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1.发明申请公开(公告)号：US20170350712A1
公开(公告)日：2017-12-07
申请号：US15611571
申请日：2017-06-01
Applicant: DENSO CORPORATION
Inventor： Kojiro TATEISHI , Shunsuke SUZUKI , Hiroshi MIZUNO , Naoki KAWASAKI , Takeshi SHIKIMACHI
CPC classification number: G01C21/30 , G01C21/3602 , G01S5/14 , G01S7/4808 , G01S13/89 , G01S13/931 , G01S17/89 , G01S17/936 , G01S19/48 , G06K9/00805 , G06K9/00818 , G06K9/6215 , G08G1/00 , G08G1/09626 , G08G1/165
Abstract: A position identifying apparatus includes a position detecting unit; an information acquiring unit; a feature extracting unit; an index value calculating unit; a feature selecting unit; a correlating unit; a weight setting unit; and a correcting unit.The position detecting unit performs a map matching to detect a vehicle position on a map. The information acquiring unit acquires road information from the map. The feature extracting unit extracts features of ground object. The index value calculating unit calculates an index value representing a likelihood of a stationary object. The feature selecting unit selects feature candidates among the features having the index values larger than or equal to a predetermined likelihood of the stationary object. The correlating unit correlates the feature candidates with the road information. The weight setting unit sets weights of the feature candidates. The correcting unit corrects the position of the vehicle using the weights.
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公开(公告)号：US20150175167A1
公开(公告)日：2015-06-25
申请号：US14576884
申请日：2014-12-19
Applicant: DENSO CORPORATION
Inventor： Taku SAKIMA , Yuusuke MATSUMOTO , Syunya KUMANO , Naoki KAWASAKI
IPC: B60W40/072 , G01B21/10
CPC classification number: B60W40/072 , G01B21/10 , G01S13/867 , G01S13/931 , G01S15/025 , G01S15/931 , G01S17/023 , G01S17/936 , G01S2013/9321 , G01S2013/9353 , G01S2013/9357 , G08G1/167
Abstract: This disclosure provides as an aspect a course estimator having a curvature radius estimator, a calculator and a determination section. The curvature radius estimator obtains first information on a forward traveling path ahead of a vehicle in a traveling direction of the vehicle at different time points and estimating, on the basis of the first information obtained repeatedly, each curvature radius of the forward traveling path at a respective time. The calculator calculates change information indicating magnitude of time change in curvature radius of the forward traveling path on the basis of the estimated curvature radiuses of the forward traveling paths. The determination section determines whether or not there is a changing point where a road shape of the forward traveling paths changes on the basis of the calculated change information.
Abstract translation: 本公开提供了具有曲率半径估计器，计算器和确定部分的课程估计器的一个方面。 曲率半径估计器在不同的时间点获得车辆行进方向前方的前进行驶路径的第一信息，并且基于重复获得的前进行驶路径的每个曲率半径， 各自的时间。 计算器基于前进行驶路径的估计的曲率半径来计算表示前进行驶路径的曲率半径的时间变化量的变化信息。 确定部分基于所计算的改变信息来确定前进行驶路径的道路形状是否改变的改变点。
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公开(公告)号：US20180253853A1
公开(公告)日：2018-09-06
申请号：US15974287
申请日：2018-05-08
Applicant: NIPPON SOKEN, INC. , DENSO CORPORATION
Inventor： Syunya KUMANO , Naoki KAWASAKI , Shunsuke SUZUKI , Tetsuya TAKAFUJI , Kazuma HASHIMOTO
CPC classification number: G06T7/13 , G06K9/00798 , G06T7/12 , G06T2207/10016 , G06T2207/10152 , G06T2207/20061 , G06T2207/20076 , G06T2207/30256
Abstract: In a boundary line recognition apparatus, based on luminance levels of an image captured by a camera, candidate edge points of a boundary line sectioning a travel road are extracted, and a candidate line of the boundary line is extracted. An apparent width of the candidate line on an image is calculated, from a width of the candidate line in a horizontal direction of the image and an angle of the candidate line relative to a vertical direction of the image. A probability of a candidate line being a boundary line is calculated to be higher, as a degree of the candidate line having characteristics as a boundary line is higher. The calculated probabilities are integrated in respect of a plurality of characteristics to recognize a boundary line. The characteristics include a ratio of the calculated apparent width to an image blur degree is larger than a predetermined value.
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公开(公告)号：US20170357863A1
公开(公告)日：2017-12-14
申请号：US15617636
申请日：2017-06-08
Applicant: DENSO CORPORATION
Inventor： Tomohiko TSURUTA , Naoki KAWASAKI , Kazuhisa ISHIMARU , Noriaki SHIRAI , Hirotake ISHIGAMI
CPC classification number: G06K9/00805 , G06K9/00369 , G06T7/254 , G06T7/285 , G06T2207/30261 , H04N13/106 , H04N13/239
Abstract: In an object detection apparatus and an object detection method, as first and second images, captured images of an area ahead of a vehicle in a vehicle advancing direction are acquired from first and second imaging units provided in the vehicle. Based on the first and second images, whether or not an object is present in a blind spot ahead of the vehicle in the vehicle advancing direction is determined. When the object is determined to be present in the blind spot, the first and second images are held in time series. As first and second image differences, differences in a feature quantity between a previous image and a current image in the first and second images are acquired. Based on the first and second image differences, whether or not the object is approaching the area ahead of the vehicle is determined.
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公开(公告)号：US20180096210A1
公开(公告)日：2018-04-05
申请号：US15716415
申请日：2017-09-26
Applicant: DENSO CORPORATION
Inventor： Shunsuke SUZUKI , Tomohiko TSURUTA , Naoki KAWASAKI
CPC classification number: G06K9/00798 , G06K9/4638 , G06K9/6215 , G06T7/13 , G06T7/60
Abstract: A driving area recognition device has an image acquiring section for acquiring image data transmitted from an in-vehicle monocular camera and an extraction section for extracting, from the acquired image data, edge points in boundary parts arranged at both the right side and the left side of a driving area of a vehicle. The device further has a setting section for setting plural provisional areas as candidates of the driving area so that at least a part of each of the plural provisional areas is overlapped together, a calculation section for calculating the number of edge points in each of the plural provisional areas, and a recognition section for recognizing the driving area based on the plural provisional areas and the number of edge points in each of the plural provisional areas.
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Patent Agency Ranking
公开(公告)号：US20180003505A1
公开(公告)日：2018-01-04
申请号：US15637156
申请日：2017-06-29
Applicant: DENSO CORPORATION
Inventor： Kojiro TATEISHI , Naoki KAWASAKI , Shunsuke SUZUKI , Hiroshi MIZUNO
CPC classification number: G01C21/005 , G01C21/30 , G01C21/34 , G01C21/3602 , G06K9/00805 , G06K9/4604 , G06T7/70 , G06T7/73 , G06T7/77 , G06T2207/30244 , G06T2207/30256
Abstract: A vehicle localization system is provided which localizes a system-equipped vehicle. The vehicle localization system determines a position of the system-equipped vehicle on a map using a map matching technique. The vehicle localization system also calculates a variation in arrangement of feature points (e.g., edge points) of a roadside object around the system-equipped vehicle in a captured image and corrects the calculated position of the system-equipped vehicle on the map using the variation in arrangement of the feature points. This ensures a required accuracy in localizing the system-equipped vehicle.
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7.发明申请公开(公告)号：US20150178574A1
公开(公告)日：2015-06-25
申请号：US14576863
申请日：2014-12-19
Applicant: DENSO CORPORATION
Inventor： Shunsuke SUZUKI , Syunya KUMANO , Naoki KAWASAKI , Tetsuya TAKAFUJI
CPC classification number: G06K9/00798 , G06K9/4652 , G06T7/90 , G06T2207/30256
Abstract: A brightness value calculation apparatus includes a color image obtaining section which obtains a color image obtained by imaging a view outside a vehicle and a brightness value calculation section which calculates a brightness value A of a pixel of at least part of the color image based on an expression (1): A=αAR+βAG+γAB (1) where AR is brightness of R (red) of the pixel for which the brightness value A is to be calculated, AG is brightness of G (green) of the pixel for which the brightness value A is to be calculated, AB is brightness of B (blue) of the pixel for which a brightness value A is to be calculated, and α, β, γ are constants satisfying a relationship α>β>γ.
Abstract translation: 亮度值计算装置包括：彩色图像获取部，其获得通过对车辆外部的视图进行成像而获得的彩色图像;以及亮度值计算部，其基于图像计算部分计算彩色图像的至少一部分的像素的亮度值A 表达式（1）：A =αAR+＆bgr; AG +γAB（1）其中，AR是要计算亮度值A的像素的R（红色）的亮度，AG是G（绿色）的亮度 要计算亮度值A的像素，AB是要计算亮度值A的像素的B（蓝色）的亮度，α，＆bgr;γ是满足关系α>＆bgr的常数; >γ。
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公开(公告)号：US20200025905A1
公开(公告)日：2020-01-23
申请号：US16585572
申请日：2019-09-27
Applicant: DENSO CORPORATION
Inventor： Yusuke AKAMINE , Naoki KAWASAKI , Yasuyuki MIYAKE
Abstract: An in-vehicle radar device includes a transmission section, a reception section, an analysis section, an extraction section, a speed calculation section, a distance calculation section, and a folding detection section. The folding detection section detects occurrence of erroneous calculation of a distance, when reflection intensity at a frequency peak obtained by the extraction section is smaller than a preset intensity threshold for a distance calculated by the distance calculation section and a frequency width in a frequency spectrum calculated by the analysis section is smaller than a preset width threshold.
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公开(公告)号：US20180005073A1
公开(公告)日：2018-01-04
申请号：US15639985
申请日：2017-06-30
Applicant: DENSO CORPORATION
Inventor： Taiki KAWANO , Naoki KAWASAKI , Shunsuke SUZUKI , Akihiro WATANABE
CPC classification number: G06K9/52 , B60Y2400/3015 , G06K9/00798 , G06K9/4604 , G06T7/13 , G06T7/149 , G06T2207/30256
Abstract: In a road recognition apparatus mounted in a vehicle, a shape change point detector is configured to detect a shape change point along each of lane lines of an own lane. A turn-off lane determiner is configured to, if the shape change point is detected, determine whether or not a shape changing lane line that is one of the lane lines including the shape change point constitutes a border of a turn-off lane branching off from the own lane. A road recognizer is configured to, when the shape change point has been detected, use only feature points of the left and right lane lines of the own lane located within a distance from the own vehicle to the shape change point to recognize the shape of the own lane, before a result of determination by the turn-off lane determiner is produced.
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公开(公告)号：US20180005051A1
公开(公告)日：2018-01-04
申请号：US15635643
申请日：2017-06-28
Applicant: DENSO CORPORATION
Inventor： Tomohiko TSURUTA , Naoki KAWASAKI , Shunsuke SUZUKI
CPC classification number: G06K9/00798 , G01C21/3602 , G06K9/4604 , G06T7/13
Abstract: In a travel road shape recognition apparatus, a first travel road shape, which approximates a shape of a road boundary, is calculated based on feature points indicating the travel road boundary in a captured image. A worsening position, which is a position on the calculated first travel road shape at which a degree of coincidence with the feature points worsens, is detected over an area from near to far from an own vehicle. A second travel road shape, which approximates a shape of the road boundary in an area farther from the own vehicle, beyond the worsening position, is calculated. The road boundary in the area nearer to the own vehicle, up to the worsening position, is recognized from the first travel road shape. The road boundary in the area farther from the own vehicle, beyond the worsening position, is recognized from the second travel road shape.
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