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公开(公告)号：US11112804B2
公开(公告)日：2021-09-07
申请号：US16426308
申请日：2019-05-30
Applicant: DENSO CORPORATION
Inventor： Kazuhiko Kobayashi , Kazuyoshi Akiba , Toshikazu Murao
IPC: G05D1/02 , G05D1/00 , B60W50/02 , B60W50/023 , B60W50/029
Abstract: In an autonomous driving control apparatus, a drive control unit determines, based on first and second images respectively captured by first and second cameras and an autonomous driving condition, a value of at least one controlled variable for autonomous driving of a vehicle, and outputs, to a vehicle control unit, the value of the at least one controlled variable to thereby cause the vehicle control unit to carry out a task of autonomously driving the vehicle. A camera monitor unit determines whether at least one of the first and second cameras has malfunctioned. The camera monitor unit limits, based on the at least one of the first and second directional regions corresponding to the at least of the first and second cameras, the autonomous driving condition when determining that the at least one of the first and second cameras has malfunctioned.
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公开(公告)号：US20180097984A1
公开(公告)日：2018-04-05
申请号：US15722838
申请日：2017-10-02
Applicant: DENSO CORPORATION
Inventor： Kazuhiko Kobayashi , Toshikazu Murao , Masato Nishikawa
CPC classification number: H04N5/2355 , H04N5/2352 , H04N5/2356 , H04N5/35536 , H04N5/35554 , H04N5/35581 , H04N5/3765
Abstract: An imaging device performs imaging using an imaging element. The imaging device is provided with an imaging unit, a control unit and a synthesis unit. The imaging unit performs exposure with a predetermined exposure time, thereby performing image capture. The control unit successively performs an imaging process N-times. In each imaging process, a plurality of images are captured with different exposure times. The synthesis unit generates, using HDR rendering, a plurality of images acquired by the plurality of image captures. The control unit performs one of the plurality of image captures such that the exposure is completed at a corresponding synchronous timing, and performs a subsequent other image capture such that exposure is started at the synchronous timing.
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公开(公告)号：US12137308B2
公开(公告)日：2024-11-05
申请号：US18181331
申请日：2023-03-09
Applicant: DENSO CORPORATION
Inventor： Kazuhiko Kobayashi
Abstract: In an image processing apparatus, an image corrector ascertains, for each pixel of a selected pixel region included in an image captured by an imaging unit, luminance-value ratios of respective colors of color filters in accordance with (i) a color luminance value of the corresponding pixel of the selected pixel region, and (ii) ascertainment data items predetermined for the respective colors if a measured illumination level around the imaging unit is lower than or equal to a predetermined threshold illumination level. The ascertainment data item, predetermined for each color, represents a corresponding color luminance-value ratio at any pixel in the selected pixel region with respect to a predetermined peak luminance value of the corresponding color in the selected pixel region. The image corrector generates a corrected image in accordance with the luminance-value ratios of the respective colors ascertained for each pixel of the selected pixel region.
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公开(公告)号：US11546523B2
公开(公告)日：2023-01-03
申请号：US17645427
申请日：2021-12-21
Applicant: DENSO CORPORATION
Inventor： Kazuhiko Kobayashi
Abstract: An image processing device is enabled to appropriately restore a contrast of a camera image. An in-vehicle camera has an image capture unit that captures images of surroundings of a vehicle through a windshield of the vehicle. A hood is disposed below the image capture unit and is present within an angle of view of the image capture unit. The control unit includes a luminance acquirer that acquires a luminance parameter indicating a degree of luminance of the hood appearing in a camera image, a whitish blur degree calculator that calculates a degree of whitish blur of the camera image caused by a reflection of natural light by the hood and the windshield in accordance with the luminance parameter, and a contrast corrector that corrects a contrast of the camera image in accordance with the whitish blur degree.
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Patent Agency Ranking
公开(公告)号：US11501540B2
公开(公告)日：2022-11-15
申请号：US16288444
申请日：2019-02-28
Applicant: DENSO CORPORATION
Inventor： Kazuyoshi Akiba , Toshikazu Murao , Kazuhiko Kobayashi
Abstract: An imaging system to be mounted in a vehicle is provided. The imaging system includes an optical wide-angle camera acquiring an image, and an object identifying apparatus. This object identifying apparatus executes a distortion correcting process with the acquired image and apply previously-prepared reference patterns to the image which has been subjected to the distortion correcting process such that objects in the acquired image are recognized.
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公开(公告)号：US11968478B2
公开(公告)日：2024-04-23
申请号：US17811227
申请日：2022-07-07
Applicant: DENSO CORPORATION
Inventor： Toshikazu Murao , Kazuyoshi Akiba , Tetsuya Kimata , Kazuhiko Kobayashi , Takayuki Kimura
CPC classification number: H04N7/183 , G06V20/56 , H04N1/215 , H04N9/69 , H04N23/745 , G07C5/0866
Abstract: To reduce complication of a configuration of a vehicle while suppressing an increase in weight of the vehicle, a camera system mounted on a vehicle includes an imaging unit to capture multiple frame images of an outside of the vehicle per cycle and an image processor to obtain the multiple frame images from the imaging unit and separate the multiple frame images into a first given number of frame images as a recognition target and a second given number of frame images as a storage target to be stored in an image recorder. The image processor separately outputs the first and second given numbers of frame images to be recognized and stored, respectively.
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公开(公告)号：US11425337B2
公开(公告)日：2022-08-23
申请号：US16513016
申请日：2019-07-16
Applicant: DENSO CORPORATION
Inventor： Toshikazu Murao , Kazuyoshi Akiba , Tetsuya Kimata , Kazuhiko Kobayashi , Takayuki Kimura
Abstract: To reduce complication of a configuration of a vehicle while suppressing an increase in weight of the vehicle, a camera system mounted on a vehicle includes an imaging unit to capture multiple frame images of an outside of the vehicle per cycle and an image processor to obtain the multiple frame images from the imaging unit and separate the multiple frame images into a first given number of frame images as a recognition target and a second given number of frame images as a storage target to be stored in an image recorder. The image processor separately outputs the first and second given numbers of frame images to be recognized and stored, respectively.
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公开(公告)号：US11417083B2
公开(公告)日：2022-08-16
申请号：US16848034
申请日：2020-04-14
Applicant: DENSO CORPORATION
Inventor： Kazuhiko Kobayashi
Abstract: In an image processing apparatus, an image obtaining unit obtains, from a vehicular camera, an image captured by the vehicular camera based on a predetermined imaging condition. An image processing unit executes an image-processing task of the image. A histogram generation unit generates a histogram based on the luminance values of the pixels included in the road-surface region in the image. The histogram graphically represents a frequency of each of the luminance values of the pixels included in the road-surface region in the image. A histogram determination unit determines whether the histogram has first and second separate crests. A change unit changes, upon determination that the histogram has first and second separate crests, at least one of 1. The imaging condition of the vehicular camera 2. The image-processing task to be executed by the image processing unit.
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公开(公告)号：US10375316B2
公开(公告)日：2019-08-06
申请号：US15722838
申请日：2017-10-02
Applicant: DENSO CORPORATION
Inventor： Kazuhiko Kobayashi , Toshikazu Murao , Masato Nishikawa
Abstract: An imaging device performs imaging using an imaging element. The imaging device is provided with an imaging unit, a control unit and a synthesis unit. The imaging unit performs exposure with a predetermined exposure time, thereby performing image capture. The control unit successively performs an imaging process N-times. In each imaging process, a plurality of images are captured with different exposure times. The synthesis unit generates, using HDR rendering, a plurality of images acquired by the plurality of image captures. The control unit performs one of the plurality of image captures such that the exposure is completed at a corresponding synchronous timing, and performs a subsequent other image capture such that exposure is started at the synchronous timing.
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