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公开(公告)号：US09542605B2
公开(公告)日：2017-01-10
申请号：US14412385
申请日：2013-07-03
CPC分类号： G06K9/00798 , G06K9/03 , H04N7/18
摘要： It is provided a state recognition system configured to recognize a state of a traveling road on which a vehicle travels, the state recognition system being configured to: select a substance adhered on a lens of a camera mounted on the vehicle in an image captured by the camera; and determine whether the traveling road is on-road or off-road by determining a type and an amount of the selected adhered substance.
摘要翻译： 提供了一种被配置为识别车辆行驶的行驶道路的状态的状态识别系统，所述状态识别系统被配置为：在由所述车辆行驶的图像拍摄的图像中选择附着在安装在车辆上的照相机的镜头上的物质 相机; 并且通过确定所选择的粘附物质的类型和量来确定行驶道路是否在道路或越野。
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公开(公告)号：US09538054B2
公开(公告)日：2017-01-03
申请号：US14416188
申请日：2013-07-19
IPC分类号： H04N7/18 , H04N5/225 , G03B17/02 , G02B27/00 , G03B17/08 , B60S1/52 , B60S1/54 , G02B7/02 , B60R1/00 , G02B13/00 , H04N5/217
CPC分类号： H04N5/2254 , B60R1/00 , B60S1/0848 , B60S1/52 , B60S1/54 , B60S1/56 , G02B7/02 , G02B13/0015 , G02B27/0006 , G03B17/02 , G03B17/08 , H04N5/2171 , H04N5/2251 , H04N5/2252
摘要： A vehicle-mounted camera device that is mounted on a vehicle and captures a surrounding image from which lights are collected by a lens, in which the lens is set so as to have the surface having a contact angle less than or equal to 100°, preferably less than or equal to 60° so that water attached on the surface is made into a form of a film. For this reason, the surface of the lens has high hydrophilicity, and if water droplets are attached when it is raining, the water droplets extend over the surface of the lens to form a water film. Thus, if mud or other attached matter is attached on the surface of the lens, it is possible to remove the attached matter without delay, and it is possible to always keep the surface of the lens in a clean state.
摘要翻译： 一种车载摄像机装置，其安装在车辆上并捕获周围的图像，通过镜头收集光，其中透镜被设置成具有小于或等于100°的接触角的表面， 优选小于或等于60°，使得附着在表面上的水被制成膜的形式。 为此，透镜的表面具有高的亲水性，并且如果在下雨时附着水滴，则水滴在透镜的表面上延伸以形成水膜。 因此，如果泥浆或其它附着物附着在透镜的表面上，则可以毫不拖延地去除附着物，并且可以始终保持透镜的表面处于清洁状态。
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63.发明授权公开(公告)号：US09189691B2
公开(公告)日：2015-11-17
申请号：US14409501
申请日：2013-07-25
发明人： Osamu Fukata , Yasuhisa Hayakawa
CPC分类号： G06K9/00805 , G06K9/00214 , G06T7/285 , G06T7/70 , G06T2207/10016 , G06T2207/10028 , G06T2207/20221 , G06T2207/30252 , G08G1/166 , G08G1/167 , H04N7/18 , H04N7/188
摘要： A three-dimensional object detection device has an image capturing unit, a three-dimensional object detection unit, a host vehicle speed detection unit, a light source detection unit and a controller. The image capturing unit captures images rearward of a vehicle. The three-dimensional object detection unit detects a presence of a three-dimensional object in a detection area, based on the captured images. The host vehicle speed detection unit detects a vehicle traveling speed. The light source detection unit detects a headlight light source of a headlight of another vehicle. The controller compares the traveling speeds of the object and the vehicle upon not detecting the headlight light source, and suppresses detection of the object upon determining one of the object traveling speed being equal to or less than the vehicle traveling speed, and a difference between the object and vehicle traveling speeds being less than a predetermined value.
摘要翻译： 三维物体检测装置具有图像拍摄单元，三维物体检测单元，主车速检测单元，光源检测单元和控制器。 图像拍摄单元捕获车辆后方的图像。 三维物体检测部基于拍摄图像检测检测区域中的三维物体的存在。 主车辆速度检测单元检测车辆行驶速度。 光源检测单元检测另一车辆的前灯的前照灯光源。 控制器在不检测前照灯光源时比较物体和车辆的行进速度，并且在确定物体行进速度之一等于或小于车辆行驶速度时抑制物体的检测， 物体和车辆行驶速度小于预定值。
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64.发明申请Vehicle Acceleration Suppression Device and Vehicle Acceleration Suppression Method 有权车辆加速抑制装置和车辆加速抑制方法公开(公告)号：US20150321555A1
公开(公告)日：2015-11-12
申请号：US14646916
申请日：2013-11-22
CPC分类号： B60K28/10 , B60W30/06 , B60W50/12 , B60W2520/06 , B60W2540/10 , B60W2540/18 , B60W2720/106 , G06K9/00812
摘要： A total certainty factor indicating a total degree of certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated based on a parking frame certainty degree indicating the degree of certainty that a parking frame is present in a travel direction of a vehicle, and a parking frame entering certainty degree indicating the degree of certainty that the vehicle enters the parking frame. When the total certainty factor is low, acceleration of the vehicle controlled according to an operation amount of an accelerator pedal for instructing a driving force by operation of a driver is suppressed with a low suppression degree, as compared with a case where the total certainty factor is high. Further, the acceleration of the vehicle is suppressed at a low suppression degree according to the travel direction of the vehicle.
摘要翻译： 基于指示在车辆行进方向上存在停车框的确定程度的停车框确定度来计算表示停车框确定度的确定性和停车框确定度的总确定性的总确定性因子 以及停车框进入确定度，指示车辆进入停车框架的确定程度。 当总确定性因素低时，与总的确定性因子相比，抑制了通过驾驶员的操作来指示驱动力的加速踏板的操作量而控制的车辆的加速度低抑制度 高。 此外，根据车辆的行驶方向，车辆的加速度被抑制在低抑制度。
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65.发明申请公开(公告)号：US20150178575A1
公开(公告)日：2015-06-25
申请号：US14409501
申请日：2013-07-25
发明人： Osamu Fukata , Yasuhisa Hayakawa
CPC分类号： G06K9/00805 , G06K9/00214 , G06T7/285 , G06T7/70 , G06T2207/10016 , G06T2207/10028 , G06T2207/20221 , G06T2207/30252 , G08G1/166 , G08G1/167 , H04N7/18 , H04N7/188
摘要： A three-dimensional object detection device has an image capturing unit, a three-dimensional object detection unit, a host vehicle speed detection unit, a light source detection unit and a controller. The image capturing unit captures images rearward of a vehicle. The three-dimensional object detection unit detects a presence of a three-dimensional object in a detection area, based on the captured images. The host vehicle speed detection unit detects a vehicle traveling speed. The light source detection unit detects a headlight light source of a headlight of another vehicle. The controller compares the traveling speeds of the object and the vehicle upon not detecting the headlight light source, and suppresses detection of the object upon determining one of the object traveling speed being equal to or less than the vehicle traveling speed, and a difference between the object and vehicle traveling speeds being less than a predetermined value.
摘要翻译： 三维物体检测装置具有图像拍摄单元，三维物体检测单元，主车速检测单元，光源检测单元和控制器。 图像拍摄单元捕获车辆后方的图像。 三维物体检测部基于拍摄图像检测检测区域中的三维物体的存在。 主车辆速度检测单元检测车辆行驶速度。 光源检测单元检测另一车辆的前灯的前照灯光源。 控制器在不检测前照灯光源时比较物体和车辆的行进速度，并且在确定物体行进速度之一等于或小于车辆行驶速度时抑制物体的检测， 物体和车辆行驶速度小于预定值。
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66.发明申请CAMERA DEVICE, THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND LENS CLEANING METHOD 有权相机装置，三维物体检测装置和透镜清洗方法公开(公告)号：US20150177512A1
公开(公告)日：2015-06-25
申请号：US14416650
申请日：2013-07-26
发明人： Yasuhisa Hayakawa , Osamu Fukata , Masayuki Takemura , Masahiro Kiyohara , Shoji Muramatsu , Kota Irie
CPC分类号： G02B27/0006 , B60S1/0848 , B60S1/56 , G03B17/02 , G03B17/08 , G06K9/00791 , G06K9/00805 , G06T7/0002 , H04N5/2171
摘要： A camera device includes image capturing device, a lens cleaning device, an adhesion state assessment unit and a controller. The image capturing device is installed on a vehicle and has a lens for forming an image of the vehicle surroundings. The lens cleaning device cleans the lens by spraying a cleaning fluid on the lens in accordance with a predetermined lens cleaning step, in which at least a supply time for supplying cleaning fluid to the lens surface is predetermined. The adhesion state assessment unit is programmed to assess an adhesion state of contamination from a distribution of pixels corresponding to foreign matter adhered to the lens based on a captured image. The controller is programmed to extend the time until a time to start supplying the cleaning fluid in the lens cleaning step as the number of pixels corresponding to foreign matter adhered to the lens increases.
摘要翻译： 相机装置包括图像捕获装置，透镜清洁装置，粘附状态评估单元和控制器。 图像捕获装置安装在车辆上并且具有用于形成车辆周围环境的图像的透镜。 透镜清洁装置根据预定的透镜清洁步骤，通过将透镜喷射清洁液体来清洁透镜，其中至少将清洁流体供应到透镜表面的供应时间是预先确定的。 粘附状态评估单元被编程为基于捕获的图像来评估来自对应于粘附到透镜的异物的像素分布的污染物的粘附状态。 控制器被编程为随着与粘附到镜头的异物相对应的像素数量增加而延长在透镜清洁步骤中开始供应清洁流体的时间。
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67.发明申请公开(公告)号：US20150161457A1
公开(公告)日：2015-06-11
申请号：US14406807
申请日：2013-07-24
发明人： Yasuhisa Hayakawa , Osamu Fukata
CPC分类号： G06K9/00805 , G06K9/00798 , G06T7/0002 , G06T2207/10016 , G06T2207/30168 , G06T2207/30252 , G06T2207/30256 , G08G1/166 , G08G1/167 , H04N13/106 , H04N13/296
摘要： A three-dimensional object detection device has an image capturing unit, detection area setting unit, a three-dimensional object detection unit and a lens state assessment unit. The image capturing unit has a lens for capturing images behind a vehicle. The detection area setting unit sets a detection area behind the vehicle. The three-dimensional object detection unit detects a three-dimensional object that is present in the detection area based on the acquired images. The lens state assessment unit detects if the lens is in a wet state. When a determination is made by that the lens is in a wet state, the detection area setting unit changes a position of the detection area from a first detection area, which is first set as the detection area to a second detection area, in which a display area for a driving lane marker on a driving lane side of the vehicle is removed.
摘要翻译： 三维物体检测装置具有图像拍摄单元，检测区域设定单元，三维物体检测单元和透镜状态评估单元。 图像拍摄单元具有用于捕获车辆后面的图像的透镜。 检测区域设定单元设定车辆后方的检测区域。 三维物体检测单元基于获取的图像来检测存在于检测区域中的三维物体。 透镜状态评估单元检测透镜是否处于潮湿状态。 当通过透镜处于湿状态进行判断时，检测区域设定单元将检测区域的位置从首先设置为检测区域的第一检测区域改变为第二检测区域，其中 去除车辆行驶车道侧的驾驶车道标记的显示区域。
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68.发明申请公开(公告)号：US20150145956A1
公开(公告)日：2015-05-28
申请号：US14406794
申请日：2013-07-24
发明人： Yasuhisa Hayakawa , Osamu Fukata
CPC分类号： B60R1/002 , B60R2300/107 , B60R2300/607 , B60R2300/8093 , B60S1/46 , B60S1/56 , G06K9/00791 , G06K9/00805 , G06K9/209 , G08G1/166 , G08G1/167 , H04N7/183
摘要： A three-dimensional object detection device has a camera, a three-dimensional object detection unit, a lens cleaning device, a lens state assessment unit and a controller. The camera has a lens for forming an image of an area rearward of a vehicle. The three-dimensional object detection unit detects a three-dimensional object rearward of the vehicle based on the captured images. The lens cleaning device sprays cleaning fluid to clean the lens of the camera. The lens state assessment unit accesses whether the lens is in a predetermined state subject to control based on a timing at which cleaning fluid is sprayed on the lens. The controller suppresses detection of the three-dimensional object by retaining detection or assessment results for a predetermined length of time that were obtained immediately before the lens was assessed to be in the state subject to control, upon assessment that the lens state is subject to control.
摘要翻译： 三维物体检测装置具有照相机，三维物体检测单元，镜头清洁装置，透镜状态评估单元和控制器。 相机具有用于形成车辆后方区域的图像的透镜。 三维物体检测单元基于拍摄图像来检测车辆后方的三维物体。 镜头清洁装置喷射清洁液以清洁相机的镜头。 透镜状态评估单元基于清洁液体被喷涂在透镜上的时间来访问透镜是否处于预定状态以进行控制。 控制器通过将透镜被评估之前获得的预定时间长度的检测或评估结果保持在待控制状态，通过评估透镜状态被控制来抑制三维物体的检测 。
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公开(公告)号：US20150125031A1
公开(公告)日：2015-05-07
申请号：US14406817
申请日：2013-07-24
发明人： Yasuhisa Hayakawa , Osamu Fukata
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/20224 , G06T2207/30261 , G08G1/166 , G08G1/167
摘要： A three-dimensional object detection has an image capturing device, a three-dimensional object detection unit, a high-luminance area assessment unit and a controller. The image capturing device captures images of an area including a right-side detection area or a left-side detection area rearward of a vehicle. The three-dimensional object detection unit detects a three-dimensional object based on the images acquired by the image capturing device. The high-luminance area assessment unit accesses a first detection area including a high-luminance area complying with a predetermined reference on either the right-side detection area or the left-side detection area. The controller suppresses detection of the three-dimensional object based on image information of the first detection area that was detected, and maintains or promotes detection of the three-dimensional object based on image information of a second detection area other than the first detection area within the right-side detection area or the left-side detection area.
摘要翻译： 三维物体检测具有图像捕获装置，三维物体检测单元，高亮度区域评估单元和控制器。 图像捕获装置捕获包括车辆后方的右侧检测区域或左侧检测区域的区域的图像。 三维物体检测单元基于由图像捕获装置获取的图像来检测三维物体。 高亮度区域评估单元在右侧检测区域或左侧检测区域中访问包括符合预定基准的高亮度区域的第一检测区域。 控制器基于检测到的第一检测区域的图像信息抑制三维物体的检测，并且基于第三检测区域内的第一检测区域以外的第二检测区域的图像信息，维持或促进检测三维物体 右侧检测区域或左侧检测区域。
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70.发明申请公开(公告)号：US20150071490A1
公开(公告)日：2015-03-12
申请号：US14385540
申请日：2013-02-25
发明人： Osamu Fukata , Yasuhisa Hayakawa
CPC分类号： G06K9/46 , G06K9/00791 , G08G1/165 , G08G1/166 , H04N7/18
摘要： A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a three-dimensional object assessment unit and a control unit. The image conversion unit converts images obtained by the image capturing unit to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within a detection area based on differential waveform information or edge information. The stationary three-dimensional object assessment unit assesses whether the detected three-dimensional object is a shadow of a tree along a road traveled by the host vehicle. The three-dimensional object assessment unit assesses whether the three-dimensional object detected is a vehicle within the detection area. The control unit suppresses the assessment that the three-dimensional object is a vehicle when the detected three-dimensional object was determined to be a shadow of a tree along the road traveled by the host vehicle.
摘要翻译： 三维物体检测装置包括图像拍摄单元，图像转换单元，三维物体检测单元，三维物体评估单元和控制单元。 图像转换单元将由图像捕获单元获取的图像转换成鸟瞰图。 三维物体检测单元基于差分波形信息或边缘信息来检测检测区域内的三维物体的存在。 固定三维物体评估单元评估检测到的三维物体是否是沿着主车辆行进的道路上的树的阴影。 三维物体评估单元评估检测到的三维物体是否是检测区域内的车辆。 当检测到的三维物体被确定为沿着本车辆行进的道路上的树的阴影时，控制单元抑制三维物体是车辆的评估。
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