公开(公告)号：US20240246534A1

公开(公告)日：2024-07-25

申请号：US18516041

申请日：2023-11-21

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Fumio SUGAYA

IPC: B60W30/095 ,  B60W30/09 ,  B60W30/18 ,  B60W40/105

CPC classification number: B60W30/0956 ,  B60W30/09 ,  B60W30/18154 ,  B60W40/105

Abstract: A risk estimation system estimates the degree of risk ahead of a vehicle. Three-dimensional object layout information indicates the three-dimensional layout of a three-dimensional object ahead of the vehicle. An intersecting road is a road that intersects a traveling road, which is a road on which the vehicle is traveling, at an intersection ahead of the vehicle. The risk estimation system sets a first area that extends from the intersection into the intersecting road by a first length. Based on the three-dimensional object layout information, the risk estimation system calculates the degree of blocking indicating a degree to which the first area is blocked by the three-dimensional object when seen from the position of the vehicle. After that, the risk estimation system calculates the degree of risk in such a way that the degree of risk increases as the degree of blocking is higher.

公开(公告)号：US20230177960A1

公开(公告)日：2023-06-08

申请号：US17961201

申请日：2022-10-06

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Kai OYA ,  Shintaro INOUE ,  Fumio SUGAYA

IPC: G08G1/16 ,  B60Q9/00 ,  G01P15/00

CPC classification number: G08G1/162 ,  B60Q9/008 ,  G01P15/003

Abstract: A vehicle notification apparatus recognizes an object of driving over on a road on which a host vehicle travels based on a detection result by a front sensor of the host vehicle, determines whether the object of driving over flies backwards based on a detection result by a rear sensor of the host vehicle when the object of driving over is recognized, and notifies a following vehicle of projectile information corresponding to the flight of the object of driving over when it is determined that the object of driving over flies backwards.

公开(公告)号：US20160304098A1

公开(公告)日：2016-10-20

申请号：US15092852

申请日：2016-04-07

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroaki ITO ,  Fumio SUGAYA

IPC: B60W40/076 ,  G06K9/00 ,  G06T7/00 ,  H04N13/00

CPC classification number: B60W40/076 ,  G06K9/00791 ,  G06K9/00798 ,  G06T7/593 ,  G06T2207/10021 ,  G06T2207/30256 ,  H04N13/106

Abstract: A road surface gradient detection device is provided. The road surface gradient detection device includes an image area setting unit configured to divide a captured image to set a plurality of image areas, a weighting setting unit configured to set the weighting of the pixel range, a representative height calculation unit configured to calculate the representative parallax of each image area and the representative height of each image area based on the parallax of each pixel range, the coordinates of each pixel range, and a magnitude of the weighting of each pixel range, and a road surface gradient detection unit configured to detect the road surface gradient from the captured image based on the representative parallax of each image area and the representative height of each image area.

Abstract translation: 提供路面坡度检测装置。 所述路面坡度检测装置包括：图像区域设定部，被构成为对拍摄图像进行分割以设定多个图像区域;加权设定部，被配置为设定所述像素范围的权重;代表高度计算部， 基于每个像素范围的视差，每个像素范围的坐标以及每个像素范围的加权大小的每个图像区域的视差和每个图像区域的代表性高度，以及路面梯度检测单元，被配置为检测 基于每个图像区域的代表性视差和每个图像区域的代表性高度，从捕获图像的路面坡度。

公开(公告)号：US20190102602A1

公开(公告)日：2019-04-04

申请号：US16145361

申请日：2018-09-28

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Naohide UCHIDA ,  Fumio SUGAYA ,  Ken TANABE ,  Hirotake ISHIGAMI ,  Masaki KUWAHARA

IPC: G06K9/00 ,  H04N13/239 ,  G08G1/04

Abstract: An apparatus comprises three-dimensional object detecting means for detecting a three-dimensional object in a taken image, temporarily determining means for calculating, based on parallax information, a lower end height from a road surface to a lower end of the object, for temporarily determining that the object is a ground-contacting object when the lower end height is less than or equal to a threshold, and for temporarily determining that the object is a floating object when the lower end height exceeds the threshold, and finally determining means for finally determining whether the object is a ground-contacting object or a floating object. The finally determining means finally determines that the object is a ground-contacting object at the current computation timing when the object is determined to be a ground-contacting object in at least one of the temporary determination at the current computation timing and the final determination at the previous computation timing.

公开(公告)号：US20190095726A1

公开(公告)日：2019-03-28

申请号：US16047093

申请日：2018-07-27

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Shinya KAWAMATA ,  Fumio SUGAYA

IPC: G06K9/00

Abstract: A recognition support system for a vehicle includes an image recognition sensor including a camera configured to capture an image of a periphery of a host vehicle while alternately repeating an exposure period and a non-exposure period; an irradiation device configured to irradiate light to the periphery of the host vehicle; an object recognition unit configured to recognize an object existing in the periphery of the host vehicle by using the image recognition sensor; and a light irradiation control unit configured to, when the object recognized by the object recognition unit is an alert target object, carry out intermittent irradiation of light to the alert target object by using the irradiation device, the intermittent irradiation being carried out such that an irradiation period of light and a non-irradiation period of light are alternately repeated and the non-irradiation period overlaps with at least part of the exposure period.

公开(公告)号：US20240078904A1

公开(公告)日：2024-03-07

申请号：US18212737

申请日：2023-06-22

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Fumio SUGAYA

IPC: G08G1/0967 ,  B60T7/12

CPC classification number: G08G1/096791 ,  B60T7/12

Abstract: A support target intersection extraction system that extracts a support target intersection that is a target of vehicle support in a support target vehicle among intersections included in map information includes: a priority road extraction unit that extracts a priority road among roads connected to the intersection, based on position information, travel information, and the map information acquired from a plurality of probe vehicles; a risk reduction amount calculation unit that calculates a risk reduction amount on the priority road side at the intersection where the priority road is extracted, based on the position information and the travel information acquired from the probe vehicles; and a support target intersection extraction unit that extracts the support target intersection from the intersections where a travel road of the support target vehicle is the priority road and the risk reduction amount is less than a risk reduction amount threshold.

公开(公告)号：US20160305785A1

公开(公告)日：2016-10-20

申请号：US15096594

申请日：2016-04-12

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Masakazu NISHIJIMA ,  Fumio SUGAYA

IPC: G01C21/26 ,  H04N13/02 ,  G06K9/00

CPC classification number: H04N13/204 ,  G01C7/04 ,  G01C11/06 ,  G06K9/00798 ,  H04N13/239

Abstract: A road surface detection device that detects a road surface region based on disparity information obtained from a captured image of an area around a vehicle that is captured by an onboard camera, includes a path estimating portion that estimates a travel path where the vehicle will travel, based on driving information of the vehicle; and a detecting portion that weights the disparity information, and detects a road surface region in the captured image based on the weighted disparity information, wherein when the detecting portion weights the disparity information, the detecting portion gives less weight to the disparity information positioned on a side away from the travel path in the captured image than to the disparity information positioned on a side near the travel path in the captured image.

Abstract translation: 一种路面检测装置，其基于由车载摄像机拍摄的车辆周围的区域的拍摄图像获得的视差信息来检测路面区域，包括估计车辆行驶的行驶路径的路径估计部， 基于车辆的驾驶信息; 以及检测部，其对所述视差信息进行加权，并且基于所述加权的视差信息来检测所述拍摄图像中的路面区域，其中，当所述检测部对所述视差信息进行加权时，所述检测部对所述视差信息 一侧远离拍摄图像中的行进路径，而不是位于靠近捕获图像中的行进路径的一侧的视差信息。