-
公开(公告)号：US20160137202A1
公开(公告)日：2016-05-19
申请号：US14945116
申请日：2015-11-18
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki , Tatsuru Kuwabara
CPC classification number: B60W30/12 , B60W30/18163 , B60W40/06 , B60W50/14 , B60W2050/0043 , B60W2420/42 , G06K9/00798 , G06T7/13 , G06T2207/30256
Abstract: A travel lane marking probability calculating unit calculates a travel lane marking probability of each of travel lane marking candidates based on a calculation condition. A travel lane marking recognizing unit recognizes, as a travel lane marking, a travel lane marking candidate having a travel lane marking probability that is a threshold value or higher, among the travel lane marking candidates. A lane change detecting unit detects that an own vehicle is in the midst of a lane change. When the own vehicle is in the midst of a lane change, a condition changing unit changes the calculation condition to allow the travel lane marking probability to be more easily increased compared to when the own vehicle is not in the midst of a lane change, or changes the threshold value to be lower than that when the own vehicle is not in the midst of a lane change.
Abstract translation: 行驶车道标记概率计算单元基于计算条件来计算每个行驶车道标记候选的行驶车道标记概率。 旅行车道标识识别单元在行驶车道标记候选中识别具有行驶车道标记概率为行驶车道标记概率的行驶车道标记候选物作为行驶车道标记。 车道变更检测部检测到本车辆处于车道变更的中间。 当本车辆处于车道变更中时，条件改变单元改变计算条件，使得与当车辆不在车道改变中途时相比，行驶车道标记概率更容易增加，或者 将阈值改变为低于当车辆不在车道变化中时的阈值。
-
公开(公告)号：US20160110617A1
公开(公告)日：2016-04-21
申请号：US14886941
申请日：2015-10-19
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki
CPC classification number: G06K9/00798 , B60R1/00 , B60R2300/804 , H04N7/183
Abstract: An apparatus for recognizing lane partition lines on opposite sides of a traveling lane of a vehicle based on a forward image captured by a camera mounted in the vehicle. In the apparatus, an allowable range limiter is configured to, based on a learned value of a lane width learned by a lane width learner, limit allowable ranges for the respective lane partition lines, where in the allowable ranges the respective lane partition lines are allowed to be detected in the forward image. A lane change determiner is configured to determine whether or not there is a lane change made by the vehicle. The allowable range limiter is further configured to, if it is determined by the lane change determiner that there is a lane change, enlarge at least one of the allowable ranges limited by the allowable range limiter based on the learned value of the lane width.
Abstract translation: 一种用于基于由安装在车辆中的相机拍摄的前向图像来识别车辆行驶车道的相对侧上的车道划分线的装置。 在该设备中，允许范围限制器被配置为基于由车道宽度学习者学习的车道宽度的学习值来限制各车道分隔线的允许范围，其中在允许范围内允许各车道分隔线 在正向图像中被检测。 车道变化确定器被配置为确定是否存在由车辆进行的车道改变。 另外，上述容许范围限制器进一步构成为，如果由所述车道变更确定器确定存在车道变更，则基于车道宽度的学习值，扩大由所述容许范围限制器限制的所述容许范围中的至少一个。
-
公开(公告)号：US20160110616A1
公开(公告)日：2016-04-21
申请号：US14886918
申请日：2015-10-19
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki
CPC classification number: G06K9/00798 , B60R1/00 , B60R2300/306 , G06K9/3233 , H04N7/183
Abstract: An apparatus for recognizing lane partition lines on opposite sides of a traveling lane in a processing area of a forward image captured by a camera mounted in a vehicle. In the apparatus, a lane change determiner is configured to determine whether or not there is a lane change made by the vehicle. A processing area changer is configured to, while it is determined by the lane change determiner that there is a lane change, change the processing area from a predefined processing area to a processing area that can accommodate the lane change.
Abstract translation: 一种用于在由安装在车辆中的照相机拍摄的前向图像的处理区域中识别行驶车道的相对侧上的车道划分线的装置。 在该装置中，车道变更确定器被配置为确定是否存在由车辆进行的车道改变。 处理区域更换器被配置为，在由车道变化确定器确定存在车道改变的同时，将处理区域从预定义的处理区域改变为可以适应车道改变的处理区域。
-
44.发明申请公开(公告)号：US20160026879A1
公开(公告)日：2016-01-28
申请号：US14806361
申请日：2015-07-22
Applicant: DENSO CORPORATION
Inventor： Yuu Maeda , Shunsuke Suzuki , Yusuke Ueda , Kazuhisa Ishimaru , Osamu Shimomura , Naoki Kawasaki
IPC: G06K9/00
CPC classification number: G06K9/00798
Abstract: A traffic lane marking recognition apparatus includes a candidate detecting unit, a gap detecting unit, and a recognition reducing unit. The candidate detecting unit detects a lane dividing line candidate which is a candidate for a lane dividing line that defines a traffic lane on a road, based on an image of the road captured by an on-board camera that is mounted in a vehicle. The gap detecting unit detects a gap included in the lane dividing line candidate detected by the candidate detecting unit. When the gap is detected by the gap detecting unit, the recognition reducing unit reduces a probability of recognition of the lane dividing line candidate as a lane dividing line to a first probability that is lower than the probability when the gap detecting unit does not detect the gap, in a region from the gap closest to the vehicle towards a direction away from the vehicle.
Abstract translation: 行车道标识识别装置包括候选检测单元，间隙检测单元和识别减少单元。 候选检测单元基于由安装在车辆中的车载摄像机捕获的道路的图像，检测作为道路上的行车道的车道划分线候选的车道划分线路候补。 间隙检测单元检测由候选检测单元检测到的车道划分线候选中包括的间隙。 当间隙检测单元检测到间隙时，识别降低单元将作为通道分割线的车道划分线候选的识别概率降低到低于间隙检测单元未检测到的概率的第一概率 间隙，从最接近车辆的间隙朝向远离车辆的方向的区域中。
-
45.发明申请LANE BOUNDARY LINE RECOGNITION DEVICE AND COMPUTER-READABLE STORAGE MEDIUM STORING PROGRAM OF RECOGNIZING LANE BOUNDARY LINES ON ROADWAY 有权LANE边界线识别装置和计算机可读存储介质存储程序在路面上识别LANE边界线公开(公告)号：US20160012299A1
公开(公告)日：2016-01-14
申请号：US14790471
申请日：2015-07-02
Applicant: DENSO CORPORATION
Inventor： Yuu Maeda , Naoki Kawasaki , Syunya Kumano , Shunsuke Suzuki
CPC classification number: G06K9/00798 , G06K9/4604 , G06T7/20 , G06T7/60 , G06T2207/30256
Abstract: A lane boundary line recognition device detects lane boundary line candidates of a roadway from images captured by an in-vehicle camera, judges that the lane boundary line candidate is a lane boundary line of a branch road, and calculates a curvature of the lane boundary line candidate, and recognizes the lane boundary line based on the calculated curvature. The device removes the lane boundary line candidate, which has been judged as the lane boundary line of the branch road, is removed from a group of the lane boundary line candidates, and calculates the curvature of the lane boundary line candidate based on an estimated rate of change of the curvature. The device uses a past curvature calculated predetermined-number of images before when the lane boundary line candidate is the lane boundary line of the branch road, and resets the estimated rate of change of the curvature to zero.
Abstract translation: 车道边界线识别装置从车载摄像机拍摄的图像中检测道路的车道边界线候选，判断车道边界线候补是分支道路的车道边界线，并且计算车道边界线的曲率 候选人，并基于计算的曲率识别车道边界线。 该装置移除已经被判断为分支道路的车道边界线的车道边界线候选者，从一组车道边界线候补中移除，并且基于估计速率来计算车道边界线候补的曲率 的曲率变化。 当车道边界线候选是分支道路的车道边界线之前，该装置使用计算出的预定数量的图像的过去曲率，并且将估计的曲率变化率重置为零。
-
Patent Agency Ranking
46.发明申请LANE BOUNDARY LINE RECOGNITION DEVICE AND COMPUTER-READABLE STORAGE MEDIUM STORING PROGRAM OF RECOGNIZING LANE BOUNDARY LINES ON ROADWAY 有权LANE边界线识别装置和计算机可读存储介质存储程序在路面上识别LANE边界线公开(公告)号：US20160012298A1
公开(公告)日：2016-01-14
申请号：US14790444
申请日：2015-07-02
Applicant: DENSO CORPORATION
Inventor： Yuu Maeda , Naoki Kawasaki , Syunya Kumano , Shunsuke Suzuki , Tetsuya Takafuji
CPC classification number: G06K9/00798 , G06K9/4604 , G06K9/52 , G06K2009/4666 , G06T7/13 , G06T7/20 , G06T7/60 , G06T2207/30256
Abstract: An in-vehicle camera obtains image frames of a scene surrounding an own vehicle on a roadway. An extracting section in a lane boundary line recognition device extracts white line candidates from the image frames. The white line candidates indicate a degree of probability of white lines on an own vehicle lane on the roadway and a white line of a branch road which branches from the roadway. A branch judgment section calculates a likelihood of the white line as the white line of the branch road, and judges whether or not the white line candidate is the white line of the branch road based on the calculated likelihood. The branch judgment section decreases the calculated likelihood when a recognizable distance of the lane boundary line candidate monotonically decreases in a predetermined number of the image frames.
Abstract translation: 车内摄像机获取道路上本车辆周边场景的图像帧。 车道边界线识别装置中的提取部分从图像帧中提取白线候选。 白线候选者表示在道路上的本车道上的白线的概率以及从道路分支的分支路的白线。 分支判断部分计算白线的可能性作为分支道路的白线，并且基于所计算的似然性判断白线候选是否为分支道路的白线。 当预定数量的图像帧中的车道边界线候选者的可识别距离单调减小时，分支判断部分减少计算出的似然性。
-
47.发明申请公开(公告)号：US20150348275A1
公开(公告)日：2015-12-03
申请号：US14655698
申请日：2013-12-26
Applicant: NIPPON SOKEN, INC. , DENSO CORPORATION
Inventor： Syunya Kumano , Naoki Kawasaki , Shunsuke Suzuki , Tetsuya Takafuji , Kazuma Hashimoto
CPC classification number: G06T7/13 , G06K9/00798 , G06T7/12 , G06T2207/10016 , G06T2207/10152 , G06T2207/20061 , G06T2207/20076 , G06T2207/30256
Abstract: In a boundary line recognition apparatus, based on luminance levels of an image captured by a camera, candidate edge points of a boundary line sectioning a travel road are extracted, and a candidate line of the boundary line is extracted. An apparent width of the candidate line on an image is calculated, from a width of the candidate line in a horizontal direction of the image and an angle of the candidate line relative to a vertical direction of the image. A probability of a candidate line being a boundary line is calculated to be higher, as a degree of the candidate line having characteristics as a boundary line is higher. The calculated probabilities are integrated in respect of a plurality of characteristics to recognize a boundary line. The characteristics include a ratio of the calculated apparent width to an image blur degree is larger than a predetermined value.
Abstract translation: 在边界线识别装置中，基于由照相机拍摄的图像的亮度水平，提取划分行驶道路的边界线的候选边缘点，并且提取边界线的候选线。 从图像的水平方向上的候选行的宽度和候选行相对于图像的垂直方向的角度计算图像上候选行的视在宽度。 由于具有作为边界线的特征的候选线的程度较高，所以将候选线作为边界线的概率计算得较高。 所计算的概率就多个特征而被集成以识别边界线。 特征包括计算出的视在宽度与图像模糊度的比值大于预定值。
-
公开(公告)号：US20150054638A1
公开(公告)日：2015-02-26
申请号：US14381658
申请日：2013-02-27
Applicant: DENSO CORPORATION
Inventor： Keiko Ogawa , Shunsuke Suzuki
IPC: G08G1/16
CPC classification number: G08G1/167 , G06K9/00798
Abstract: A driving support apparatus is provided that supports driving of a vehicle that is traveling on a road. In the apparatus, a cruising lane on the road is detected. When the cruising lane cannot be detected, an extrapolation cruising lane formed by extrapolating a previously detected cruising lane is set. A length of time over which the extrapolation cruising lane is set is decided based on the distance between the previously detected cruising lane and the vehicle and/or a lateral speed of the vehicle. Furthermore, whether or not the vehicle will deviate from the detected cruising lane or the set extrapolation cruising lane within a reference time that is set in advance is determined. Driving support is performed based on the determination result.
Abstract translation: 提供一种驾驶辅助装置，其支撑在道路上行驶的车辆的驾驶。 在该装置中，检测道路上的巡航车道。 当不能检测到巡航车道时，设置通过外推先前检测到的巡航车道形成的外推巡航车道。 基于先前检测的巡航车道与车辆之间的距离和/或车辆的横向速度来确定设置外推巡航车道的时间长度。 此外，确定在预先设定的参考时间内车辆是否偏离检测到的巡航车道或设定的外推巡航车道。 基于确定结果执行驾驶支持。
-
公开(公告)号：US11021149B2
公开(公告)日：2021-06-01
申请号：US16150605
申请日：2018-10-03
Applicant: DENSO CORPORATION
Inventor： Shunya Kumano , Shunsuke Suzuki
Abstract: A driving support apparatus is provided to improve accuracy of the driving support such as a notification to the driver and the vehicle control. In the apparatus, a common parameter indicating a location of a lane boundary is calculated for the vehicle control, based on an actual boundary line where a location of the lane boundary line existing at both sides of the vehicle is actually measured. A common error is defined as an error between the location of an estimated boundary indicated by the common parameter and a location of the actual boundary line. In the case where the common error is larger than or equal to a common threshold in which an amount of the common error is set in advance, the apparatus determines that the travelling road where the vehicle travels is branched and stops the vehicle control using the common parameter.
-
公开(公告)号：US11010618B2
公开(公告)日：2021-05-18
申请号：US16221984
申请日：2018-12-17
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Shunsuke Suzuki , Shunya Kumano , Akihiro Watanabe
Abstract: An apparatus for identifying a line marking on a road surface. In the apparatus, an extractor extracts a paint candidate that is a candidate for road surface paint used to identify a line marking in an image captured by a camera mounted on a vehicle to capture an image of an area including a road surface ahead of the vehicle. A determiner determines whether or not the paint candidate has at least one predefined flare feature. A line marking identifier identifies a line marking using the paint candidate which meets an identification condition used to identify a line marking. The line marking identifier sets the identification condition to be more stringent for a flare paint candidate that is the paint candidate determined by the determiner to have the at least one predefined flare feature than for the paint candidate determined by the determiner to have no predefined flare feature.
-
-
-
-
-
-
-
-
-
Search Results
66
records
(took 0.018 seconds)
