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公开(公告)号：US11010618B2
公开(公告)日：2021-05-18
申请号：US16221984
申请日：2018-12-17
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Shunsuke Suzuki , Shunya Kumano , Akihiro Watanabe
Abstract: An apparatus for identifying a line marking on a road surface. In the apparatus, an extractor extracts a paint candidate that is a candidate for road surface paint used to identify a line marking in an image captured by a camera mounted on a vehicle to capture an image of an area including a road surface ahead of the vehicle. A determiner determines whether or not the paint candidate has at least one predefined flare feature. A line marking identifier identifies a line marking using the paint candidate which meets an identification condition used to identify a line marking. The line marking identifier sets the identification condition to be more stringent for a flare paint candidate that is the paint candidate determined by the determiner to have the at least one predefined flare feature than for the paint candidate determined by the determiner to have no predefined flare feature.
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公开(公告)号：US20160188984A1
公开(公告)日：2016-06-30
申请号：US14981632
申请日：2015-12-28
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki
CPC classification number: G06K9/00798 , G06K9/4633
Abstract: A lane partition line recognition apparatus for recognizing left-side and right-side lane partition lines of a traveling lane of a roadway in which a vehicle carrying the apparatus is traveling based on a forward image captured by a vehicle-mounted camera. The apparatus includes an offset detector configured to detect an offset amount indicative of a positional relationship between each of the left-side and right-side recognized lane partition lines and the vehicle and a predictor configured to, if only one of the left and right lane partition lines of the traveling lane of the subject vehicle is recognized, stochastically predict a position of the unrecognized one of the left and right lane partition lines based on the offset amount detected by the offset detector.
Abstract translation: 一种车道分配线识别装置，用于基于由车载摄像机捕获的前向图像，识别载着该装置的车辆行驶的道路的行驶车道的左侧和右侧车道分隔线。 该装置包括：偏移检测器，被配置为检测指示左侧和右侧识别的车道间隔线和车辆中的每一个之间的位置关系的偏移量;以及预测器，其被配置为，如果只有左右车道中的一条 基于由偏移检测器检测到的偏移量，识别目标车辆的行驶车道的分割线，随机地预测左车道分割线和右车道分割线中的未被识别的一个的位置。
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公开(公告)号：US20160148059A1
公开(公告)日：2016-05-26
申请号：US14949593
申请日：2015-11-23
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki
CPC classification number: G06K9/00798
Abstract: A travel lane marking recognition apparatus includes a recognizing unit that is mounted to a vehicle. The recognizing unit uses a recognition model to recognize a lane marking that demarcates a lane on a road, based on an image of an area ahead of the vehicle captured by an on-board camera. The recognition model is configured by a plurality of recognition models that includes at least two recognition models among a first-order model that takes into consideration a straight line, a second-order model that takes into consideration a steady curve, and a third-order model that takes into consideration a clothoid curve. The recognizing unit is configured to recognize the lane marking by integrating recognition results acquired using the plurality of recognition models based on a state of the vehicle.
Abstract translation: 行驶车道标识识别装置包括安装在车辆上的识别单元。 识别单元使用识别模型，基于由车载摄像机捕获的车辆前方的区域的图像来识别划分道路上的车道的车道标记。 识别模型由多个识别模型配置，所述多个识别模型包括考虑到直线的一阶模型中的至少两个识别模型，考虑到稳定曲线的二阶模型和三阶模型 考虑到回旋曲线的模型。 识别单元被配置为基于车辆的状态来整合使用多个识别模型获取的识别结果来识别车道标记。
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公开(公告)号：US20180293447A1
公开(公告)日：2018-10-11
申请号：US15944192
申请日：2018-04-03
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Shunsuke Suzuki , Shunya Kumano
Abstract: A road parameter calculator is provided which is equipped with an edge-point extracting unit, a road parameter calculating unit, a gradient detecting unit, and a modeling unit. The image acquiring unit. The edge-point extracting unit extracts edge points from an image of a frontal view of a vehicle. The parameter calculating unit calculates a road parameter using the edge points through a Kalman filter. The gradient detecting unit detects a change in gradient of the road in front of the vehicle. The modeling unit is responsive to a change in gradient to make a model as extending more straight than when the change in gradient is not detected. This minimizes adverse effects of the change in gradient of the road on the calculation of the road parameter.
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公开(公告)号：US20180286051A1
公开(公告)日：2018-10-04
申请号：US15938507
申请日：2018-03-28
Applicant: DENSO CORPORATION
Inventor： Shunsuke Suzuki , Shunya Kumano , Taiki Kawano
Abstract: A road parameter estimation apparatus estimates road parameters and includes an image acquiring unit, an edge point extracting unit, an area setting unit, an estimating unit, and a vehicle speed acquiring unit. The image acquiring unit acquires an image that shows an area ahead of the vehicle. The edge point extracting unit extracts edge points in the image. The area setting unit sets an area in the image. The area is a part of the image and having a far-side borderline as a boundary thereof The far-side borderline is a virtual line that is ahead of the vehicle by a distance. The estimating unit estimates road parameters using a Kalman filter based on the edge points. The vehicle speed acquiring unit acquires a vehicle speed. The area setting unit increases the distance from the vehicle to the far-side borderline of the area in the image as the vehicle speed increases.
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Patent Agency Ranking
公开(公告)号：US11023744B2
公开(公告)日：2021-06-01
申请号：US15944192
申请日：2018-04-03
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Naoki Kawasaki , Shunsuke Suzuki , Shunya Kumano
Abstract: A road parameter calculator is provided which is equipped with an edge-point extracting unit, a road parameter calculating unit, a gradient detecting unit, and a modeling unit. The image acquiring unit. The edge-point extracting unit extracts edge points from an image of a frontal view of a vehicle. The parameter calculating unit calculates a road parameter using the edge points through a Kalman filter. The gradient detecting unit detects a change in gradient of the road in front of the vehicle. The modeling unit is responsive to a change in gradient to make a model as extending more straight than when the change in gradient is not detected. This minimizes adverse effects of the change in gradient of the road on the calculation of the road parameter.
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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：US10033981B2
公开(公告)日：2018-07-24
申请号：US14961465
申请日：2015-12-07
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Masaki Masuda , Naoki Kawasaki , Kazuhisa Ishimaru
Abstract: In an image processing apparatus, an image acquiring unit acquires a first image and a second image that form stereoscopic images. A first sub-image extracting unit extracts first sub-images from the first image. A second sub-image extracting unit extracts second sub-images from the second image. A matching unit matches each pair of the first and second sub-images to determine a degree of similarity therebetween. A similar sub-image setting unit sets the second sub-image having a highest degree of similarity to the first sub-image to be a similar sub-image to the first sub-image. A brightness comparing unit compares in brightness each pair of the first and second sub-images. The matching unit is configured to, if a result of comparison made by the brightness comparing unit between a pair of the first and second sub-images is out of a predetermined brightness range, exclude such a pair of the first and second sub-images.
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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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