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公开(公告)号：US10891738B2
公开(公告)日：2021-01-12
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
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：US09626572B2
公开(公告)日：2017-04-18
申请号：US14404224
申请日：2013-05-31
Applicant: DENSO CORPORATION , NIPPON SOKEN, INC.
Inventor： Kazuhisa Ishimaru , Naoki Kawasaki , Shunsuke Suzuki , Tetsuya Takafuji
CPC classification number: G06K9/00798 , B60R1/00 , G06T7/12 , G06T2207/10024 , G06T2207/30256 , G08G1/167
Abstract: In vehicle-lane boundary line detection, low-luminance values are acquired from areas corresponding to below a tire and directly below a vehicle center based on a road surface image. A snow rut degree is calculated based on a luminance ration between the areas. A probability is calculated from a map based on the calculated snow rut degree. A parameter indicating the degree of snow rut likeness is calculated by a low-pass filtering process. A snow rut determination is made by the calculation result being compared with a predetermined threshold. A final determination of whether or not a snow rut is present is made, with reference to an outside temperature. When determined that a snow rut is present, a determination is made not to perform the detection. When determined that a snow rut is not present, a determination is made to perform the detection.
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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：US10002433B2
公开(公告)日：2018-06-19
申请号：US14655698
申请日：2013-12-26
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：US09646214B2
公开(公告)日：2017-05-09
申请号：US14790444
申请日：2015-07-02
Applicant: DENSO CORPORATION
Inventor： Yuu Maeda , Naoki Kawasaki , Syunya Kumano , Shunsuke Suzuki , Tetsuya Takafuji
CPC classification number: G06K9/00798 , G06K9/4604 , G06K9/52 , G06K2009/4666 , G06T7/13 , G06T7/20 , G06T7/60 , G06T2207/30256
Abstract: An in-vehicle camera obtains image frames of a scene surrounding an own vehicle on a roadway. An extracting section in a lane boundary line recognition device extracts white line candidates from the image frames. The white line candidates indicate a degree of probability of white lines on an own vehicle lane on the roadway and a white line of a branch road which branches from the roadway. A branch judgment section calculates a likelihood of the white line as the white line of the branch road, and judges whether or not the white line candidate is the white line of the branch road based on the calculated likelihood. The branch judgment section decreases the calculated likelihood when a recognizable distance of the lane boundary line candidate monotonically decreases in a predetermined number of the image frames.
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Patent Agency Ranking
公开(公告)号：US09589213B2
公开(公告)日：2017-03-07
申请号：US14621794
申请日：2015-02-13
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Syunya Kumano , Shunsuke Suzuki , Tetsuya Takafuji
CPC classification number: G06K9/6292 , G06K9/00798
Abstract: An apparatus for determining the presence or absence of a turnoff from a roadway. In the apparatus, a white-line candidate extractor applies image processing to an image of surroundings of a subject vehicle acquired by a vehicle-mounted camera to extract white-line candidates in the roadway. A white-line likelihood calculator calculates, for each of the white-line candidates extracted by the white-line candidate extractor, a likelihood of the white-line candidate. A white-line likelihood calculator calculates, for each of the white-line candidates extracted by the white-line candidate extractor, a likelihood of the white-line candidate. A turnoff determiner calculates a likelihood for one of a plurality of features of the white line selected by the white-line selector, and determines the presence or absence of a turnoff from the roadway based on the likelihood calculated by the turnoff determiner.
Abstract translation: 一种用于确定来自道路的离场的存在或不存在的装置。 在该设备中，白线候选提取器对由车载摄像机获取的本车辆的周围环境的图像应用图像处理，以提取道路中的白线候选。 对于由白线候选提取器提取的每个白线候选，白线似然度计算器计算白线候选的可能性。 对于由白线候选提取器提取的每个白线候选，白线似然度计算器计算白线候选的可能性。 关闭判定器计算由白线选择器选择的白线的多个特征中的一个特征的可能性，并且基于由截止确定器计算的似然确定来自道路的有效或不存在。
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公开(公告)号：US09542606B2
公开(公告)日：2017-01-10
申请号：US14635540
申请日：2015-03-02
Applicant: DENSO CORPORATION
Inventor： Hirotake Ishigami , Naoki Kawasaki , Syunya Kumano , Shunsuke Suzuki , Satoshi Osanai , Tetsuya Takafuji
CPC classification number: G06K9/00798 , G06T7/13 , G06T7/60 , G06T2207/20061 , G06T2207/30256
Abstract: In a lane line recognition apparatus, an abnormality determiner is configured to determine whether or not a width of a travel lane defined by left-side and right-side lane lines is abnormal, and a lane-line recognizer is configured to, when the width of the travel lane is not abnormal, recognize both of the left-side and right-side lane lines in a both-side line recognition mode, and when the width of the travel lane is abnormal, recognize one of the lane lines in a one-side line recognition mode. In the one-side line recognition mode, the lane-line recognizer is configured to, for each of the left-side and right-side lane lines, calculate two or more parameters of the lane line, and then integrate recognition results for the respective two or more parameters, and based on the integrated recognition results of the left-side and right-side lane lines, select one of the lane lines to be recognized.
Abstract translation: 在车道线识别装置中，异常判定器被配置为确定由左侧车道线和右侧车道线限定的行驶车道的宽度是否异常，并且车道线识别器被配置为当宽度 行驶车道不正常的情况下，在双方侧线路识别模式下识别左侧车道线路和右侧车道线路两侧，并且当行驶车道的宽度异常时，识别一条车道线路 边线识别模式。 在单面线识别模式中，车道线识别器被配置为对于左侧车道线和右侧车道线中的每一条，计算车道线的两个或更多个参数，然后将各个车道线的识别结果集成 两个或多个参数，并且基于左侧和右侧车道线的集成识别结果，选择要被识别的车道线之一。
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公开(公告)号：US20160042236A1
公开(公告)日：2016-02-11
申请号：US14783060
申请日：2014-04-04
Applicant: DENSO CORPORATION
Inventor： Kazuhisa Ishimaru , Shunsuke Suzuki , Tetsuya Takafuji
CPC classification number: G06K9/00798 , G06T7/12 , G06T2207/20076 , G06T2207/30256 , G08G1/167 , H04N7/183
Abstract: This invention is provided with: a camera for capturing the image of a travel path; an edge point extraction unit for extracting edge points on the basis of the brightness of an image captured by the camera; a candidate line extraction unit for extracting, on the basis of the succession of the extracted edge points, a candidate line for a boundary line demarcating the travel path; a frequency calculation unit for calculating, on the basis of edge points belonging to the candidate line extracted by the candidate line extraction unit, the frequency distribution of the edge points for a parameter that specifies the width of the boundary line; a probability generation unit for calculating, on the basis of the frequency distribution calculated by the frequency calculation unit, the distribution for the probability that the candidate line at the parameter is the boundary line; and a boundary line recognition unit for recognizing the boundary line on the basis of the probability distribution calculated by the probability generation unit.
Abstract translation: 本发明提供有：摄像机，用于拍摄行进路径的图像; 边缘点提取单元，用于基于由照相机拍摄的图像的亮度提取边缘点; 候选行提取单元，用于根据所提取的边缘点的连续性，提取划分行驶路径的边界线的候选行; 频率计算单元，用于根据候选行提取单元提取的属于候选行的边缘点，计算用于指定边界线宽度的参数的边缘点的频率分布; 概率生成单元，其基于由所述频率计算单元计算出的频率分布，计算所述参数的候补行为边界线的概率的分布; 以及边界线识别单元，用于基于由概率生成单元计算的概率分布来识别边界线。
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公开(公告)号：US09672429B2
公开(公告)日：2017-06-06
申请号：US14783060
申请日：2014-04-04
Applicant: DENSO CORPORATION
Inventor： Kazuhisa Ishimaru , Shunsuke Suzuki , Tetsuya Takafuji
CPC classification number: G06K9/00798 , G06T7/12 , G06T2207/20076 , G06T2207/30256 , G08G1/167 , H04N7/183
Abstract: This invention is provided with: a camera for capturing the image of a travel path; an edge point extraction unit for extracting edge points on the basis of the brightness of an image captured by the camera; a candidate line extraction unit for extracting, on the basis of the succession of the extracted edge points, a candidate line for a boundary line demarcating the travel path; a frequency calculation unit for calculating, on the basis of edge points belonging to the candidate line extracted by the candidate line extraction unit, the frequency distribution of the edge points for a parameter that specifies the width of the boundary line; a probability generation unit for calculating, on the basis of the frequency distribution calculated by the frequency calculation unit, the distribution for the probability that the candidate line at the parameter is the boundary line; and a boundary line recognition unit for recognizing the boundary line on the basis of the probability distribution calculated by the probability generation unit.
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公开(公告)号：US09665780B2
公开(公告)日：2017-05-30
申请号：US14665244
申请日：2015-03-23
Applicant: DENSO CORPORATION
Inventor： Syunya Kumano , Naoki Kawasaki , Shunsuke Suzuki , Tetsuya Takafuji
CPC classification number: G06K9/00798 , G06K9/00805 , G06K9/6293
Abstract: In a travel division line recognition apparatus, an extracting unit extracts a travel division line candidate from an image of a surrounding environment including a road, captured by an on-board camera. A calculating unit calculates a degree of reliability that the extracted travel division line candidate will be the travel division line. A recognizing unit selects the travel division line candidate based on the calculated degree of reliability, and recognizes the travel division line using the selected travel division line candidate. In the calculating unit, a solid object processing unit recognizes solid objects including vehicles, sets a suppression area including a frontal-face suppression area covering a frontal face of the other vehicle and a side-face suppression area covering a side face of the other vehicle, based on the recognized solid objects, and reduces the degree of reliability of the travel division line candidate present within the suppression area.
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