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公开(公告)号：US20180204074A1
公开(公告)日：2018-07-19
申请号：US15871712
申请日：2018-01-15
Applicant: SOKEN, INC. , DENSO CORPORATION
Inventor： Shunya Kumano , Shunsuke Suzuki , Kenta Hoki
CPC classification number: G06K9/00798 , G06K9/4604 , G06K9/4638 , G06T7/12 , G06T2207/10016 , G06T2207/10024 , G06T2207/30256 , G08G1/167
Abstract: In a travelling road estimating apparatus, an estimator estimates, based on the coordinates of at least one of edge points included in a selected candidate, a road parameter using a previously prepared filter having an adjustable response level. The road parameter is associated with a condition of the travelling road relative to the vehicle and a shape of the travelling road. A determiner determines whether there is an unstable situation that causes an accuracy of estimating the edge points by an edge extractor to be reduced. A response level adjuster adjusts the response level of the filter in accordance with determination of whether there is an unstable situation that causes an accuracy of estimating the edge points by the edge extractor to be reduced.
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公开(公告)号：US10685242B2
公开(公告)日：2020-06-16
申请号：US15871706
申请日：2018-01-15
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Naoki Nitanda , Kenta Hoki
Abstract: A lane detecting apparatus is provided which obtains at least one type of parameters associated with lane lines on the road and selects one of the lane lines as a reference line using one of the parameters which is most useful in determining the configuration of a lane on a road. The lane detecting apparatus also calculates a lane boundary line using the reference lane line.
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公开(公告)号：US20180204073A1
公开(公告)日：2018-07-19
申请号：US15871706
申请日：2018-01-15
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Naoki Nitanda , Kenta Hoki
CPC classification number: G06K9/00798 , B60W30/12 , G06T7/13 , G06T7/74 , G06T2207/30256
Abstract: A lane detecting apparatus is provided which obtains at least one type of parameters associated with lane lines on the road and selects one of the lane lines as a reference line using one of the parameters which is most useful in determining the configuration of a lane on a road. The lane detecting apparatus also calculates a lane boundary line using the reference lane line.
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Patent Agency Ranking
公开(公告)号：US20140211014A1
公开(公告)日：2014-07-31
申请号：US14231840
申请日：2014-04-01
Applicant: DENSO CORPORATION , NIPPON SOKEN, INC.
Inventor： Naoki Kawasaki , Hiroki Nakano , Kenta Hoki , Tetsuya Takafuji
IPC: G06K9/00
CPC classification number: G06K9/00798 , G06K9/6292
Abstract: In a boundary line recognition apparatus, a boundary line candidate extracting part extracts boundary line candidates from image data obtained by an on-vehicle camera based on known image processing such as pattern matching and Hough transform. One or more kinds of boundary line feature calculating parts calculate one or more likelihoods of each boundary line candidate. The likelihood indicates a degree of probability to be the boundary line. A boundary line feature combining means multiplies the likelihoods of each boundary line candidate and outputs a combined likelihood. A boundary line candidate selecting part selects the boundary line candidate having a maximum likelihood as the boundary line. The boundary line feature calculating part further calculates the likelihood of the boundary line candidate using a dispersion of brightness and an internal edge amount, and changes the likelihood based on an additional likelihood obtained by a driving lane surface feature extracting part.
Abstract translation: 在边界线识别装置中，边界线候选提取部分基于诸如图案匹配和霍夫变换之类的已知图像处理从车载相机获得的图像数据中提取边界线候选。 一种或多种边界线特征计算部分计算每个边界线候选的一个或多个似然性。 可能性表示作为边界线的概率程度。 边界线特征组合装置将每个边界候选候选的可能性相乘并输出组合似然。 边界线候补选择部选择具有最大似然度的边界线候选作为边界线。 边界线特征计算部分还使用亮度和内部边缘量的色散来计算边界线候选的可能性，并且基于由驾驶车道表面特征提取部获得的附加可能性来改变似然。
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公开(公告)号：US10691959B2
公开(公告)日：2020-06-23
申请号：US15871712
申请日：2018-01-15
Applicant: SOKEN, INC. , DENSO CORPORATION
Inventor： Shunya Kumano , Shunsuke Suzuki , Kenta Hoki
Abstract: In a travelling road estimating apparatus, an estimator estimates, based on the coordinates of at least one of edge points included in a selected candidate, a road parameter using a previously prepared filter having an adjustable response level. The road parameter is associated with a condition of the travelling road relative to the vehicle and a shape of the travelling road. A determiner determines whether there is an unstable situation that causes an accuracy of estimating the edge points by an edge extractor to be reduced. A response level adjuster adjusts the response level of the filter in accordance with determination of whether there is an unstable situation that causes an accuracy of estimating the edge points by the edge extractor to be reduced.
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公开(公告)号：US10037470B2
公开(公告)日：2018-07-31
申请号：US15230208
申请日：2016-08-05
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Naoki Nitanda , Kenta Hoki
CPC classification number: G06K9/00791 , G06K9/4671 , H04N5/232 , H04N5/23229
Abstract: In a pitch angle estimation apparatus, an image acquirer sequentially acquires images in a forward or rearward direction of a vehicle. Each image is referred to as a frame. A movement amount calculator extracts a feature point from each of the images acquired by the image acquirer and calculates an amount of movement of the feature point in a vertical direction of the image. A pitch angle calculator calculates a pitch angle of the vehicle based on the amount of movement of the feature point. An output unit outputs the pitch angle calculated by the pitch angle calculator. A low frequency component calculator calculates a low frequency component of the pitch angle calculated by the pitch angle calculator. An output determiner determines whether to output the pitch angle based on the magnitude of the low frequency component calculated by the low frequency component calculator.
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公开(公告)号：US20180181819A1
公开(公告)日：2018-06-28
申请号：US15845416
申请日：2017-12-18
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Naoki Nitanda , Kenta Hoki
CPC classification number: G06K9/00798 , B60R1/00 , B60R11/04 , B60R2300/804 , B60W30/12
Abstract: The demarcation line recognition device determines the line type and line color of the extracted candidate line, and the presence or absence of an influence of backlight, and determines whether the extracted candidate line constitutes a part of a multiple line. The demarcation line recognition device selects a candidate line corresponding to a demarcation line from extracted candidate lines, using the line type and line color determined, and the determination result of the multiple line determination, and according to the rules of the driving region. When a candidate line determined to be under the influence of backlight constitutes a part of a multiple line, the demarcation line recognition device compares the color information of the candidate lines constituting that multiple line with each other and re-determines the line color of the candidate line determined to be under the influence of backlight.
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公开(公告)号：US20170039433A1
公开(公告)日：2017-02-09
申请号：US15230208
申请日：2016-08-05
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Naoki Nitanda , Kenta Hoki
CPC classification number: G06K9/00791 , G06K9/4671 , H04N5/232 , H04N5/23229
Abstract: In a pitch angle estimation apparatus, an image acquirer sequentially acquires images in a forward or rearward direction of a vehicle. Each image is referred to as a frame. A movement amount calculator extracts a feature point from each of the images acquired by the image acquirer and calculates an amount of movement of the feature point in a vertical direction of the image. A pitch angle calculator calculates a pitch angle of the vehicle based on the amount of movement of the feature point. An output unit outputs the pitch angle calculated by the pitch angle calculator. A low frequency component calculator calculates a low frequency component of the pitch angle calculated by the pitch angle calculator. An output determiner determines whether to output the pitch angle based on the magnitude of the low frequency component calculated by the low frequency component calculator.
Abstract translation: 在俯仰角估计装置中，图像获取器顺序地获取车辆前后方向的图像。 每个图像被称为帧。 移动量计算器从由图像获取器获取的每个图像中提取特征点，并计算特征点在图像的垂直方向上的移动量。 俯仰角计算器基于特征点的移动量来计算车辆的俯仰角。 输出单元输出由俯仰角计算器计算的俯仰角。 低频分量计算器计算由俯仰角计算器计算的俯仰角的低频分量。 输出确定器基于由低频分量计算器计算的低频分量的幅度来确定是否输出音调角度。
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