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公开(公告)号：US20180001894A1
公开(公告)日：2018-01-04
申请号：US15544856
申请日：2016-01-15
CPC分类号： B60W30/16 , B60W10/06 , B60W10/18 , B60W30/18163 , B60W40/04 , B60W2420/42 , B60W2550/304 , B60W2550/308 , B60W2720/10 , B60W2750/308 , G08G1/167
摘要： A cruise control device 10 is applied to a vehicle in which an imaging device 21 is mounted. The cruise control device 10 includes: a white line recognition unit 11 which recognizes a white line 61 as a lane boundary that defines an own lane 63 that is a travel lane of an own vehicle 50, on the basis of images acquired by the imaging device 21; and a cutting-in/deviation determination unit 12 which performs cutting-in determination and deviation determination, in which the forward vehicle traveling on an adjacent lane 64 is determined to be a cutting-in vehicle that cuts into the own lane, and the forward vehicle traveling on the own lane is determined to be a deviating vehicle that deviates from the own lane on the basis of a relative position with respect to the white line in a vehicle width direction of a forward vehicle 51.
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公开(公告)号：US20170327123A1
公开(公告)日：2017-11-16
申请号：US15529905
申请日：2015-11-16
发明人： Mitsuhiro TOKIMASA , Toyoharu KATSUKURA , Yoshihisa OGATA , Youhei MASUI , Taku SAKIMA , Takeshi NANAMI , Takashi NISHIDA
IPC分类号： B60W40/04
CPC分类号： B60W40/04 , B60R21/00 , B60W30/095 , B60W30/16 , B60W2420/42 , B60W2420/52 , B60W2550/308 , G08G1/167
摘要： A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to the position of other vehicle ahead of the own vehicle is provided. The apparatus includes a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle, based on the position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determining means determining whether the other vehicle is in the path of the own vehicle, based on the parameter, an acquisition means acquiring a lane width that is the width of the lane the own vehicle is traveling, and an adjustment means changing the correspondence between the relative position and the parameter, based on the lane width.
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公开(公告)号：US20170327115A1
公开(公告)日：2017-11-16
申请号：US15529930
申请日：2015-10-23
发明人： Mitsuhiro TOKIMASA , Toyoharu KATSUKURA , Yoshihisa OGATA , Youhei MASUI , Taku SAKIMA , Takeshi NANAMI , Takashi NISHIDA
CPC分类号： B60W30/16 , B60R21/00 , B60T2201/08 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/12 , B60W30/14 , B60W2420/52 , B60W2520/10 , B60W2540/04 , B60W2550/10 , B60W2550/30 , B60W2550/302 , B60W2550/306 , B60W2550/308 , G01S13/931 , G08G1/16 , G08G1/166 , G08G1/167
摘要： A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to a position of other vehicle ahead of the own vehicle is provided. The device includes a setting means setting a parameter indicating a position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determination means determining whether the other vehicle is in the path of the own vehicle based on the parameter, a detection means detecting whether a relative movement has been made in the lateral direction by at least one of the own vehicle and the other vehicle, and a correction means correcting the parameter when a relative movement has been made in the lateral direction.
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公开(公告)号：US20200300969A1
公开(公告)日：2020-09-24
申请号：US16089141
申请日：2017-03-29
发明人： Yohei MASUI , Tadashi SAKAI , Takashi MAEDA , Takeshi NANAMI , Minoru NAKADORI
IPC分类号： G01S7/41 , B60R11/04 , G01S13/86 , G01S13/931 , G01S13/42
摘要： An object recognition device recognizes an object around the own vehicle by using a radar device and an imaging device. The object recognition apparatus includes: information combining unit that generates combined target information by combining radar-based target information with image-based target information if the object is being detected by the radar device and the imaging device, the radar-based target information being information on an object detected by the radar device, the image-based target information being information on an object detected by the imaging device; and an identical object determining unit that determines that an object detected by the imaging device is identical with an object detected by the radar device, based on time-dependent change of the combined target information.
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公开(公告)号：US20170329000A1
公开(公告)日：2017-11-16
申请号：US15529920
申请日：2015-10-15
发明人： Youhei MASUI , Takeshi NANAMI , Takashi NISHIDA
CPC分类号： G01S13/931 , B60K31/0066 , B60T2201/02 , B60W30/16 , B60W2550/143 , G01S7/4026 , G01S13/86 , G01S13/867 , G01S2007/403 , G01S2007/4091 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375 , G08G1/166
摘要： A radar device for detecting a distance between vehicles by the transmission and reception of survey waves is mounted in a vehicle as an object detection means for detecting an object. A cruise control apparatus includes a trajectory calculation means for calculating a moving locus of a preceding vehicle traveling in front of an own vehicle on the basis of the detection result of the radar device, a route prediction means for calculating a predicted route of the vehicle on the basis of the moving locus of the preceding vehicle calculated by the trajectory calculation means, an axial deviation detection means for detecting the axial deviation of the radar device, and an invalidation processing means for invalidating the predicted route calculated by the route prediction means when it is detected that the axial deviation detection means has detected axial deviation of the radar device.
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公开(公告)号：US20170326980A1
公开(公告)日：2017-11-16
申请号：US15529911
申请日：2015-10-05
CPC分类号： B60K31/0008 , B60K31/0066 , B60R21/00 , B60T2260/09 , B60W30/00 , B60W2720/12 , G01S13/931 , G01S2013/9321 , G01S2013/9346 , G01S2013/9353 , G06K9/00805 , G08G1/166 , G08G1/167
摘要： A cruise control apparatus controls travel of an own vehicle based on a predicted course which is a future travel course of the own vehicle. The cruise control apparatus includes a first predicted course calculating unit and a second predicted course calculating unit, as a plurality of course prediction means for calculating a predicted course, and is provided with a course change determination unit for determining whether a change in the course is to be performed and a prediction switching unit which performs switching to enable one of a first predicted course calculated by the first predicted course calculating unit and a second predicted course calculated by the second predicted course calculation unit, the switching being based on a result of determination made by the course change determination unit as to whether a change in the course is to be performed.
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公开(公告)号：US20190293758A1
公开(公告)日：2019-09-26
申请号：US16089121
申请日：2017-03-29
发明人： Yohei MASUI , Tadashi SAKAI , Takashi MAEDA , Takeshi NANAMI , Minoru NAKADORI
摘要： An object recognition apparatus groups reflection points detected by a radar device, and recognizes an object around the own vehicle, based on a radar-based target detected using the grouped plurality of reflection points and an image-based target detected using an image captured by an image capturing device. The object recognition apparatus includes a reflection point acquiring unit that acquires reflection point information related to the grouped plurality of reflection points, and an object determining unit that determines that a plurality of objects have been detected as a single object by the radar device, based on the reflection point information acquired by the reflection point acquiring unit and the information on the image-based target, if the image-based target detected by the imaging device includes an image-only target not detected by the radar device.
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公开(公告)号：US20180170384A1
公开(公告)日：2018-06-21
申请号：US15544855
申请日：2016-01-20
发明人： Youhei MASUI , Toyoharu KATSUKURA , Yoshihisa OGATA , Yusuke MATSUMOTO , Takeshi NANAMI , Takashi NISHIDA
IPC分类号： B60W30/165 , G08G1/16 , B60W30/18
CPC分类号： B60W30/165 , B60K2031/0025 , B60R21/00 , B60W30/18163 , B60W2420/42 , B60W2550/14 , G01S13/86 , G01S13/867 , G01S13/93 , G01S2013/9321 , G01S2013/9353 , G01S2013/9364 , G06K9/00798 , G08G1/16
摘要： 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.
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公开(公告)号：US20180012083A1
公开(公告)日：2018-01-11
申请号：US15544840
申请日：2016-01-18
CPC分类号： G06K9/00798 , B60W30/12 , G08G1/167
摘要： A demarcation line recognition apparatus (10) is applied to a vehicle in which an imaging apparatus (21) that captures an image of an area ahead of the vehicle is mounted. The demarcation line recognition apparatus (10) includes: a demarcation line recognizing unit (11) that recognizes a traveling demarcation line that demarcates a traveling lane of the vehicle based on an image acquired by the imaging apparatus (21); and a demarcation line estimating unit (12) that estimates a shape of the traveling demarcation line in a range that cannot be recognized by the demarcation line recognizing unit (11), based on the traveling demarcation line recognized by the demarcation line recognizing unit (11). The demarcation line recognition apparatus (10) determines a reliability level of the traveling demarcation line recognized by the demarcation line recognizing unit (11) and invalidates the estimation of the shape of the traveling demarcation line by the demarcation line estimating unit (12) based on the determination result.
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公开(公告)号：US20170330033A1
公开(公告)日：2017-11-16
申请号：US15529925
申请日：2015-10-13
发明人： Mitsuhiro TOKIMASA , Toyoharu KATSUKURA , Yoshihisa OGATA , Youhei MASUI , Taku SAKIMA , Takeshi NANAMI , Takashi NISHIDA
CPC分类号： G06K9/00664 , G01S7/4026 , G01S13/867 , G01S13/931 , G01S2007/4034 , G01S2013/9375 , G01V3/12 , G01V8/005 , G06T7/12 , G08G1/166 , H04N5/243
摘要： Provided is an object detection device (13) using a detection means (11) to transmit probe waves, receive reflected waves from an object (50) in a detection range, and acquire, as first detection information on the object, a position based on the reflected waves, to detect the object. The device includes an image information acquisition means, determination region setting means, and an object locating means. The image information acquisition means acquires, as second detection information on the object, a position based on an image of an area within the detection range, the image being captured by an image capturing means (12). The determination region setting means sets a determination region in the detection range. The object locating means locates the object, based on the first detection information, if pieces of the first and second detection information are present in the determination region.
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