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公开(公告)号：US09934441B2
公开(公告)日：2018-04-03
申请号：US14886941
申请日：2015-10-19
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki
IPC: H04N19/167 , G06K9/00 , H04N7/18 , B60R1/00
CPC classification number: G06K9/00798 , B60R1/00 , B60R2300/804 , H04N7/183
Abstract: An apparatus for recognizing lane partition lines on opposite sides of a traveling lane of a vehicle based on a forward image captured by a camera mounted in the vehicle. In the apparatus, an allowable range limiter is configured to, based on a learned value of a lane width learned by a lane width learner, limit allowable ranges for the respective lane partition lines, where in the allowable ranges the respective lane partition lines are allowed to be detected in the forward image. A lane change determiner is configured to determine whether or not there is a lane change made by the vehicle. The allowable range limiter is further configured to, if it is determined by the lane change determiner that there is a lane change, enlarge at least one of the allowable ranges limited by the allowable range limiter based on the learned value of the lane width.
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公开(公告)号：US09792508B2
公开(公告)日：2017-10-17
申请号：US14886918
申请日：2015-10-19
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki
CPC classification number: G06K9/00798 , B60R1/00 , B60R2300/306 , G06K9/3233 , H04N7/183
Abstract: An apparatus for recognizing lane partition lines on opposite sides of a traveling lane in a processing area of a forward image captured by a camera mounted in a vehicle. In the apparatus, a lane change determiner is configured to determine whether or not there is a lane change made by the vehicle. A processing area changer is configured to, while it is determined by the lane change determiner that there is a lane change, change the processing area from a predefined processing area to a processing area that can accommodate the lane change.
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公开(公告)号：US09669829B2
公开(公告)日：2017-06-06
申请号：US14924539
申请日：2015-10-27
Applicant: DENSO CORPORATION
Inventor： Osamu Shimomura , Shunsuke Suzuki , Naoki Kawasaki , Tomohiko Tsuruta
CPC classification number: B60W30/12 , B60W50/14 , B60W2050/0215 , B60W2420/42 , B60W2550/12 , B60W2550/141 , B60W2550/402 , G06K9/00798
Abstract: An on-board camera captures an image of a travel lane ahead of an own vehicle. At least one state acquisition apparatus acquires an acquired value indicating a state of the own vehicle. A travel lane marking recognition system recognizes a travel lane marking that demarcates the travel lane from an image captured by the on-board camera. The travel lane marking recognition system sets a reliability level of the recognized travel lane marking based on the acquired value of the at least one state acquisition apparatus. When the reliability level is higher than a first predetermined threshold, the travel lane marking recognition system performs driving control of the own vehicle based on the recognized travel lane marking. When the reliability level is lower than the first predetermined threshold, the travel lane marking recognition system performs a deviation warning of deviation from the travel lane based on the recognized travel lane marking.
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4.发明授权Lane boundary lane recognition device and computer-readable storage medium storing program for recognizing lane boundary lines on roadway 有权车道边界车道识别装置和用于识别道路上车道边界线的计算机可读存储介质存储程序公开(公告)号：US09594965B2
公开(公告)日：2017-03-14
申请号：US14830200
申请日：2015-08-19
Applicant: DENSO CORPORATION
Inventor： Yusuke Akamine , Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki
CPC classification number: G06K9/00798 , G06K9/033
Abstract: In a lane boundary line recognition device, a calculation section calculates a degree of uncertainty which affects a correct recognition of white lines on a roadway of a vehicle. A learning section updates a learning value of the degree of uncertainty. A recognition suppression section suppresses execution of a recognition process of recognizing white lines on the roadway when the updated learning value is more than a threshold value. An environment change judgment section judges whether or not a road environment has changed. A learning resetting section resets the learning value of the degree of uncertainty to a previous learning value when the detection result of the environment change judgment section indicates an occurrence of change of the road environment.
Abstract translation: 在车道边界线识别装置中，计算部分计算影响车辆道路上的白线的正确识别的不确定度。 学习部分更新不确定程度的学习价值。 当更新的学习值大于阈值时，识别抑制部分抑制识别道路上的白线的识别处理的执行。 环境变化判断部判断道路环境是否变化。 当环境变化判断部分的检测结果指示道路环境的变化的发生时，学习重置部分将不确定度的学习值重置为先前的学习值。
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公开(公告)号：US20160012300A1
公开(公告)日：2016-01-14
申请号：US14792858
申请日：2015-07-07
Applicant: DENSO CORPORATION
Inventor： Tomohiko Tsuruta , Shunsuke Suzuki , Naoki Kawasaki , Osamu Shimomura
CPC classification number: G06K9/00798 , G06K9/52 , G06K9/6215 , G06K2009/4666 , G06T7/60 , G06T2207/30256
Abstract: In a lane boundary line recognition device, an extraction unit extracts lane boundary line candidates from image acquired by an in-vehicle camera. A position estimation unit estimates a position of each lane boundary line based on drive lane information containing a number of drive lanes on a roadway and a width of each drive lane when (a) and (b) are satisfied, (a) when an own vehicle drives on an own vehicle lane specified by the drive lane specifying unit, and (b) when the lane boundary line candidate corresponds to lane boundary lines of the own vehicle lane. A likelihood calculation unit increases a likelihood of the lane boundary line candidate when a distance between a position of the lane boundary line candidate and an estimated position of the lane boundary line candidate obtained by the drive lane boundary line position estimation unit is within a predetermined range.
Abstract translation: 在车道边界线识别装置中，提取单元从车载摄像机获取的图像中提取车道边界线候选。 当满足（a）和（b）时，位置估计单元基于包含道路上的多个驱动车道的驱动车道信息和每个驱动车道的宽度来估计每个车道边界线的位置，（a）当自身 由车道指定单元指定的车辆车道上的车辆驱动，以及（b）当车道边界线候补对应于本车道的车道边界线时。 当车道边界线候补的位置与由行驶车道边界线位置估计单元获得的车道边界线候选者的估计位置之间的距离在预定范围内时，似然度计算单元增加车道边界线候选的可能性 。
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Patent Agency Ranking
公开(公告)号：US20140180569A1
公开(公告)日：2014-06-26
申请号：US14132329
申请日：2013-12-18
Applicant: DENSO CORPORATION
Inventor： Yusuke Ueda , Tomohiko Tsuruta , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue
IPC: G01C21/00
CPC classification number: B62D15/025 , B60K2031/005 , B60W30/16 , B60W30/165 , B60W30/18163 , B60W50/0097 , B60W2550/306 , B62D15/026 , G08G1/166 , G08G1/167 , G08G1/22
Abstract: A selection track setting section in a driving route generation device determines as a selected track a track of a preceding vehicle when a detection section and a track generation section detects a track of the preceding vehicle which is running on the same driving lane of a host vehicle. A candidate track selection section outputs as a candidate track one of tracks of front vehicles, detected by the detection section and the track generation section, other than the track of the preceding vehicle. A switching selection section switches as the selected track from the track of the preceding vehicle to the candidate track when a detection of the track of the preceding vehicle is interrupted during a predetermined detection period. An estimate route generation section generates an estimated driving route of the host vehicle on the bass of the selected track.
Abstract translation: 当检测部分和轨道产生部分检测到在主车辆的同一行驶车道上行驶的前一车辆的轨道时，驾驶路线生成装置中的选择轨道设置部分将所选轨道确定为前方车辆的轨道 。 候选轨道选择部分除了前一车辆的轨道之外，作为候选轨道输出由检测部分和轨道生成部分检测的前车辆的轨道之一。 当在预定检测周期期间中断前一车辆的轨道的检测时，切换选择部分将所选轨道从前方车辆的轨道切换到候选轨道。 估计路线生成部生成所选择的轨道的低音上的本车辆的估计驾驶路线。
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公开(公告)号：US20180211536A1
公开(公告)日：2018-07-26
申请号：US15744953
申请日：2016-07-08
Applicant: DENSO CORPORATION
Inventor： Yusuke Akamine , Tomohiko Tsuruta , Yasuyuki Miyake
CPC classification number: G08G1/166 , B60W30/09 , B60W2550/10 , G01S13/72 , G01S13/723 , G01S13/86 , G01S13/867 , G01S13/931 , G01S2013/9353 , G01S2013/9375 , G01S2013/9378
Abstract: The driving support system detects an object existing around an own vehicle. The driving support system 1 predicts a position of a movement destination of the detected object. The driving support system sets a region having a predetermined width at each of an X coordinate and a Y coordinate as a tracking region to be set for tracking the object, based on an XY coordinate of the position of the predicted movement destination of the object. The driving support system limits the tracking region, based on a tracking exclusion region where objects unsuitable as tracking targets may be detected with high probability. At that time, the driving support system limits the tracking region by excluding the tracking exclusion region from the tracking region.
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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：US20160137202A1
公开(公告)日：2016-05-19
申请号：US14945116
申请日：2015-11-18
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki , Tatsuru Kuwabara
CPC classification number: B60W30/12 , B60W30/18163 , B60W40/06 , B60W50/14 , B60W2050/0043 , B60W2420/42 , G06K9/00798 , G06T7/13 , G06T2207/30256
Abstract: A travel lane marking probability calculating unit calculates a travel lane marking probability of each of travel lane marking candidates based on a calculation condition. A travel lane marking recognizing unit recognizes, as a travel lane marking, a travel lane marking candidate having a travel lane marking probability that is a threshold value or higher, among the travel lane marking candidates. A lane change detecting unit detects that an own vehicle is in the midst of a lane change. When the own vehicle is in the midst of a lane change, a condition changing unit changes the calculation condition to allow the travel lane marking probability to be more easily increased compared to when the own vehicle is not in the midst of a lane change, or changes the threshold value to be lower than that when the own vehicle is not in the midst of a lane change.
Abstract translation: 行驶车道标记概率计算单元基于计算条件来计算每个行驶车道标记候选的行驶车道标记概率。 旅行车道标识识别单元在行驶车道标记候选中识别具有行驶车道标记概率为行驶车道标记概率的行驶车道标记候选物作为行驶车道标记。 车道变更检测部检测到本车辆处于车道变更的中间。 当本车辆处于车道变更中时，条件改变单元改变计算条件，使得与当车辆不在车道改变中途时相比，行驶车道标记概率更容易增加，或者 将阈值改变为低于当车辆不在车道变化中时的阈值。
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