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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.
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公开(公告)号：US12190596B2
公开(公告)日：2025-01-07
申请号：US17507688
申请日：2021-10-21
Applicant: DENSO CORPORATION
Inventor： Kentarou Shiota , Naoki Nitanda , Kazuma Ishigaki , Shinya Taguchi
IPC: G06V20/56 , G06F18/243 , G06V10/44 , G08G1/13 , G08G1/137
Abstract: The travelling route recognition unit recognizes, based on an image captured by an imaging apparatus capturing an area in the vicinity of the vehicle, a travelling route where the vehicle travels. The classifying unit classifies the travelling route into at least one of a predetermined plurality of road models. The edge point extracting unit extracts edge points necessary for expressing the road model classified by the classifying unit among edge points indicating a boundary of the travelling route recognized by the travelling route recognition unit. The parameter generation unit correlates road model information indicating the road model classified by the classifying unit with the edge points extracted by the edge point extracting unit and generates a travelling route parameter indicating the travelling route recognized by the travelling route recognition unit. The transmission unit transmits the travelling route parameter generated by the parameter generation unit to the server.
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公开(公告)号：US11475713B2
公开(公告)日：2022-10-18
申请号：US16672867
申请日：2019-11-04
Applicant: DENSO CORPORATION
Inventor： Kentaro Shiota , Naoki Nitanda , Kazuma Ishigaki , Shinya Taguchi
Abstract: In an apparatus for estimating a behavior of a vehicle carrying the apparatus based on images of surroundings of the vehicle captured by an imaging device, an information acquirer acquires beforehand specific location information that is information representing a specific location in which a situation around the vehicle is such that the estimation of the own vehicle behavior based on the images is unstable. In the apparatus, a behavior estimator estimates the own vehicle behavior based on the images captured by the imaging device and the specific location information.
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Patent Agency Ranking
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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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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