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91.发明授权公开(公告)号：US09569675B2
公开(公告)日：2017-02-14
申请号：US14406807
申请日：2013-07-24
发明人： Yasuhisa Hayakawa , Osamu Fukata
IPC分类号： B60R1/00 , B60S1/56 , B60S1/46 , H04N7/18 , G06K9/00 , G06T7/00 , G08G1/16 , H04N13/00 , H04N13/02
CPC分类号： G06K9/00805 , G06K9/00798 , G06T7/0002 , G06T2207/10016 , G06T2207/30168 , G06T2207/30252 , G06T2207/30256 , G08G1/166 , G08G1/167 , H04N13/106 , H04N13/296
摘要： A three-dimensional object detection device has an image capturing unit, detection area setting unit, a three-dimensional object detection unit and a lens state assessment unit. The image capturing unit has a lens for capturing images behind a vehicle. The detection area setting unit sets a detection area behind the vehicle. The three-dimensional object detection unit detects a three-dimensional object that is present in the detection area based on the acquired images. The lens state assessment unit detects if the lens is in a wet state. When a determination is made by that the lens is in a wet state, the detection area setting unit changes a position of the detection area from a first detection area, which is first set as the detection area to a second detection area, in which a display area for a driving lane marker on a driving lane side of the vehicle is removed.
摘要翻译： 三维物体检测装置具有图像拍摄单元，检测区域设定单元，三维物体检测单元和透镜状态评估单元。 图像拍摄单元具有用于捕获车辆后面的图像的透镜。 检测区域设定单元设定车辆后方的检测区域。 三维物体检测单元基于获取的图像来检测存在于检测区域中的三维物体。 透镜状态评估单元检测透镜是否处于潮湿状态。 当通过透镜处于湿状态进行判断时，检测区域设定单元将检测区域的位置从首先设置为检测区域的第一检测区域改变为第二检测区域，其中 去除车辆行驶车道侧的驾驶车道标记的显示区域。
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公开(公告)号：US09378425B2
公开(公告)日：2016-06-28
申请号：US14647219
申请日：2013-11-21
发明人： Shoji Muramatsu , Takehito Ogata , Masahiro Kiyohara , Satoshi Suzuki , Osamu Fukata , Yasuhisa Hayakawa , Akira Morimoto
CPC分类号： G06K9/00812 , G06K9/00798 , G06T1/00 , G06T2207/10016 , G06T2207/30232 , G06T2207/30256 , G06T2207/30261 , G06T2207/30264 , H04N7/181
摘要： A parking frame drawn on a road surface is reliably detected. An imager (10) installed on a vehicle (1) captures an image (I) including at least a road surface around the vehicle (1). A candidate white-line area detector (30) detects, from the captured image (I), a candidate white-line area which is possibly a part of a parking frame. A parking-frame-similitude calculator (40) calculates the brightness distribution of the detected candidate white-line area and the surroundings of boundary points of a road surface. When the brightness distribution satisfies a certain condition, the parking-frame similitude or the degree to which the candidate white-line area forms a parking frame, is determined to be low. When a parking-frame similitude of the candidate white-line area forming a parking frame is detected in the image (I) by a parking-frame detector (60), the credibility (U) for the detected parking frame is set low.
摘要翻译： 可靠地检测在路面上画的停车框。 安装在车辆（1）上的成像器（10）捕获至少包括车辆（1）周围的路面的图像（I）。 候选白线区域检测器（30）从拍摄图像（I）检测可能是停车帧的一部分的候选白线区域。 停车帧相似计算器（40）计算检测到的候选白线区域和路面的边界点周围的亮度分布。 当亮度分布满足一定条件时，停车框相似度或候选白线区域形成停车框的程度被确定为低。 当通过停车框架检测器（60）在图像（I）中检测到形成停车框的候选白线区域的停车框相似时，将检测到的停车框架的可信度（U）设定得较低。
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93.发明申请公开(公告)号：US20150291031A1
公开(公告)日：2015-10-15
申请号：US14443114
申请日：2013-11-22
CPC分类号： B60K31/0058 , B60W30/06 , B60W50/12 , B60W2520/06 , B60W2540/10 , B60W2540/18 , B60W2720/106 , B62D15/027 , G06K9/00812 , G08G1/168
摘要： Based on a parking frame certainty degree indicative of a degree of certainty about a presence is a parking frame in the travel direction of the vehicle and a parking frame entering certainty degree indicative of a degree of certainty about whether the vehicle enters the parking frame, a total certainty degree indicative of a total degree of the certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated. Acceleration of the vehicle is controlled depending on a manipulation amount of an accelerator pedal manipulated by a drive to instruct a driving force and is suppressed in a lower suppression degree when the total certainty degree is lower than when the total certainty degree is higher. Furthermore, the acceleration of the vehicle is suppressed in the suppression degree decreased depending on the travel direction of the vehicle.
摘要翻译： 基于停车框架，表示存在确定性的确定度是在车辆的行进方向上的停车框架，以及指示车辆是否进入停车框架的确定程度的确定度的停车框架， 计算总停机框确定度确定度和停车框进入确定度的总确定度。 根据由指示驱动力的驱动器操纵的加速器踏板的操纵量来控制车辆的加速度，并且当总确定度低于总确定度较高时抑制程度较低。 此外，根据车辆的行驶方向，抑制程度减小，车辆的加速度被抑制。
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公开(公告)号：US09135511B2
公开(公告)日：2015-09-15
申请号：US14373057
申请日：2013-02-26
发明人： Yasuhisa Hayakawa , Osamu Fukata
CPC分类号： G06K9/00805 , G01S17/026 , G01S17/08 , G06K9/00825 , G06T5/006 , G06T7/262 , G06T2207/20064 , G06T2207/30256 , G08G1/165 , G08G1/166 , G08G1/167 , H04N7/183
摘要： A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a light source detection unit a degree-of-certainty assessment unit and a control unit. The degree-of-certainty assessment unit assesses a degree of certainty that a light source is headlights of another vehicle in two lanes over. The control unit sets a threshold value so that the three-dimensional object is more difficult to detect in a forward area of a line connecting the light source and the image capturing unit in the detection frame when the degree of certainty is at a predetermined value or higher, and sets a threshold value so that the three-dimensional object is more difficult to detect in progression from a center side toward front or rear ends of the detection frame when the degree of certainty is less than a predetermined value.
摘要翻译： 三维物体检测装置包括图像拍摄单元，图像转换单元，三维物体检测单元，光源检测单元，可靠度评估单元和控制单元。 确定性评估单位评估光源是两条车道中另一车辆的前灯的确定程度。 控制单元设定阈值，使得当确定度为预定值时，在连接光源和图像捕获单元的线的正面区域中，难以检测三维物体，或者 并且设定阈值，使得当确定度小于预定值时，三维物体在检测框架的中心侧朝向前端或后端的进展中更难以检测。
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95.发明申请公开(公告)号：US20150195496A1
公开(公告)日：2015-07-09
申请号：US14410760
申请日：2013-07-26
发明人： Yasuhisa Hayakawa , Osamu Fukata , Masayuki Takemura , Akira Utagawa , Shoji Muramatsu , Kota Irie
CPC分类号： H04N7/188 , B60R1/00 , B60R2300/607 , B60R2300/8026 , G03B2217/005 , G06K9/00201 , G06K9/00805 , G06K9/2027 , G06K9/4604 , G06T7/12 , G06T7/136 , G06T2207/10028 , G06T2207/30261 , H04N5/217 , H04N5/232 , H04N2101/00
摘要： A three-dimensional object detection device has an image capturing unit, an object detection unit, first and second edge intensity calculation units, a day/night assessment unit and a controller. The day/night assessment unit assess whether it is currently daytime or nighttime when detecting a three-dimensional object based on the captured images. Upon assesses it is daytime, edges of a subject are extracted from a first edge extraction area, including a horizon reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges in the first edge extraction area. Upon assesses it is nighttime, the edges of a subject are extracted from a second edge extraction area, including a road edge reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges that are extracted from the second edge extraction area.
摘要翻译： 三维物体检测装置具有图像拍摄单元，物体检测单元，第一和第二边缘强度计算单元，昼夜评估单元和控制器。 白天/夜晚评估单元基于捕获的图像来评估当前是否检测到三维物体时是白天还是夜间。 在评估为白天时，从包括水平参考区域的第一边缘提取区域提取对象的边缘，并且基于第一边缘提取中的边缘的强度来设置用于检测三维物体的阈值 区。 在评估为夜间时，从包括道路边缘参考区域的第二边缘提取区域提取被摄体的边缘，并且基于提取的边缘的强度来设置用于检测三维物体的阈值 从第二边缘提取区域。
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公开(公告)号：US20150016681A1
公开(公告)日：2015-01-15
申请号：US14373064
申请日：2013-02-26
发明人： Osamu Fukata , Yasuhisa Hayakawa
CPC分类号： G06K9/00805 , B60R1/00 , B60R2300/607 , B60R2300/802 , G06T7/262 , G06T2207/10004 , G06T2207/20048 , G06T2207/20064 , G06T2207/30261 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a movement speed calculation unit, a three-dimensional object assessment unit, a non-detection-object assessment unit and a control unit. The image conversion unit converts a viewpoint of the images to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the predetermined detection area based on difference waveform information. The movement speed calculation unit calculates a movement speed of the three-dimensional object. The non-detection-object assessment unit detect san amount of variability in the movement speed of the three-dimensional object, and assesses whether the three-dimensional object is a non-detection object based on the amount of variability. The control unit inhibits the three-dimensional object assessment unit from assessing that the three-dimensional object is the another vehicle based on the assessment results.
摘要翻译： 三维物体检测装置包括图像拍摄单元，图像转换单元，三维物体检测单元，移动速度计算单元，三维物体评估单元，非检测对象评估单元和 控制单元 图像转换单元转换图像的视点以创建鸟瞰图图像。 三维物体检测单元基于差分波形信息检测预定检测区域内的三维物体的存在。 移动速度计算单元计算三维物体的移动速度。 非检测对象评估单元检测三维物体的运动速度的变化量，并且基于变化量来评估三维物体是否是非检测物体。 基于评估结果，控制单元抑制三维物体评估单元评估三维物体是另一种车辆。
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公开(公告)号：US20240326795A1
公开(公告)日：2024-10-03
申请号：US18693059
申请日：2021-09-21
发明人： Yasuhisa Hayakawa
IPC分类号： B60W30/095 , B60W30/12 , B60W30/16
CPC分类号： B60W30/0956 , B60W30/12 , B60W30/16 , B60W2554/80
摘要： A processor of a driving control device compares a vehicle speed of a subject vehicle traveling in a first lane with a vehicle speed of an adjacent other vehicle traveling in a second lane to determine whether a relative speed of the adjacent other vehicle to the subject vehicle is equal to or less than a predetermined speed difference threshold, and relaxes a travel condition for permitting the subject vehicle to travel at a predetermined driving assistance level when the relative speed is equal to or less than the speed difference threshold.
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公开(公告)号：US20240270254A1
公开(公告)日：2024-08-15
申请号：US18033832
申请日：2020-10-29
发明人： Yasuhisa Hayakawa
IPC分类号： B60W30/182 , B60W40/08 , B60W50/08 , B60W50/14 , B60W60/00
CPC分类号： B60W30/182 , B60W40/08 , B60W50/082 , B60W50/14 , B60W60/0053 , B60W60/0057 , B60W60/0059 , B60W2040/0818 , B60W2050/143 , B60W2050/146 , B60W2540/229 , B60W2552/53 , B60W2554/406 , B60W2556/40
摘要： A driving control device includes a processor that controls driving of a subject vehicle using any one of a first driving mode and a second driving mode having a lower driving assistance level than that of the first driving mode. The processor is configured to: after the driving mode switches from the first driving mode to the second driving mode, determine whether or not a travel environment of the subject vehicle satisfies an automatic return-possible condition; and when the travel environment of the subject vehicle satisfies the automatic return-possible condition after the driving mode switches from the first driving mode to the second driving mode, output, to a user interface, first information indicating that the driving mode of the subject vehicle can be switched automatically from the second driving mode to the first driving mode.
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公开(公告)号：US11772634B2
公开(公告)日：2023-10-03
申请号：US16756690
申请日：2017-10-27
CPC分类号： B60W30/06 , B60W50/08 , B60W2554/4041 , B60W2554/80
摘要： A parking control method executes a control instruction for moving a vehicle along a parking route. The parking route is calculated based on an operation command acquired from an operator located outside the vehicle. The parking control method includes detecting a relative altitude between a first height position of the operator and a second height position of the vehicle and when determining that the relative altitude is not less than a first predetermined value, changing a first speed to a second speed lower than the first speed. The first speed is preliminarily set in the control instruction. The parking control method further includes moving the vehicle in accordance with the control instruction changed.
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公开(公告)号：US20220032874A1
公开(公告)日：2022-02-03
申请号：US17299666
申请日：2018-12-11
发明人： Yasuhisa Hayakawa
摘要： Upon autonomous travel control of a subject vehicle having an autonomous travel control function based on a remote operation command from a remote operation device located outside the subject vehicle, when start of a remote operation by the remote operation device is input, a predetermined authentication code stored in the subject vehicle is displayed inside or outside the vehicle so as to be visible, the displayed authentication code is acquired by the remote operation device, a determination is made whether or not the authentication code acquired by the remote operation device matches the authentication code stored in the vehicle, and upon matching, a paring process between the vehicle and the remote operation device is completed.
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