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公开(公告)号：US11097724B2
公开(公告)日：2021-08-24
申请号：US16233585
申请日：2018-12-27
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Shunya Kumano , Masaya Okada , Takaharu Oguri , Keiji Matsuoka
IPC: B60W30/09 , B60W30/095 , G06K9/00 , G08G1/16
Abstract: In an apparatus for controlling travel of an own vehicle which is a vehicle carrying the apparatus, an information acquirer is configured to acquire information regarding a target around the own vehicle from a target detector. A controller is configured to, if determining, using the target information acquired by the information acquirer, that if travel of the own vehicle is continued in accordance with a collision avoidance trajectory determined to avoid a collision with an object located on a roadway ahead of the own vehicle, the own vehicle is likely to collide with the object or another object, change a setting of a driving state of the own vehicle so as to avoid or reduce a likelihood of the collision.
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公开(公告)号：US20160098605A1
公开(公告)日：2016-04-07
申请号：US14873031
申请日：2015-10-01
Applicant: DENSO CORPORATION
Inventor： Masaya Okada , Naoki Kawasaki , Yusuke Ueda , Masao Oooka , Shotaro Fukuda
CPC classification number: G06K9/00798 , B60W30/12 , G06K9/4604 , G06K9/6277
Abstract: In a lane boundary line information acquiring device, a detection unit detects lane boundary lines. A driving environment acquiring unit acquires a driving environment. A probability information acquiring unit acquires probability information containing a probability of presence of a lane boundary line, etc. based on the detected lane boundary lines and the acquired driving environment. A position information acquiring unit acquires position information of the own vehicle. A memory unit associates the probability information with the position information of the own vehicle. Where the position information is acquired by the position information acquiring unit at a time when the probability information acquiring unit acquires the probability information, and stores the probability information associated with the position information into the memory unit. A readout unit reads out the probability information associated with the position information at a location in front of the own vehicle.
Abstract translation: 在车道边界线信息获取装置中，检测单元检测车道边界线。 驾驶环境获取单元获取驾驶环境。 概率信息获取单元基于检测到的车道边界线和获取的驾驶环境获取包含车道边界线等的存在概率的概率信息。 位置信息获取单元获取本车辆的位置信息。 存储单元将概率信息与本车辆的位置信息相关联。 在概率信息获取单元获取概率信息时由位置信息获取单元获取位置信息的位置信息，并将与位置信息相关联的概率信息存储到存储单元中。 读取单元在本车辆前方的位置读出与位置信息相关联的概率信息。
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公开(公告)号：US11120277B2
公开(公告)日：2021-09-14
申请号：US16595915
申请日：2019-10-08
Applicant: DENSO CORPORATION
Inventor： Masaya Okada , Takumi Uematsu
IPC: G06K9/00
Abstract: In an apparatus for recognizing a road shape of a travel route of a first vehicle, a surrounding environment recognizer repeatedly recognizes, as surroundings information, at least shapes of roadside objects or travel histories of second vehicles that are vehicles other than the first vehicle, located around the first vehicle in a travel direction of the first vehicle. A sequence-of-point estimator repeatedly estimates, using the surroundings information, a reference line connecting a sequence of points that represent the road shape of the travel route in the travel direction of the first vehicle. A first lane boundary setter repeatedly sets a first lane boundary that is a boundary of a lane of the first vehicle, located at a first distance from the reference line to a respective one of the left and the right of the first vehicle in a vehicle-widthwise direction of the first vehicle.
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公开(公告)号：US10127460B2
公开(公告)日：2018-11-13
申请号：US14873031
申请日：2015-10-01
Applicant: DENSO CORPORATION
Inventor： Masaya Okada , Naoki Kawasaki , Yusuke Ueda , Masao Oooka , Shotaro Fukuda
Abstract: In a lane boundary line information acquiring device, a detection unit detects lane boundary lines. A driving environment acquiring unit acquires a driving environment. A probability information acquiring unit acquires probability information containing a probability of presence of a lane boundary line, etc. based on the detected lane boundary lines and the acquired driving environment. A position information acquiring unit acquires position information of the own vehicle. A memory unit associates the probability information with the position information of the own vehicle. Where the position information is acquired by the position information acquiring unit at a time when the probability information acquiring unit acquires the probability information, and stores the probability information associated with the position information into the memory unit. A readout unit reads out the probability information associated with the position information at a location in front of the own vehicle.
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公开(公告)号：US12151698B2
公开(公告)日：2024-11-26
申请号：US17647933
申请日：2022-01-13
Applicant: DENSO CORPORATION
Inventor： Masaya Okada
Abstract: A notification control device includes an occupant state identifying unit, a behavior change obtaining unit, and a notification processing unit. The occupant state identifying unit is configured to identify a state of an occupant of the vehicle among a plurality of states. The behavior change obtaining unit is configured to obtain an imminent behavior change of the vehicle during the automated driving. The notification processing unit is configured to cause a notification device to notify the occupant of the imminent behavior change when the imminent behavior change obtained by the behavior change obtaining unit satisfies a notification condition. The notification condition is set for each of the plurality of states. The notification condition for a first distracted state categorized into a distracted group is different from the notification condition for a second distracted state categorized into the distracted group.
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Patent Agency Ranking
公开(公告)号：US11068735B2
公开(公告)日：2021-07-20
申请号：US16206004
申请日：2018-11-30
Applicant: DENSO CORPORATION
Inventor： Masaya Okada , Shunya Kumano , Hiroaki Niino , Mitsuhiro Tokimasa , Takumi Uematsu
Abstract: A reliability calculation apparatus calculates a reliability of a recognized object that is recognized as being present on a route on which a vehicle travels. The reliability of the recognized object is used for driving control of the vehicle. In the reliability calculation apparatus, a provisional reliability calculating unit determines a feature quantity of each of a plurality of recognized objects, selects a plurality of pairs of recognized objects from the plurality of recognized objects, determines a difference in feature quantity of each pair of recognized objects, and calculates a reliability that decreases as the difference in feature quantity increases as a provisional reliability of each pair of recognized objects. An integrated reliability calculating unit calculates an integrated reliability of each recognized object from the provisional reliabilities of the plurality of pairs of recognized objects.
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公开(公告)号：US20160304120A1
公开(公告)日：2016-10-20
申请号：US15097167
申请日：2016-04-12
Applicant: DENSO CORPORATION
Inventor： Masaya Okada , Naoki Kawasaki , Shunsuke Suzuki
CPC classification number: B62D6/002 , G06K9/00798
Abstract: A traveling path estimation apparatus includes a calculation section that calculates a traveling marking line marking a lane of a road, on which a vehicle runs, based on a front image acquired by a camera mounted in the vehicle, an estimation section that estimates road parameters including a curvature and a curvature change rate of the lane, the estimation section estimating the road parameters at current time based on the traveling marking line calculated by the calculation section and the road parameters previously estimated, a determination section that determines departure of the vehicle from a curve of the lane, and a reset section that, when the determination section determines the departure of the vehicle, resets at least the curvature change rate included in the road parameters previously estimated by the estimation section.
Abstract translation: 行驶路径估计装置包括计算部，该计算部根据搭载在车辆中的摄像机获取的前方图像，计算出车辆行驶的道路标识车道的行驶标记线，估计部，估计道路参数，包括： 所述车道的曲率和曲率变化率，所述估计部基于由所述计算部计算出的所述行驶标记线和所述先前估计的道路参数来估计当前时刻的道路参数;判定部，其判定所述车辆的离开 以及复位部，当确定部确定车辆的离开时，至少重置由估计部先前估计的道路参数中包括的曲率变化率。
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公开(公告)号：US11731647B2
公开(公告)日：2023-08-22
申请号：US17352917
申请日：2021-06-21
Applicant: DENSO CORPORATION
Inventor： Masaya Okada , Takumi Uematsu , Tatsuya Namikiri , Naru Sugimoto
CPC classification number: B60W60/00 , G06T7/20 , G06T7/50 , G06V20/58 , G06V20/584 , G06V20/588 , B60W2420/42 , B60W2552/00 , B60W2552/53 , G06T2207/30256 , G06T2207/30261
Abstract: A road shape recognizer includes a peripheral information recognizer that recognizes at least two items of peripheral information based on an output of a periphery detector. A reliability assigner assigns a reliability level to each of the peripheral information. A point sequence generator generates and places a point sequence representing a shape of a road on which the own vehicle travels, based on at least two items of peripheral information and the reliability level. The point sequence generator generates and places a point sequence by generating and placing points one by one toward a distant place from a point located at a prescribed relative position to the own vehicle. The point sequence generator generates and places the next point corresponding to an amount of change in shape and a position of a point generated and placed at the end of the point sequence. The amount of change in shape is represented by the peripheral information and determined per section having a prescribed distance.
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公开(公告)号：US11042759B2
公开(公告)日：2021-06-22
申请号：US16216239
申请日：2018-12-11
Applicant: DENSO CORPORATION
Inventor： Masaya Okada , Shunya Kumano , Takumi Uematsu , Mitsuhiro Tokimasa
IPC: G06K9/00 , G01S7/41 , G01S13/86 , G01S13/931 , G05D1/02 , B60W40/072 , G01S7/40
Abstract: A roadside object recognition apparatus recognizes a roadside object that is present on a travel route on which an own vehicle travels. The roadside object is used for driving control of the vehicle. In the roadside object recognition apparatus, a reflection point acquiring unit acquires, using a radar that emits electromagnetic waves, a reflection-point group of reflection points of the electromagnetic waves reflected by an object that is present on the travel route. An image acquiring unit acquires an image of the travel route using a camera. A reflection point correcting unit corrects the reflection-point group by removing an erroneous reflection point that is determined to be highly likely not to be a reflection point of a roadside object from the reflection-point group through image processing of the image. A shape recognizing unit recognizes a shape of the roadside object using the corrected reflection-point group.
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公开(公告)号：US09988082B2
公开(公告)日：2018-06-05
申请号：US15097167
申请日：2016-04-12
Applicant: DENSO CORPORATION
Inventor： Masaya Okada , Naoki Kawasaki , Shunsuke Suzuki
CPC classification number: B62D6/002 , G06K9/00798
Abstract: A traveling path estimation apparatus includes a calculation section that calculates a traveling marking line marking a lane of a road, on which a vehicle runs, based on a front image acquired by a camera mounted in the vehicle, an estimation section that estimates road parameters including a curvature and a curvature change rate of the lane, the estimation section estimating the road parameters at current time based on the traveling marking line calculated by the calculation section and the road parameters previously estimated, a determination section that determines departure of the vehicle from a curve of the lane, and a reset section that, when the determination section determines the departure of the vehicle, resets at least the curvature change rate included in the road parameters previously estimated by the estimation section.
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