装置，其通过根据距离物体的距离使得测量距离分辨率可变地稳定地且高精度地进行距离测量。 立体相机装置1取两个图像，改变被摄取的每个图像的部分区域的分辨率，并且基于部分区域的部分区域的差异来计算从车辆到在该部分区域中成像的对象的距离 其中分辨率改变的每个图像。 因此，即使当物体长距离存在并且尺寸小时，也能够稳定地进行距离测量处理。
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公开(公告)号：US20110261168A1
公开(公告)日：2011-10-27
申请号：US13131426
申请日：2009-11-19
申请人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji
发明人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： H04N13/02
CPC分类号： H04N13/20 , B60T7/22 , B60T2201/16 , B60T2220/02 , B60T2260/08 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/18145 , B60W40/072 , G06K9/00798 , G06K9/00805 , G06T7/536 , G06T7/593 , G06T7/70 , G06T2207/10021 , G06T2207/30252 , G06T2207/30256
摘要： Provided is a camera device which is capable of estimating a road shape ahead of a target vehicle or capable of determining whether or not the target vehicle needs to be decelerated by controlling a brake before a curve, even in the situation where a white line of a traveling road or a roadside three-dimensional object is difficult to detect. A camera device 105 including a plurality of image capturing units 107 and 108 which each take an image of a traveling road ahead of a target vehicle 106, includes: a three-dimensional object ahead detection unit 114 which detects three-dimensional objects ahead 101 existing in a vicinity of a vanishing point of the traveling road 102 on the basis of the images picked up by the plurality of image capturing units 107 and 108; and a road shape estimation unit 113 which estimates a road shape of a distant portion on the traveling road 102 on the basis of a detection result detected by the three-dimensional object ahead detection unit 114.
摘要翻译： 提供一种相机装置，其能够估计目标车辆前方的道路形状，或者能够通过控制曲线前的制动器来确定目标车辆是否需要减速，即使在白线 行驶路或路边三维物体难以检测。 包括各自拍摄目标车辆106前方的行驶道路的图像的多个图像拍摄单元107和108的相机装置105包括：三维物体前进检测单元114，其检测前方的三维物体101 基于由多个图像拍摄单元107和108拾取的图像在行驶道路102的消失点附近; 以及道路形状估计单元113，其基于由三维物体前进检测单元114检测到的检测结果来估计行驶道路102上的远端部分的道路形状。
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公开(公告)号：US20110205042A1
公开(公告)日：2011-08-25
申请号：US13122369
申请日：2009-10-02
IPC分类号： B60Q1/00
摘要： Provided are an information processing device and a processing method both of which are capable of executing processing in response to a traveling situation of a vehicle, thereby securing safety at the time of emergency while securing convenience. The aforementioned information processing device includes: an image obtaining section which performs imaging and obtains information associated with an image; an information obtaining section which obtains the information of a traveling state; a first executing section which executes a first application that executes information processing for improving the safety of traveling; a second executing application which executes a second application that executes the information processing associated with an improvement in traveling feeling; and a determining section which, based on the information obtained in the image obtaining section and the information obtained in the information obtaining section, determines with or without a possibility of encountering an emergency event. Based on determination, made by the determining section, that it is likely to encounter the emergency event, the information processing device stops part of or the overall processing executed by the second executing section.
摘要翻译： 提供了能够根据车辆的行驶状况执行处理的信息处理装置和处理方法，从而在确保方便的同时确保了紧急时的安全性。 上述信息处理设备包括：图像获取部分，其执行成像并获得与图像相关联的信息; 信息获取部，其获取行驶状态的信息; 第一执行部，其执行执行用于提高行驶安全性的信息处理的第一应用; 第二执行应用程序，其执行执行与改善旅行感觉相关联的信息处理的第二应用程序; 以及确定部分，其基于在图像获取部分中获得的信息和在信息获取部分中获得的信息，确定是否有可能遇到紧急事件。 基于确定部判断出可能遇到紧急事件，信息处理装置停止由第二执行部执行的部分或整体处理。
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公开(公告)号：US08630793B2
公开(公告)日：2014-01-14
申请号：US13395327
申请日：2010-08-06
IPC分类号： G06F17/10
CPC分类号： B60W30/12 , B60W2550/143 , G08G1/167
摘要： A vehicle controller is provided capable of expanding an application range of departure prevention control while suppressing erroneous control. The vehicle controller includes: a vehicle-mounted camera 600 that captures an image in front of a vehicle; and an ECU 610 that decides one vehicle control method from a plurality of vehicle control methods and controls an actuator with the decided vehicle control method. The vehicle-mounted camera includes an area-specific confidence calculation section 400 that divides the image captured into a plurality of areas on a basis of an acquired image by the capturing and a recognized lane, calculates confidence for each divided area and outputs area-specific confidence information, and the ECU decides a vehicle control method in accordance with the area-specific confidence information.
摘要翻译： 提供了能够在抑制错误控制的同时扩大防止偏离控制的应用范围的车辆控制器。 车辆控制器包括：车载摄像机600，其捕获车辆前方的图像; 以及ECU 610，其根据多个车辆控制方法判定一个车辆控制方法，并且通过决定的车辆控制方法控制致动器。 车载摄像机包括区域特定置信度计算部分400，其通过捕获和识别的车道将基于获取的图像捕获的图像划分为多个区域，计算每个划分的区域的置信度并输出区域特定 置信信息，ECU根据区域特定置信度判定车辆控制方法。
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公开(公告)号：US08832704B2
公开(公告)日：2014-09-09
申请号：US13504418
申请日：2010-08-12
IPC分类号： G06F9/46
CPC分类号： G08G1/09623 , G06F9/4887 , G08G1/096783 , G08G1/096791 , G08G1/166 , G08G1/167
摘要： An in-car-use multi-application execution device is provided that ensures safety while maintaining convenience by securing operation of a plurality of applications and suppressing occurrence of a termination process within a limited processing capacity without degrading a real-time feature. The in-car-use multi-application execution device dynamically predicts a processing time for each application, and schedules each application on the basis of the predicted processing time. If it is determined that an application failing to complete a process in a prescribed cycle exists as a result of the scheduling, a process is executed that terminates the application or degrades the function of the application on the basis of a preset priority order.
摘要翻译： 提供一种车内使用的多应用程序执行装置，其通过确保多个应用的操作并且在有限的处理能力内抑制终止处理的发生而保持安全性而不降低实时特性。 车载多应用执行装置动态地预测每个应用的处理时间，并且基于预测的处理时间来调度每个应用。 如果作为调度的结果确定应用程序未能完成规定循环中的处理，则执行终止应用或基于预设优先级顺序降低应用功能的处理。
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公开(公告)号：US20120216208A1
公开(公告)日：2012-08-23
申请号：US13504418
申请日：2010-08-12
IPC分类号： G06F9/48
CPC分类号： G08G1/09623 , G06F9/4887 , G08G1/096783 , G08G1/096791 , G08G1/166 , G08G1/167
摘要： An in-car-use multi-application execution device is provided that ensures safety while maintaining convenience by securing operation of a plurality of applications and suppressing occurrence of a termination process within a limited processing capacity without degrading a real-time feature. The in-car-use multi-application execution device dynamically predicts a processing time for each application, and schedules each application on the basis of the predicted processing time. If it is determined that an application failing to complete a process in a prescribed cycle exists as a result of the scheduling, a process is executed that terminates the application or degrades the function of the application on the basis of a preset priority order.
摘要翻译： 提供一种车内使用的多应用程序执行装置，其通过确保多个应用的操作并且在有限的处理能力内抑制终止处理的发生而保持安全性而不降低实时特性。 车载多应用执行装置动态地预测每个应用的处理时间，并且基于预测的处理时间来调度每个应用。 如果作为调度的结果确定应用程序未能完成规定循环中的处理，则执行终止应用或基于预设优先级顺序降低应用功能的处理。
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公开(公告)号：US20120215377A1
公开(公告)日：2012-08-23
申请号：US13395327
申请日：2010-08-06
IPC分类号： G06F17/00
CPC分类号： B60W30/12 , B60W2550/143 , G08G1/167
摘要： A vehicle controller is provided capable of expanding an application range of departure prevention control while suppressing erroneous control. The vehicle controller includes: a vehicle-mounted camera 600 that captures an image in front of a vehicle; and an ECU 610 that decides one vehicle control method from a plurality of vehicle control methods and controls an actuator with the decided vehicle control method. The vehicle-mounted camera includes an area-specific confidence calculation section 400 that divides the image captured into a plurality of areas on a basis of an acquired image by the capturing and a recognized lane, calculates confidence for each divided area and outputs area-specific confidence information, and the ECU decides a vehicle control method in accordance with the area-specific confidence information.
摘要翻译： 提供了能够在抑制错误控制的同时扩大防止偏离控制的应用范围的车辆控制器。 车辆控制器包括：车载摄像机600，其捕获车辆前方的图像; 以及ECU 610，其根据多个车辆控制方法判定一个车辆控制方法，并且通过决定的车辆控制方法控制致动器。 车载摄像机包括区域特定置信度计算部分400，其通过捕获和识别的车道将基于获取的图像捕获的图像划分为多个区域，计算每个划分的区域的置信度并输出区域特定 置信信息，ECU根据区域特定置信度判定车辆控制方法。
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公开(公告)号：US20080136612A1
公开(公告)日：2008-06-12
申请号：US11941259
申请日：2007-11-16
申请人： Kimiyoshi Machii , Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Shoji Muramatsu
发明人： Kimiyoshi Machii , Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Shoji Muramatsu
IPC分类号： B60Q1/00
CPC分类号： G01S11/12 , G01S17/936 , G06K9/00798 , G06K9/00805
摘要： Disclosed is an obstacle detection apparatus to detect more accurately a moving obstacle present around a motor vehicle. With this system, desired feature quantities of an obstacle present in a coverage of a first sensor are calculated and then stored into a storage device, and when the obstacle moves from the coverage of the first sensor to a coverage of a second sensor, a relative distance to the obstacle is calculated from the above-stored feature quantities of the obstacle and from the desired feature quantities of the obstacle, obtained by analyzing the recognition results of the second sensor that have been processed by a processor which processes the recognition results.
摘要翻译： 公开了一种用于更准确地检测机动车辆周围的移动障碍物的障碍物检测装置。 利用该系统，计算存在于第一传感器的覆盖范围内的障碍物的期望特征量，然后存储到存储装置中，并且当障碍物从第一传感器的覆盖区移动到第二传感器的覆盖区域时，相对 从障碍物的上述存储的特征量以及通过分析由处理识别结果的处理器处理的第二传感器的识别结果所获得的期望的特征量来计算与障碍物的距离。
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公开(公告)号：US07782179B2
公开(公告)日：2010-08-24
申请号：US11941259
申请日：2007-11-16
申请人： Kimiyoshi Machii , Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Shoji Muramatsu
发明人： Kimiyoshi Machii , Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Shoji Muramatsu
IPC分类号： B60Q1/00
CPC分类号： G01S11/12 , G01S17/936 , G06K9/00798 , G06K9/00805
摘要： An obstacle detection apparatus more accurately detects a moving obstacle present around a motor vehicle. With this system, desired feature quantities of an obstacle present in a coverage of a first sensor are calculated and then stored into a storage device, and when the obstacle moves from the coverage of the first sensor to a coverage of a second sensor, a relative distance to the obstacle is calculated from the above-stored feature quantities of the obstacle and from the desired feature quantities of the obstacle, obtained by analyzing the recognition results of the second sensor that have been processed by a processor which processes the recognition results.
摘要翻译： 障碍物检测装置更准确地检测机动车辆周围存在的移动障碍物。 利用该系统，计算存在于第一传感器的覆盖范围内的障碍物的期望特征量，然后存储到存储装置中，并且当障碍物从第一传感器的覆盖区移动到第二传感器的覆盖区域时，相对 从障碍物的上述存储的特征量以及通过分析由处理识别结果的处理器处理的第二传感器的识别结果所获得的期望的特征量来计算与障碍物的距离。
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