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公开(公告)号：US20140146176A1
公开(公告)日：2014-05-29
申请号：US14235945
申请日：2012-07-27
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/00798 , G06T7/254 , G06T2207/10016 , G06T2207/20224 , G06T2207/30252 , G08G1/166
摘要： A moving-body-detecting device is provided with an image capture unit, an image conversion unit, a three-dimensional-object-detecting unit, a turn detecting unit, and a control unit. The image capture unit captures images of the rear side of a vehicle. The image conversion unit performs viewpoint conversion of the captured images into bird's-eye view images. The three-dimensional-object-detecting unit generates differential waveform information based on a differential image of bird's-eye view images taken as different points in time, and detects three-dimensional objects based on the differential waveform information. The control unit suppresses detection of the three-dimensional object based on the differential waveform information, in cases in which turning of the vehicle has been detected as compared with cases in which the vehicle is not turning.
摘要翻译： 移动体检测装置设置有图像捕获单元，图像转换单元，三维物体检测单元，转向检测单元和控制单元。 图像捕获单元捕获车辆后侧的图像。 图像转换单元将拍摄图像的视点转换为鸟瞰图。 三维物体检测单元基于作为不同时间点拍摄的鸟瞰图图像的差分图像生成差分波形信息，并且基于差分波形信息来检测三维物体。 与车辆不转动的情况相比，在检测到车辆的转弯的情况下，控制单元基于差分波形信息来抑制三维物体的检测。
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2.发明授权Detection region modification for driving assistance apparatus and driving assistance method 有权用于驾驶辅助装置和驾驶辅助方法的检测区域修改公开(公告)号：US09235767B2
公开(公告)日：2016-01-12
申请号：US14235934
申请日：2012-07-17
CPC分类号： G06K9/00805 , B60R1/002 , G08G1/167 , H04N7/18
摘要： A driving assistance device is provided with a turning state detection unit, an imaging unit, a solid object detection unit and a detection region modification unit. When the turning state detection unit detects that a host vehicle is in a turning state, the detection region modification unit alters a position of a detection region with respect to the host vehicle, or alters a shape or an area of the detection region based on the turning state of the host vehicle. For example, the detection region modification unit sets a shorter region length of the detection region as the turning radius of the host vehicle becomes smaller. Hereby, the region closest to the host vehicle is set, to a limited extent, as the detection regions.
摘要翻译： 驾驶辅助装置设置有转向状态检测单元，摄像单元，固体物体检测单元和检测区域修改单元。 当转向状态检测单元检测到主车辆处于转弯状态时，检测区域修改单元基于主车辆改变检测区域相对于主车辆的位置，或者改变检测区域的形状或区域 主车辆转向状态。 例如，当本车辆的转弯半径变小时，检测区域修正单元设定检测区域的较短的区域长度。 因此，最靠近主车辆的区域在有限的程度上被设置为检测区域。
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公开(公告)号：US20140169630A1
公开(公告)日：2014-06-19
申请号：US14235934
申请日：2012-07-17
CPC分类号： G06K9/00805 , B60R1/002 , G08G1/167 , H04N7/18
摘要： A driving assistance device is provided with a turning state detection unit, an imaging unit, a solid object detection unit and a detection region modification unit. When the turning state detection unit detects that a host vehicle is in a turning state, the detection region modification unit alters a position of a detection region with respect to the host vehicle, or alters a shape or an area of the detection region based on the turning state of the host vehicle. For example, the detection region modification unit sets a shorter region length of the detection region as the turning radius of the host vehicle becomes smaller. Hereby, the region closest to the host vehicle is set, to a limited extent, as the detection regions.
摘要翻译： 驾驶辅助装置设置有转向状态检测单元，摄像单元，固体物体检测单元和检测区域修改单元。 当转向状态检测单元检测到主车辆处于转弯状态时，检测区域修改单元基于主车辆改变检测区域相对于主车辆的位置，或者改变检测区域的形状或区域 主车辆转向状态。 例如，当本车辆的转弯半径变小时，检测区域修正单元设定检测区域的较短的区域长度。 因此，最靠近主车辆的区域在有限的程度上被设置为检测区域。
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公开(公告)号：US09665781B2
公开(公告)日：2017-05-30
申请号：US14235945
申请日：2012-07-27
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/00798 , G06T7/254 , G06T2207/10016 , G06T2207/20224 , G06T2207/30252 , G08G1/166
摘要： A moving-body-detecting device is provided with an image capture unit, an image conversion unit, a three-dimensional-object-detecting unit, a turn detecting unit, and a control unit. The image capture unit captures images of the rear side of a vehicle. The image conversion unit performs viewpoint conversion of the captured images into bird's-eye view images. The three-dimensional-object-detecting unit generates differential waveform information based on a differential image of bird's-eye view images taken as different points in time, and detects three-dimensional objects based on the differential waveform information. The control unit suppresses detection of the three-dimensional object based on the differential waveform information, in cases in which turning of the vehicle has been detected as compared with cases in which the vehicle is not turning.
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公开(公告)号：US10142595B2
公开(公告)日：2018-11-27
申请号：US13823414
申请日：2012-04-11
摘要： A driving assistance device includes a camera, a moving object detector, a candidate reflection region detector, a predetermined position brightness detector and a cause determiner. The moving object detector and the candidate reflection region detector set a detection region for detecting, from image data captured by the camera, an existence of an adjacent vehicle in an adjacent lane. The predetermined position brightness detector detects a candidate light projecting object which projects light with brightness equal to or higher than a predetermined threshold value. The cause determiner determines whether or not there exists a candidate light projecting object which indicates the existence of the adjacent vehicle in the detection region.
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公开(公告)号：US09349057B2
公开(公告)日：2016-05-24
申请号：US14235132
申请日：2012-07-27
CPC分类号： G06K9/00798 , B60R1/00 , B60R2300/806 , B60R2300/8066 , B60R2300/8093 , G06K9/00805 , G06T7/12 , G06T7/136 , G06T2207/10016 , G06T2207/20224 , G06T2207/30261 , G08G1/165 , G08G1/166 , G08G1/167 , H04N7/18
摘要： A three-dimensional object detection device basically includes a three-dimensional object detection unit, a natural object assessment unit and a control unit. The three-dimensional object detection unit detects three-dimensional objects based on image information of a rear of a vehicle from a camera. The natural object assessment unit assesses that a detected three-dimensional object is a natural object, such as a plant or snow, based on an irregularity evaluation value calculated based on a first pixel number of first pixels representing a first predetermined differential in the differential image containing the detected three-dimensional object and a second pixel number of second pixels corresponding to the three-dimensional object and representing a second predetermined differential greater than the first predetermined differential.
摘要翻译： 三维物体检测装置基本上包括三维物体检测单元，自然物体评估单元和控制单元。 三维物体检测单元基于来自照相机的车辆后方的图像信息来检测三维物体。 自然对象评估单元基于基于表示差分图像中的第一预定差分的第一像素的第一像素数计算的不规则性评估值来评估检测到的三维物体是诸如植物或雪之类的自然物体 包含所检测到的三维物体和与所述三维物体对应的第二像素的第二像素数，并且表示大于所述第一预定差分的第二预定差分。
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公开(公告)号：US09092676B2
公开(公告)日：2015-07-28
申请号：US14233404
申请日：2012-07-27
CPC分类号： G06K9/00805 , G06K2209/23 , G08G1/167
摘要： A solid object detection device detects solid objects in the periphery of a vehicle. A camera captures images including detection regions set in adjacent traffic lanes to the rear of the vehicle. A solid object assessment unit assesses whether or not a solid object is present in the detection regions. A lateral position detection unit detects a distance between the vehicle position and a dividing line that divides traffic lanes. A region setting unit enlarges the detection region on the side of the dividing line by a greater amount correspondingly with respect to an increase in the distance to the dividing line. A traffic lane change detection unit detects a traffic lane change made by the vehicle. Upon detecting a traffic lane change by the vehicle, a smaller enlarged amount is used when enlarging the size of the predetermined region outward in the vehicle-width direction.
摘要翻译： 固体物体检测装置检测车辆周边中的固体物体。 相机拍摄包括设置在车辆后部的相邻行车道中的检测区域的图像。 固体物体评估单元评估在检测区域中是否存在固体物体。 横向位置检测单元检测车辆位置与划分行车道的分界线之间的距离。 区域设定单元相对于与分割线的距离的增加相应地将分割线侧的检测区域放大更多的量。 行车道变更检测单元检测由车辆进行的行车道变更。 当检测到车辆的行车道变化时，当在车宽方向上向外扩大预定区域的尺寸时，使用较小的扩大量。
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8.发明授权Periodic stationary object detection system and periodic stationary object detection method 有权定期静止物体检测系统和周期性静止物体检测方法公开(公告)号：US08903133B2
公开(公告)日：2014-12-02
申请号：US13821918
申请日：2012-02-17
CPC分类号： G06K9/00791 , G06K9/00805 , G06K9/50 , G06T7/246 , G06T2207/30252 , G08G1/167
摘要： A periodic stationary object detection system extracts a feature point of a three-dimensional object from image data on a predetermined region of a bird's eye view image for each of multiple sub regions included in the predetermined region, calculates waveform data corresponding to a distribution of the feature points in the predetermined region on the bird's eye view image, and judges whether or not the three-dimensional object having the extracted feature point is a periodic stationary object candidate on the basis of whether or not peak information of the waveform data is equal to or larger than a predetermined threshold value.
摘要翻译： 周期性静止物体检测系统从包括在预定区域中的多个子区域中的每一个的鸟瞰图图像的预定区域上的图像数据中提取三维物体的特征点，计算对应于预定区域的分布的波形数据 特征点在鸟瞰图图像上的预定区域中，并且基于波形数据的峰值信息是否等于，判断具有提取的特征点的三维对象是否是周期性静止候选对象 或大于预定阈值。
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公开(公告)号：US20140168440A1
公开(公告)日：2014-06-19
申请号：US14235132
申请日：2012-07-27
CPC分类号： G06K9/00798 , B60R1/00 , B60R2300/806 , B60R2300/8066 , B60R2300/8093 , G06K9/00805 , G06T7/12 , G06T7/136 , G06T2207/10016 , G06T2207/20224 , G06T2207/30261 , G08G1/165 , G08G1/166 , G08G1/167 , H04N7/18
摘要： A three-dimensional object detection device basically includes a three-dimensional object detection unit, a natural object assessment unit and a control unit. The three-dimensional object detection unit detects three-dimensional objects based on image information of a rear of a vehicle from a camera. The natural object assessment unit assesses that a detected three-dimensional object is a natural object, such as a plant or snow, based on an irregularity evaluation value calculated based on a first pixel number of first pixels representing a first predetermined differential in the differential image containing the detected three-dimensional object and a second pixel number of second pixels corresponding to the three-dimensional object and representing a second predetermined differential greater than the first predetermined differential.
摘要翻译： 三维物体检测装置基本上包括三维物体检测单元，自然物体评估单元和控制单元。 三维物体检测单元基于来自照相机的车辆后方的图像信息来检测三维物体。 自然对象评估单元基于基于表示差分图像中的第一预定差分的第一像素的第一像素数计算的不规则性评估值来评估检测到的三维物体是诸如植物或雪之类的自然物体 包含所检测到的三维物体和与所述三维物体对应的第二像素的第二像素数，并且表示大于所述第一预定差分的第二预定差分。
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公开(公告)号：US20140147007A1
公开(公告)日：2014-05-29
申请号：US14233404
申请日：2012-07-27
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K2209/23 , G08G1/167
摘要： A solid object detection device detects solid objects in the periphery of a vehicle. A camera captures images including detection regions set in adjacent traffic lanes to the rear of the vehicle. A solid object assessment unit assesses whether or not a solid object is present in the detection regions. A lateral position detection unit detects a distance between the vehicle position and a dividing line that divides traffic lanes. A region setting unit enlarges the detection region on the side of the dividing line by a greater amount correspondingly with respect to an increase in the distance to the dividing line. A traffic lane change detection unit detects a traffic lane change made by the vehicle. Upon detecting a traffic lane change by the vehicle, a smaller enlarged amount is used when enlarging the size of the predetermined region outward in the vehicle-width direction.
摘要翻译： 固体物体检测装置检测车辆周边中的固体物体。 相机拍摄包括设置在车辆后部的相邻行车道中的检测区域的图像。 固体物体评估单元评估在检测区域中是否存在固体物体。 横向位置检测单元检测车辆位置与划分行车道的分界线之间的距离。 区域设定单元相对于与分割线的距离的增加相应地将分割线侧的检测区域放大更多的量。 行车道变更检测单元检测由车辆进行的行车道变更。 当检测到车辆的行车道变化时，当将车辆宽度方向上的预定区域的尺寸扩大时，使用较小的放大量。
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