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公开(公告)号：US20170262716A1
公开(公告)日：2017-09-14
申请号：US15504192
申请日：2015-08-03
Applicant: DENSO CORPORATION
Inventor： Yuusuke Matsumoto
CPC classification number: G06K9/00805 , B60R11/04 , B60R2300/107 , B60R2300/301 , B60R2300/8033 , B60R2300/804 , B60R2300/8093 , G01S13/867 , G01S13/931 , G01S17/936 , G01S2013/9367 , G06K9/00798 , G06T7/73 , G06T2207/10024 , G06T2207/10028 , G06T2207/30261 , G08G1/16 , G08G1/163 , G08G1/165 , G08G1/166
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.
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公开(公告)号：US11928871B2
公开(公告)日：2024-03-12
申请号：US18069018
申请日：2022-12-20
Applicant: DENSO CORPORATION
Inventor： Kazuhisa Ishimaru , Shunya Kumano , Yuusuke Matsumoto
CPC classification number: G06V20/588 , G06T7/60 , G06V10/761 , G06T2207/30256 , G06V2201/07
Abstract: A vehicle position estimation device is configured to acquire a distance from a road edge to a subject vehicle using at least one of an imaging device or a distance measuring sensor, acquire position information of lane boundary lines detected by analyzing the images captured by the imaging device; acquire map information including a lane quantity of a traveling road of the subject vehicle from a map storage, calculate, as a roadside area width, a lateral direction distance between an outermost detection line, which is an outermost boundary line among the detected boundary lines, and the road edge, and specify a traveling lane of the subject vehicle based on (i) the distance from the road edge to the subject vehicle, (ii) the roadside area width, and (iii) the lane quantity included in the acquired map information.
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公开(公告)号：US20160247030A1
公开(公告)日：2016-08-25
申请号：US15047453
申请日：2016-02-18
Applicant: DENSO CORPORATION
Inventor： Yuusuke Matsumoto
CPC classification number: G06K9/00805 , B60R1/00
Abstract: In an obstacle detection apparatus, a signal output unit is configured to output a signal if an obstacle meets at least one preset signal output condition. A condition setting unit is configured to set at least one element of the at least one signal output condition to a value in dependence on a user entry value. A misalignment detection unit is configured to detect misalignment of an axial direction of a sensor with a longitudinal direction of a vehicle carrying the apparatus. In the apparatus, an allowable range limiting unit is configured to, if a degree of misalignment exceeds a predetermined misalignment threshold, limit an allowable range of values of the at least one element of the at least one preset signal output condition so as to make the at least one preset signal output condition less prone to be met.
Abstract translation: 在障碍物检测装置中，如果障碍物满足至少一个预设信号输出条件，信号输出单元被配置为输出信号。 条件设置单元被配置为将至少一个信号输出条件的至少一个元素设置为依赖于用户输入值的值。 未对准检测单元被配置为检测传感器的轴向方向与承载设备的车辆的纵向的未对准。 在该装置中，允许范围限制单元被配置为如果不对准程度超过预定的未对准阈值，则限制所述至少一个预置信号输出条件中的至少一个元件的值的允许范围，以使得 至少一个预设信号输出条件不太容易被满足。
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公开(公告)号：US10538251B2
公开(公告)日：2020-01-21
申请号：US14575006
申请日：2014-12-18
Applicant: DENSO CORPORATION
Inventor： Taku Sakima , Yuusuke Matsumoto , Syunya Kumano , Naoki Kawasaki
IPC: G01B21/10 , B60W40/072
Abstract: A course estimator has a first estimating means, a second estimating means and a determining means. The first estimating means obtains first information and estimating a first radius of a first forward traveling path on the basis of the obtained first information, the first forward traveling path being a part of a forward traveling path to which a vehicle is going to travel. The second estimating means obtains second information and estimating a second radius of a second forward traveling path on the basis of the obtained second information, the second forward traveling path being a part of the forward traveling path to which a vehicle is going to travel, the second forward traveling path being farther from the vehicle than the first traveling being. The determining means determines whether or not there is a changing point where road shapes change between the first forward traveling path and the second forward traveling path on the basis of comparison of the estimated first radius and the estimated second radius.
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公开(公告)号：US09904858B2
公开(公告)日：2018-02-27
申请号：US15047453
申请日：2016-02-18
Applicant: DENSO CORPORATION
Inventor： Yuusuke Matsumoto
CPC classification number: G06K9/00805 , B60R1/00
Abstract: In an obstacle detection apparatus, a signal output unit is configured to output a signal if an obstacle meets at least one preset signal output condition. A condition setting unit is configured to set at least one element of the at least one signal output condition to a value in dependence on a user entry value. A misalignment detection unit is configured to detect misalignment of an axial direction of a sensor with a longitudinal direction of a vehicle carrying the apparatus. In the apparatus, an allowable range limiting unit is configured to, if a degree of misalignment exceeds a predetermined misalignment threshold, limit an allowable range of values of the at least one element of the at least one preset signal output condition so as to make the at least one preset signal output condition less prone to be met.
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Patent Agency Ranking
公开(公告)号：US11959752B2
公开(公告)日：2024-04-16
申请号：US17653434
申请日：2022-03-03
Applicant: DENSO CORPORATION
Inventor： Yuusuke Matsumoto , Itsuki Chiba
IPC: G01C21/30
CPC classification number: G01C21/30
Abstract: A lateral position of a vehicle is estimated by collating a position of a lane division line in map data with a relative position of the lane division line with respect to the vehicle indicated by a recognition result by a peripheral monitoring sensor. The lateral position of the vehicle is precluded from being specified using the estimated lateral position of the vehicle in response to a lateral deviation between (i) a position of a landmark in the map data and (ii) a translated landmark position being equal to or greater than a first threshold value. The translated landmark position is a position on map deviated from the estimated lateral position of the vehicle assumed to be the lateral position of the vehicle on map by a relative position of the landmark with respect to the vehicle indicated by the recognition result by the peripheral monitoring sensor.
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公开(公告)号：US09637122B2
公开(公告)日：2017-05-02
申请号：US15262057
申请日：2016-09-12
Applicant: DENSO CORPORATION
Inventor： Akitoshi Minemura , Masayoshi Takeda , Yuusuke Matsumoto , Taku Sakima , Naoki Kawasaki , Syunya Kumano
CPC classification number: B60W30/09 , B60Q9/008 , B60T7/12 , B60T7/22 , B60T2201/022 , B60W30/08 , B60W2420/42
Abstract: A driving support apparatus installed in a host vehicle calculates an overlap ratio relating to a target object positioned ahead of the host vehicle within the same traffic lane, as the ratio of the width of the target object to its lateral distance from a lane marker line of the traffic lane, and also detects the motion condition of the object (i.e., stationary, moving towards, or in the same direction as the host vehicle, or moving laterally with respect to the forward direction of the host vehicle). An amount of compensation for retarding or advancing the commencement of a collision avoidance operation by the driving support apparatus is determined based on the overlap ratio and/or the motion condition of the target object.
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公开(公告)号：US20160299216A1
公开(公告)日：2016-10-13
申请号：US15093102
申请日：2016-04-07
Applicant: DENSO CORPORATION
Inventor： Yuusuke Matsumoto
CPC classification number: G01S7/4026 , G01S13/867 , G01S13/931 , G01S2007/403 , G01S2007/4034 , G01S2007/4039 , G01S2013/9375
Abstract: In an axial misalignment determination apparatus mounted on a mobile object, a misalignment determiner performs axial misalignment determination processing to determine whether or not a reference axis of a transceiver for transmitting and receiving probe waves and a mounting reference axis of the mobile object coincide in direction. A necessity determiner determines whether or not a condition for performing the axial misalignment determination processing is met, and if the condition is met, determines that there is a need to perform the axial misalignment determination processing.The condition is predefined based on an extrapolation result of an extrapolator for extrapolating a target and a determination result of a deposit determiner for determining the presence or absence of a deposit on an object. If it is determined by the necessity determiner that there is a need to perform the axial misalignment determination processing, the misalignment determiner performs the axial misalignment determination processing.
Abstract translation: 该条件是基于用于推断目标的外推器的外推结果和用于确定物体上存在或不存在的存款确定器的确定结果的预测值。 如果由必要性确定器确定需要执行轴向未对准确定处理，则未对准确定器执行轴向未对准确定处理。
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9.发明授权公开(公告)号：US09463795B2
公开(公告)日：2016-10-11
申请号：US14690747
申请日：2015-04-20
Applicant: DENSO CORPORATION
Inventor： Akitoshi Minemura , Masayoshi Takeda , Yuusuke Matsumoto , Taku Sakima , Naoki Kawasaki , Syunya Kumano
CPC classification number: B60W30/09 , B60Q9/008 , B60T7/12 , B60T7/22 , B60T2201/022 , B60W30/08 , B60W2420/42
Abstract: A driving support apparatus installed in a host vehicle calculates an overlap ratio relating to a target object positioned ahead of the host vehicle within the same traffic lane, as the ratio of the width of the target object to its lateral distance from a lane marker line of the traffic lane, and also detects the motion condition of the object (i.e., stationary, moving towards, or in the same direction as the host vehicle, or moving laterally with respect to the forward direction of the host vehicle). An amount of compensation for retarding or advancing the commencement of a collision avoidance operation by the driving support apparatus is determined based on the overlap ratio and/or the motion condition of the target object.
Abstract translation: 安装在主车辆中的驾驶辅助装置计算与位于同一行车道内的本车辆前方的目标物体相关的重叠率，作为目标对象的宽度与其距离车道标记线的横向距离的比率 并且还检测物体的运动状况（即，静止，朝向或与主车辆相同的方向移动，或者相对于主车辆的向前方向横向移动）。 基于目标对象的重叠比和/或运动条件来确定用于延迟或推进驾驶辅助装置的避碰操作开始的补偿量。
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公开(公告)号：US09418302B2
公开(公告)日：2016-08-16
申请号：US14471372
申请日：2014-08-28
Applicant: DENSO CORPORATION
Inventor： Akitoshi Minemura , Taku Sakima , Yuusuke Matsumoto , Masayoshi Takeda
CPC classification number: G06K9/00798 , G06K9/6217
Abstract: A method and an apparatus are provided to recognize a shape of a road on which a vehicle is traveling. Road edge shapes on a left side and a right side of the vehicle are recognized, from positions of roadside objects detected based on detection information from an on-board radar. Lane shapes that are shapes of lane boundary lines on the left side and the right side of the vehicle are recognized, from positions of lane boundary lines detected based on an image captured by an on-board camera. For each of the left side and the right side, such that the recognized road edge shape and the recognized lane shape are compared with each other, and the road shape is identified based on the comparison results.
Abstract translation: 提供了一种用于识别车辆行驶的道路的形状的方法和装置。 根据来自车载雷达的检测信息检测到的路边物体的位置，识别出车辆左侧和右侧的路边形状。 从基于车载摄像机拍摄的图像检测的车道边界线的位置识别作为车辆左侧和右侧的车道边界线形状的车道形状。 对于左侧和右侧的每一个，使得识别的路边形状和识别的车道形状彼此进行比较，并且基于比较结果来识别道路形状。
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