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公开(公告)号：US12037041B2
公开(公告)日：2024-07-16
申请号：US16656747
申请日：2019-10-18
发明人： Takuya Taniguchi , Noritaka Kokido , Koji Iida
IPC分类号： B62D15/02 , B60R16/023 , G06K9/00 , G06V20/56 , G08G1/0962 , G08G1/0967 , G08G1/16
CPC分类号： B62D15/025 , B60R16/0231 , B62D15/029 , G06V20/588 , G08G1/09623 , G08G1/096716 , G08G1/096725 , G08G1/096758 , G08G1/096783 , G08G1/167
摘要： Provided are a lane separation line detection correcting device/method and an automatic driving system for stabilizing the behavior of a vehicle by correcting overestimated curvature information resulting from an erroneous detection of a curvature of a lane separation line. A travel speed detecting circuit detects, for example, a target travel speed as vehicle sensor information. A maximum curvature estimating circuit estimates, based on the target travel speed, a maximum curvature of a road along which an own vehicle is traveling. A curvature correcting circuit corrects a curvature of a lane separation line input thereto based on the maximum curvature. A control unit controls steering of the own vehicle based on the lane separation line having a corrected curvature. As a result, vehicle steering can be automatically controlled so as to prevent the own vehicle while traveling from departing from a driving lane.
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公开(公告)号：US11767055B2
公开(公告)日：2023-09-26
申请号：US16656646
申请日：2019-10-18
发明人： Takuya Taniguchi , Noritaka Kokido , Koji Iida
IPC分类号： B62D15/02 , G08G1/0962 , G06K9/00 , B60R16/023 , G08G1/16 , G08G1/0967 , G06V20/56
CPC分类号： B62D15/025 , B60R16/0231 , B62D15/029 , G06V20/588 , G08G1/09623 , G08G1/096716 , G08G1/096725 , G08G1/096758 , G08G1/096783 , G08G1/167
摘要： Provided are a lane separation line detection correcting device/method and an automatic driving system for stabilizing the behavior of a vehicle by correcting overestimated curvature information resulting from an erroneous detection of a curvature of a lane separation line. A travel speed detecting circuit detects, for example, a target travel speed as vehicle sensor information. A maximum curvature estimating circuit estimates, based on the target travel speed, a maximum curvature of a road along which an own vehicle is traveling. A curvature correcting circuit corrects a curvature of a lane separation line input thereto based on the maximum curvature. A control unit controls steering of the own vehicle based on the lane separation line having a corrected curvature. As a result, vehicle steering can be automatically controlled so as to prevent the own vehicle while traveling from departing from a driving lane.
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公开(公告)号：US11465643B2
公开(公告)日：2022-10-11
申请号：US16753631
申请日：2017-11-20
发明人： Koji Iida
摘要： An obstacle recognition device includes: a first sensor and a second sensor, which are configured to detect an object near a vehicle; a calculation unit configured to calculate, based on first detection data on a first object detected by the first sensor and second detection data on a second object detected by the second sensor, an index value for identifying whether the two objects are the same object; a determination unit configured to determine whether the two objects are the same object by comparing the index value with a threshold value set in advance; and a correction unit configured to calculate, when the determination unit has determined that the two objects are the same object, a detection error between the two sensors based on the two detection data, and generate corrected detection data so as to remove the detection error.
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公开(公告)号：US10885355B2
公开(公告)日：2021-01-05
申请号：US16342057
申请日：2016-11-08
发明人： Koji Iida , Noritaka Kokido
摘要： Provided is an object detection device including: a detection unit configured to detect objects for every detection period to output detection information containing a reliability for each of the detected objects; a determination unit configured to: increment a detection count for each of the objects; calculate, for each of the objects, a sum of latest N reliabilities in the detection period; and determine, as a normally recognized object, an object for which the sum is equal to or larger than a first threshold value, which is set in advance depending on the detection count; and a control unit configured to output, as normally detected object information, detection information on the normally recognized object.
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公开(公告)号：US10242451B2
公开(公告)日：2019-03-26
申请号：US15270310
申请日：2016-09-20
发明人： Takahisa Aoyagi , Koji Iida , Noritaka Kokido
摘要： To perform an ideal calibration operation, a start switch started manually or by an on-vehicle camera calibration device, a start switching device started by an operation of the start switch and projection devices installed in an outer periphery of a vehicle body, including at least one or more light sources irradiating the surroundings of the vehicle body with light are provided, in which whether a calibration operation is possible or not is determined based on references on a road surface projected by the projection devices.
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公开(公告)号：US11999410B2
公开(公告)日：2024-06-04
申请号：US16656795
申请日：2019-10-18
发明人： Takuya Taniguchi , Noritaka Kokido , Koji Iida
IPC分类号： B62D15/02 , B60R16/023 , G06K9/00 , G06V20/56 , G08G1/0962 , G08G1/0967 , G08G1/16
CPC分类号： B62D15/025 , B60R16/0231 , B62D15/029 , G06V20/588 , G08G1/09623 , G08G1/096716 , G08G1/096725 , G08G1/096758 , G08G1/096783 , G08G1/167
摘要： Provided are a lane separation line detection correcting device/method and an automatic driving system for stabilizing the behavior of a vehicle by correcting overestimated curvature information resulting from an erroneous detection of a curvature of a lane separation line. A travel speed detecting circuit detects, for example, a target travel speed as vehicle sensor information. A maximum curvature estimating circuit estimates, based on the target travel speed, a maximum curvature of a road along which an own vehicle is traveling. A curvature correcting circuit corrects a curvature of a lane separation line input thereto based on the maximum curvature. A control unit controls steering of the own vehicle based on the lane separation line having a corrected curvature. As a result, vehicle steering can be automatically controlled so as to prevent the own vehicle while traveling from departing from a driving lane.
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公开(公告)号：US11055582B2
公开(公告)日：2021-07-06
申请号：US16681294
申请日：2019-11-12
发明人： Shinichi Tateiwa , Koji Iida , Takayuki Moritani
IPC分类号： G06K9/62
摘要： Provided is an object recognition device capable of preventing a change of fusion data from a previous value to a current value that exceeds a tolerable range. The object recognition device is configured to execute specialized tracking processing when a change of the fusion data from the previous value to the current value exceeds a tolerable range, and generate tracking data that is equivalent to prediction data in the specialized tracking processing by setting an adjustment physical quantity for solving a fusion data discontinuity state.
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公开(公告)号：US20200184283A1
公开(公告)日：2020-06-11
申请号：US16681294
申请日：2019-11-12
发明人： Shinichi Tateiwa , Koji Iida , Takayuki Moritani
IPC分类号： G06K9/62
摘要： Provided is an object recognition device capable of preventing a change of fusion data from a previous value to a current value that exceeds a tolerable range. The object recognition device is configured to execute specialized tracking processing when a change of the fusion data from the previous value to the current value exceeds a tolerable range, and generate tracking data that is equivalent to prediction data in the specialized tracking processing by setting an adjustment physical quantity for solving a fusion data discontinuity state.
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公开(公告)号：US10133940B2
公开(公告)日：2018-11-20
申请号：US15205189
申请日：2016-07-08
发明人： Koji Iida
摘要： Provided is a road surface undulation estimation device and a road surface undulation estimation method capable of estimating an undulation of a road surface on which a vehicle travels, being configured to: detect regularly appearing objects from a vehicle periphery image captured by a camera; calculate detection positions of the respective regularly appearing objects by using camera installation information to transform positions of the respective regularly appearing objects in the vehicle periphery image into positions in a real space; calculate detection intervals between neighboring detection positions out of the respective detection positions; and estimate, from the respective detection positions, the calculated detection intervals, and an installation interval of the regularly appearing objects, inclinations of the actual road surface with respect to a road surface obtained through the transformation calculation from the vehicle periphery image to the real space.
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公开(公告)号：US11577780B2
公开(公告)日：2023-02-14
申请号：US16656670
申请日：2019-10-18
发明人： Takuya Taniguchi , Noritaka Kokido , Koji Iida
IPC分类号： B62D15/02 , B60R16/023 , G06K9/00 , G08G1/0962 , G08G1/0967 , G08G1/16 , G06V20/56
摘要： Provided are a lane separation line detection correcting device/method and an automatic driving system for stabilizing the behavior of a vehicle by correcting overestimated curvature information resulting from an erroneous detection of a curvature of a lane separation line. A travel speed detecting circuit detects, for example, a target travel speed as vehicle sensor information. A maximum curvature estimating circuit estimates, based on the target travel speed, a maximum curvature of a road along which an own vehicle is traveling. A curvature correcting circuit corrects a curvature of a lane separation line input thereto based on the maximum curvature. A control unit controls steering of the own vehicle based on the lane separation line having a corrected curvature. As a result, vehicle steering can be automatically controlled so as to prevent the own vehicle while traveling from departing from a driving lane.
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