公开(公告)号：US11979792B2

公开(公告)日：2024-05-07

申请号：US17185673

申请日：2021-02-25

Applicant: DENSO CORPORATION

Inventor： Yusuke Matsumoto ,  Takahisa Yokoyama ,  Ryota Terada

IPC: H04W4/029 ,  B60W60/00 ,  G01C21/00 ,  G06F16/23 ,  G06F16/29 ,  G06F18/213 ,  G06V20/56 ,  H04W4/024 ,  H04W4/46

CPC classification number: H04W4/029 ,  B60W60/001 ,  G01C21/3815 ,  G01C21/3841 ,  G06F16/2379 ,  G06F16/29 ,  G06V20/56 ,  H04W4/024 ,  H04W4/46 ,  B60W2555/20 ,  B60W2556/65 ,  G06F18/213

Abstract: A method for uploading a probe data, including coordinate information of a plurality of features disposed along a road, to a server, includes: acquiring at least one peripheral object data, representing a feature disposed around a vehicle, from a peripheral monitoring sensor mounted on the vehicle; analyzing the peripheral object data and calculate a position of the feature with respect to the road on which the vehicle travels; and generating the probe data including position information of the feature and uploading the probe data to the server. The uploading includes a first mode in which the probe data is uploaded to the server at a predetermined frequency, and a second mode in which the probe data is uploaded at a lower frequency than the first mode.

公开(公告)号：US11091197B2

公开(公告)日：2021-08-17

申请号：US16315328

申请日：2017-06-30

Applicant: DENSO CORPORATION

Inventor： Yusuke Matsumoto

IPC: B62D6/00 ,  B62D5/04 ,  B60R21/00 ,  G08G1/16

Abstract: A detection ECU detects left and right lane lines that define a driving lane from an image captured by an in-vehicle camera, by detecting a roadside as a side of a road where the own vehicle travels, from information of reflected waves received from a radar device. The detection ECU determines whether an estimated width indicating the width of a detected roadside and a detected lane line on a roadside side is narrower than the predetermined width. When the detection ECU determines that the estimated width is narrower than the predetermined width, it sets the predetermined position to be a position distant from the lane line on a roadside side in the estimated driving lane, than when the estimated width is determined not to be narrower than the predetermined width.

公开(公告)号：US10422871B2

公开(公告)日：2019-09-24

申请号：US15501786

申请日：2015-08-04

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yusuke Matsumoto ,  Ryo Takaki ,  Akira Isogai ,  Ichiro Aizawa ,  Jun Tsuchida ,  Koichi Sato

IPC: G01S13/86 ,  G01S7/497 ,  G01S17/02 ,  G01S17/42 ,  G01S17/58 ,  G01S17/93 ,  G01S7/40 ,  G01S13/93 ,  G06T7/246 ,  G01S7/41 ,  G06K9/00 ,  G06K9/03 ,  G06K9/20 ,  G06K9/62 ,  G06K9/78 ,  G08G1/16 ,  G06T7/13

Abstract: A vehicle as a moving body is provided with an imaging device as first object detecting means and a radar apparatus as second object detecting means. The object recognition apparatus is provided with axis displacement learning means for learning an axis displacement of the reference axis X1 of the first object detecting means; axis displacement determining means for performing, based on an object detecting result of the first object detecting means and the second object detecting means, an axis displacement determination process for determining whether or not an axis displacement has occurred in the reference axis of the second object detecting means; and disabling means for disabling, based on a learning result of the axis displacement by the axis displacement learning means, information about an axis displacement of the second object detecting means acquired by the axis displacement determination process.

公开(公告)号：US10906540B2

公开(公告)日：2021-02-02

申请号：US16219042

申请日：2018-12-13

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yusuke Matsumoto ,  Keitaro Niki

IPC: B60W30/12 ,  G06K9/00 ,  B60W40/072 ,  B60W10/20

Abstract: Control unit estimates a curvature of an own lane based on a marking detected from an image captured by an imaging device. The control unit performs a steering control of the own vehicle in accordance with the estimated curvature of the own lane. When determining that only single side marking in both left and right markings is present and the road slope changes, the control unit apply restriction to the steering control performed in accordance with the curvature of the own lane.

公开(公告)号：US10471961B2

公开(公告)日：2019-11-12

申请号：US15544855

申请日：2016-01-20

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Youhei Masui ,  Toyoharu Katsukura ,  Yoshihisa Ogata ,  Yusuke Matsumoto ,  Takeshi Nanami ,  Takashi Nishida

IPC: B60W30/165 ,  B60R21/00 ,  G01S13/86 ,  G01S13/93 ,  G08G1/16 ,  B60W30/18 ,  G06K9/00 ,  B60K31/00

Abstract: A cruise control device has a white line recognition unit recognizing a white line defining a lane having the own vehicle, based on an image captured by an image capturing device and a lane entering and leaving determination unit carrying out lane entering determination and lane leaving determination of the own vehicle with respect to a preceding vehicle traveling ahead of the own vehicle based on the relative position of the own vehicle in the vehicle width direction with respect to the white line. In the lane entering determination and lane leaving determination, a preceding vehicle on the lane to which the own vehicle is moving is determined to be an entering lane vehicle whose lane the own vehicle is entering, and a preceding vehicle on the lane from which the own vehicle is moving is determined to be a leaving lane vehicle whose lane the own vehicle is leaving.

公开(公告)号：US10366295B2

公开(公告)日：2019-07-30

申请号：US15504192

申请日：2015-08-03

Applicant: DENSO CORPORATION

Inventor： Yusuke Matsumoto

IPC: G06K9/00 ,  G08G1/16 ,  B60R11/04 ,  G01S13/86 ,  G01S13/93 ,  G06T7/73 ,  G01S17/93

Abstract: An object recognition apparatus learns an axis displacement amount of a reference axis of first object detecting means, combines and integrates, as information belonging to a same object, a plurality of pieces of information present within a first combining area and a second combining area, when a positional relationship between the first combining area and the second combining area meets a predetermined combinable condition. The first combining area is set as an area in which pieces of information related to the object acquired by the first object detecting means are combined. The second combining area is set as an area in which pieces of information related to the object acquired by second object detecting means are combined. The object recognition apparatus variably sets sizes of the first combining area and the second combining area based on a learning state of the axis displacement amount of the reference axis.

公开(公告)号：US11821750B2

公开(公告)日：2023-11-21

申请号：US17185686

申请日：2021-02-25

Applicant: DENSO CORPORATION

Inventor： Genki Kitahara ,  Yusuke Matsumoto ,  Shigehiro Muto ,  Takayuki Watanabe

IPC: G01C21/00 ,  B60W60/00

CPC classification number: G01C21/3848 ,  B60W60/001 ,  G01C21/3815

Abstract: A map generation system provides to: acquire an image of the vehicle's environment from the imaging device; analyze the image to calculate the position of a feature on the road; upload map information including the position of the feature to a server; and statistically determines the coordinates of individual features in the uploaded map information. The features include a reference mark whose absolute coordinates are determined. The coordinates of the features other than the reference mark are corrected so as to match the observation coordinates of the reference mark corresponding to the absolute coordinates of the reference mark.

公开(公告)号：US11014559B2

公开(公告)日：2021-05-25

申请号：US16323947

申请日：2017-08-03

Applicant: DENSO CORPORATION

Inventor： Yusuke Matsumoto

IPC: B60W30/165 ,  B62D6/00 ,  B60W40/04 ,  G08G1/16 ,  B60W10/20 ,  G01S13/08 ,  G01S13/86

Abstract: A detection ECU acquires the position of the preceding vehicle, based on image information captured by an imaging device, and generates the track of the preceding vehicle, based on the position of the preceding vehicle. The detection ECU then performs following travel control for following the preceding vehicle by calculating the amount of control for causing the own vehicle to travel along the track of the preceding vehicle, and by causing the own vehicle to travel, based on the calculated amount of control. During the following travel control, if the width of the preceding vehicle is narrower than a predetermined width, the detection ECU calculates the amount of control such that the curvature variation in the track of the own vehicle is smaller than in the case where the width of the preceding vehicle is not narrower than the predetermined width.