公开(公告)号：US09990549B2

公开(公告)日：2018-06-05

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: G06T7/73 ,  G06T7/13 ,  G06K9/52 ,  G06K9/00 ,  B60R1/00 ,  G06K9/46 ,  G06K9/62

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.

公开(公告)号：US11010618B2

公开(公告)日：2021-05-18

申请号：US16221984

申请日：2018-12-17

Applicant: DENSO CORPORATION

Inventor： Taiki Kawano ,  Shunsuke Suzuki ,  Shunya Kumano ,  Akihiro Watanabe

IPC: G06K9/00 ,  H04N5/357 ,  G06T7/70 ,  G08G1/16 ,  G06K9/46 ,  G06T7/181 ,  G06T7/187 ,  B60W30/12

Abstract: An apparatus for identifying a line marking on a road surface. In the apparatus, an extractor extracts a paint candidate that is a candidate for road surface paint used to identify a line marking in an image captured by a camera mounted on a vehicle to capture an image of an area including a road surface ahead of the vehicle. A determiner determines whether or not the paint candidate has at least one predefined flare feature. A line marking identifier identifies a line marking using the paint candidate which meets an identification condition used to identify a line marking. The line marking identifier sets the identification condition to be more stringent for a flare paint candidate that is the paint candidate determined by the determiner to have the at least one predefined flare feature than for the paint candidate determined by the determiner to have no predefined flare feature.

公开(公告)号：US10422634B2

公开(公告)日：2019-09-24

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 ,  G06T7/73

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：US20230290160A1

公开(公告)日：2023-09-14

申请号：US18182690

申请日：2023-03-13

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Makoto Kawaharada ,  Akihiro Watanabe ,  Hiroaki Shimizu ,  Ichiro Matsuyama ,  Masaki Kishimoto ,  Masamichi Ohsugi ,  Masateru Udate ,  Satoshi Takeyasu ,  Takahiro Doi ,  Takashi Morimoto

IPC: G06V20/56 ,  G06V20/58

CPC classification number: G06V20/588 ,  G06V20/584

Abstract: A stop line detection apparatus recognizes a boundary line of a lane on which the host vehicle travels, and detect a stop line at an intersection in front of the host vehicle. The apparatus sets an intersection area corresponding to the intersection in the road on which the host vehicle travels on the basis of a captured image by a front camera of the host vehicle, detects a crosswalk in the intersection area, a stop line search area setting unit configured to set a stop line search area extending from the crosswalk toward a front side in the lane on which the host vehicle travels, and performs stop line detection in the stop line search area. A depth of the stop line search area in an extending direction of a traveling lane is smaller than twice a depth of the crosswalk.

公开(公告)号：US20180204075A1

公开(公告)日：2018-07-19

申请号：US15871769

申请日：2018-01-15

Applicant: SOKEN, INC. ,  DENSO CORPORATION

Inventor： Shunya Kumano ,  Naoki Nitanda ,  Akihiro Watanabe

IPC: G06K9/00 ,  B60W40/072 ,  G06T7/12 ,  G08G1/16 ,  B60W30/12

CPC classification number: G06K9/00798 ,  B60W30/12 ,  B60W40/072 ,  B60W2550/146 ,  G06T7/12 ,  G06T2207/30256 ,  G08G1/167

Abstract: In an apparatus for recognizing a travel lane of a vehicle, a deviation determiner is configured to, if two or more shape change points are extracted by a shape change point extractor and the second derivative value of curvature of an extracted boundary line at at least one of the two or more shape change points is inverted in sign, determine whether or not the extracted boundary line and an estimated boundary line estimated from travel lane parameters estimated by a travel lane parameter estimator are deviating from each other beyond a predetermined allowable range. A driving aid is configured to, if it is determined that the extracted boundary line and the estimated boundary line are deviating from each other beyond the predetermined allowable range, perform control upon deviation to prevent occurrence of undesirable situations that may be caused by deviation between the extracted boundary line and the estimated boundary line.