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公开(公告)号：US20130033600A1
公开(公告)日：2013-02-07
申请号：US13550970
申请日：2012-07-17
申请人： Mirai HIGUCHI , Takehito Ogata , Takeshi Shima
发明人： Mirai HIGUCHI , Takehito Ogata , Takeshi Shima
IPC分类号： H04N7/18
CPC分类号： G06T7/204 , G06K9/00798 , G06K9/00805 , G06K9/3241 , G06T7/248 , G06T2207/30252
摘要： An image processing device which performs a tracking control with respect to a moving object which is travelling forward, based on the controlled variable of the own vehicle includes, an image processing unit which specifies an area of a moving object from an input image, sets the specified area of the moving object as a reference image area after starting tracking control, and sets an area of the moving object after a predetermined time as a comparison image area; a comparison unit which compares the set reference image area and the comparison image area with each other, and calculates travelling information relating to the moving object; and a controlled variable calculation unit which calculates a controlled variable of the own vehicle from travelling information which is calculated in the comparison unit.
摘要翻译： 基于本车辆的控制变量对前进的运动物体进行跟踪控制的图像处理装置包括：图像处理单元，其从输入图像指定移动物体的区域， 在开始跟踪控制之后，移动物体的指定区域作为参考图像区域，并且将预定时间之后的移动物体的面积设置为比较图像区域; 比较单元，其将设定的参考图像区域和比较图像区域进行比较，并且计算与移动物体有关的行驶信息; 以及受控变量计算单元，其根据在比较单元中计算出的行驶信息来计算本车辆的受控变量。
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2.发明申请Environment Recognizing Device for a Vehicle and Vehicle Control System Using the Same 有权使用该车辆和车辆控制系统的环境识别装置公开(公告)号：US20130018547A1
公开(公告)日：2013-01-17
申请号：US13545849
申请日：2012-07-10
CPC分类号： G06K9/00825 , B60K35/00 , B60K37/06 , B60R16/0231 , B60R16/0315 , G01C21/26 , G06K9/00805
摘要： An environment recognizing device for a vehicle is provided that can correctly detect a preceding vehicle in a scene, such as for instance the dusk, which is under an illumination condition different from that in the daytime. The device detects a vehicle external shape while detecting vehicle taillights, and determines a region in which the vehicle external shape and the vehicle taillights move in synchronization, as a vehicle.
摘要翻译： 提供一种用于车辆的环境识别装置，其能够正确地检测与白天不同的照明条件的场景（例如黄昏）中的前方车辆。 该装置在检测车辆尾灯时检测车辆外形，并且确定车辆外部形状和车辆尾灯同步移动的区域作为车辆。
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3.发明申请EXTERNAL ENVIRONMENT RECOGNITION DEVICE FOR VEHICLE AND VEHICLE SYSTEM USING SAME 有权使用其的车辆和车辆系统的外部环境识别装置公开(公告)号：US20120035846A1
公开(公告)日：2012-02-09
申请号：US13264190
申请日：2010-04-13
IPC分类号： G08G1/16
CPC分类号： B60T8/17558 , G01S13/867 , G01S13/931 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G06K9/00805 , G08G1/166
摘要： An external environment recognition device for a vehicle and a vehicle system capable of assuring safety and reducing the processing load in a compatible manner are provided. An external environment recognition device 100 for a vehicle includes: first collision determination means 103 for computing a risk of collision of a host vehicle with a detected object in front of the host vehicle on the basis of information of a predicted course of the host vehicle and the detected object; and second collision determination means 104 for determining whether the detected object enters the predicted course from the outside of the predicted course or not. This device further includes object selection means 105 for selecting the detected object having a risk at least a first threshold and the detected object determined to enter the predicted course as selection candidate objects from among the detected objects, and for selecting the selection candidate object having a minimum relative distance to the host vehicle as a pedestrian determination request object from among the selected selection candidate objects. This device further includes pedestrian determination means 106 for determining whether the selected pedestrian determination request object is a pedestrian or not using image information.
摘要翻译： 提供了一种用于车辆和车辆系统的外部环境识别装置，其能够以兼容的方式确保安全性并降低处理负荷。 用于车辆的外部环境识别装置100包括：第一碰撞判定装置103，用于根据本车辆的预测路线的信息计算本车辆与本车辆前方的被检测物体的碰撞风险;以及 被检测物体; 以及第二碰撞确定装置104，用于确定检测对象是否从预测路线的外部进入预测路线。 该装置还包括对象选择装置105，用于选择具有至少第一阈值的风险的检测对象，并且将被检测对象确定为从检测对象中选择候选对象进入预测路线，并且用于选择具有 作为来自所选择的候选对象中的步行者确定请求对象的与本车辆的最小相对距离。 该装置还包括步行者确定装置106，用于使用图像信息来确定所选择的步行者确定请求对象是否是行人。
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4.发明授权External environment recognizing device for vehicle and light distribution control system using the same 有权用于车辆的外部环境识别装置和使用其的配电控制系统公开(公告)号：US09268740B2
公开(公告)日：2016-02-23
申请号：US13813037
申请日：2011-07-20
申请人： Takehito Ogata , Yuji Otsuka , Shinya Ohtsuji
发明人： Takehito Ogata , Yuji Otsuka , Shinya Ohtsuji
CPC分类号： G06F17/00 , B60Q1/143 , B60Q2300/056 , B60Q2300/41 , B60Q2300/42 , G06K9/00791 , G06K9/00805 , G06K9/00818 , G06K9/00825 , G06K9/3233 , G08G1/165 , G08G1/166
摘要： An external environment recognizing device for vehicle includes an image acquiring unit configured to acquire image obtained by picking up image of an area ahead of an own vehicle, a light-source extracting unit configured to extract light source from the acquired image, an own-vehicle-speed acquiring unit configured to acquire own vehicle speed, an oncoming-vehicle-presence-possible-region estimating unit configured to estimate oncoming vehicle presence possible region on the basis of own vehicle speed, and an oncoming-vehicle detecting unit configured to detect an oncoming vehicle on the basis of the oncoming vehicle presence possible region and the light source. The oncoming-vehicle-presence-possible-region estimating unit estimates oncoming vehicle presence possible region on the basis of the own vehicle speed, a minimum curvature radius of traveling road corresponding to a speed limit determined in advance, and traffic information indicating whether driving on the traveling road is driving on the right side or the left side.
摘要翻译： 一种用于车辆的外部环境识别装置，包括图像获取单元，其被配置为获取通过拾取本车辆前方的区域的图像获得的图像;光源提取单元，被配置为从获取的图像中提取光源;自身车辆 被配置为获取车辆速度的速度获取单元，被配置为基于本车速估计对方车辆存在可能区域的迎面而来可能区域估计单元，以及被配置为检测自身车速的对方车辆检测单元 在即将到来的车辆存在可能区域和光源的基础上迎面而来的车辆。 迎面车存在可能区域估计单元基于本车速，相应于预先确定的速度限制的行驶道路的最小曲率半径和指示是否开车的交通信息来估计对方车辆存在可能区域 行驶的道路正在右侧或左侧行驶。
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5.发明申请EXTERNAL ENVIRONMENT RECOGNIZING DEVICE FOR VEHICLE AND LIGHT DISTRIBUTION CONTROL SYSTEM USING THE SAME 有权使用相同的车辆和轻型分配控制系统的外部环境识别装置公开(公告)号：US20130131922A1
公开(公告)日：2013-05-23
申请号：US13813037
申请日：2011-07-20
申请人： Takehito Ogata , Yuji Otsuka , Shinya Ohtsuji
发明人： Takehito Ogata , Yuji Otsuka , Shinya Ohtsuji
IPC分类号： G06F17/00
CPC分类号： G06F17/00 , B60Q1/143 , B60Q2300/056 , B60Q2300/41 , B60Q2300/42 , G06K9/00791 , G06K9/00805 , G06K9/00818 , G06K9/00825 , G06K9/3233 , G08G1/165 , G08G1/166
摘要： An external environment recognizing device for vehicle includes an image acquiring unit configured to acquire image obtained by picking up image of an area ahead of an own vehicle, a light-source extracting unit configured to extract light source from the acquired image, an own-vehicle-speed acquiring unit configured to acquire own vehicle speed, an oncoming-vehicle-presence-possible-region estimating unit configured to estimate oncoming vehicle presence possible region on the basis of own vehicle speed, and an oncoming-vehicle detecting unit configured to detect an oncoming vehicle on the basis of the oncoming vehicle presence possible region and the light source. The oncoming-vehicle-presence-possible-region estimating unit estimates oncoming vehicle presence possible region on the basis of the own vehicle speed, a minimum curvature radius of traveling road corresponding to a speed limit determined in advance, and traffic information indicating whether driving on the traveling road is driving on the right side or the left side.
摘要翻译： 一种用于车辆的外部环境识别装置，包括图像获取单元，其被配置为获取通过拾取本车辆前方的区域的图像获得的图像;光源提取单元，被配置为从获取的图像中提取光源;自身车辆 被配置为获取车辆速度的速度获取单元，被配置为基于本车速估计对方车辆存在可能区域的迎面而来可能区域估计单元，以及被配置为检测自身车速的对方车辆检测单元 在即将到来的车辆存在可能区域和光源的基础上迎面而来的车辆。 迎面车存在可能区域估计单元基于本车速，相应于预先确定的速度限制的行驶道路的最小曲率半径和指示是否开车的交通信息来估计对方车辆存在可能区域 行驶的道路正在右侧或左侧行驶。
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6.发明申请公开(公告)号：US20130073194A1
公开(公告)日：2013-03-21
申请号：US13565335
申请日：2012-08-02
CPC分类号： G06K9/00805 , G06K9/00798
摘要： Preferably, an object such as a vehicle is detected regardless of a distance up to the object. A device for recognizing external worlds that analyzes an image acquired by capturing the vicinity of a self-vehicle includes: a processing area setting unit setting a first area of the image indicating a short range and a second area of the image indicating a long range, a first object detecting unit detecting the object by means of a first classifier in the set first area, a second object detecting unit detecting the object by considering even a background pattern by means of a second classifier in the set second area, a rectangular correction unit correcting a detected object rectangular shape and a time to collision (TTC) computing unit computing a prediction time up to a collision based on the detected object rectangular shape.
摘要翻译： 优选地，检测诸如车辆的物体，而不管到达对象的距离。 用于识别分析通过捕获自车辆附近而获取的图像的外部世界的设备包括：处理区域设置单元，设置指示短距离的图像的第一区域和指示长距离的图像的第二区域， 第一对象检测单元，借助于所设定的第一区域中的第一分类器检测对象;第二对象检测单元，通过在所述第二区域中利用第二分类器考虑偶数背景图案来检测所述对象;矩形校正单元 校正检测对象矩形形状和碰撞时间（TTC）计算单元，基于检测到的对象矩形来计算直到碰撞的预测时间。
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公开(公告)号：US20150302257A1
公开(公告)日：2015-10-22
申请号：US14647282
申请日：2013-11-21
申请人： Masayuki TAKEMURA , Takehito OGATA , Satoshi ITO
发明人： Masayuki TAKEMURA , Takehito OGATA , Satoshi ITO
CPC分类号： G06K9/00798 , B60R1/00 , B62D15/028 , B62D15/0285 , G06K9/46 , G06K9/52 , G06K2009/4666 , G06T7/20 , H04N5/2171
摘要： An on-vehicle control device includes: an image acquiring unit that acquires a captured image from an image-capturing device, the image-capturing device capturing an image of surroundings of a vehicle; a judged range dividing unit that divides a predetermined judged range of an image-capturing range of the image-capturing device into a plurality of regions; a feature point extracting unit that extracts a feature point having predetermined characteristics in the surroundings of the vehicle from the image acquired by the image acquiring unit; a point accumulating unit that accumulate points for a region where there is the feature point extracted by the feature point extracting unit, among the plurality of regions, for a plurality of images acquired by the image acquiring unit in time series; and a judging unit that judges whether a foreign matter is adhered to the image-capturing device based on scores resulting from accumulating points of the plurality of regions.
摘要翻译： 车载控制装置包括：图像获取单元，其从图像捕获装置获取拍摄图像，所述图像捕获装置捕获车辆周围的图像; 判断范围划分单元，其将图像捕获装置的图像捕获范围的预定判定范围划分为多个区域; 特征点提取单元，从由图像获取单元获取的图像中提取具有车辆周围环境中的预定特征的特征点; 点积分单元，对于由所述图像获取单元以时间序列获取的多个图像，在所述多个区域中累积由所述特征点提取单元提取的特征点的区域的点; 以及判断单元，其基于由所述多个区域的积累点得到的分数来判断异物是否附着于图像捕获装置。
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8.发明授权Environment recognizing device for a vehicle and vehicle control system using the same 有权用于车辆和车辆控制系统的环境识别装置公开(公告)号：US08903603B2
公开(公告)日：2014-12-02
申请号：US13545849
申请日：2012-07-10
CPC分类号： G06K9/00825 , B60K35/00 , B60K37/06 , B60R16/0231 , B60R16/0315 , G01C21/26 , G06K9/00805
摘要： An environment recognizing device for a vehicle is provided that can correctly detect a preceding vehicle in a scene, such as for instance the dusk, which is under an illumination condition different from that in the daytime. The device detects a vehicle external shape while detecting vehicle taillights, and determines a region in which the vehicle external shape and the vehicle taillights move in synchronization, as a vehicle.
摘要翻译： 提供一种用于车辆的环境识别装置，其能够正确地检测与白天不同的照明条件的场景（例如黄昏）中的前方车辆。 该装置在检测车辆尾灯时检测车辆外形，并且确定车辆外部形状和车辆尾灯同步移动的区域作为车辆。
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公开(公告)号：US20120300078A1
公开(公告)日：2012-11-29
申请号：US13575480
申请日：2011-01-17
申请人： Takehito Ogata , Hiroshi Sakamoto
发明人： Takehito Ogata , Hiroshi Sakamoto
IPC分类号： H04N7/18
CPC分类号： G08G1/166 , G01S13/867 , G01S2013/9367 , G06K9/00362 , G06K9/00805 , G06K9/4642
摘要： There is provided an environment recognizing device for a vehicle capable of reducing false detections for an artificial object such as a utility pole, a guardrail and road paintings with smaller processing load, at the time of detecting a pedestrian by using a pattern matching method. The environment recognizing device for a vehicle includes an image acquisition unit (1011) for acquiring a picked up image in front of an own vehicle; a processing region setting unit (1021) for setting a processing region used for detecting a pedestrian from the image; a pedestrian candidate setting unit (1031) for setting a pedestrian candidate region used for determining an existence of the pedestrian from the image; and a pedestrian determination unit (1041) for determining whether the pedestrian candidate region is the pedestrian or an artificial object depending on a gray-scale variation rate in a predetermined direction within the pedestrian candidate region.
摘要翻译： 提供了一种用于车辆的环境识别装置，其能够通过使用模式匹配方法来检测行人时，减少诸如电杆，护栏和处理负荷较小的道路绘画等人造物体的错误检测。 车辆的环境识别装置包括：图像获取单元，用于获取在本车辆前面的拾取图像; 处理区域设置单元，用于设置用于从图像中检测行人的处理区域; 行人候选者设定单元，用于根据图像设定用于确定行人的存在的行人候补区域; 以及行人确定单元，用于根据步行人员候选区域内的预定方向上的灰度变化率来确定行人候选区域是行人还是人造物体。
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10.发明授权External environment recognition device for vehicle and vehicle system using same 有权用于车辆和车辆系统的外部环境识别装置公开(公告)号：US08924140B2
公开(公告)日：2014-12-30
申请号：US13264190
申请日：2010-04-13
CPC分类号： B60T8/17558 , G01S13/867 , G01S13/931 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G06K9/00805 , G08G1/166
摘要： An external environment recognition device for a vehicle and a vehicle system capable of assuring safety and reducing the processing load in a compatible manner are provided. An external environment recognition device 100 for a vehicle includes: first collision determination means 103 for computing a risk of collision of a host vehicle with a detected object in front of the host vehicle on the basis of information of a predicted course of the host vehicle and the detected object; and second collision determination means 104 for determining whether the detected object enters the predicted course from the outside of the predicted course or not. This device further includes object selection means 105 for selecting the detected object having a risk at least a first threshold and the detected object determined to enter the predicted course as selection candidate objects from among the detected objects, and for selecting the selection candidate object having a minimum relative distance to the host vehicle as a pedestrian determination request object from among the selected selection candidate objects. This device further includes pedestrian determination means 106 for determining whether the selected pedestrian determination request object is a pedestrian or not using image information.
摘要翻译： 提供了一种用于车辆和车辆系统的外部环境识别装置，其能够以兼容的方式确保安全性并降低处理负荷。 用于车辆的外部环境识别装置100包括：第一碰撞判定装置103，用于根据本车辆的预测路线的信息计算本车辆与本车辆前方的被检测物体的碰撞风险;以及 被检测物体; 以及第二碰撞确定装置104，用于确定检测对象是否从预测路线的外部进入预测路线。 该装置还包括对象选择装置105，用于选择具有至少第一阈值的风险的检测对象，并且将被检测对象确定为从检测对象中选择候选对象进入预测路线，并且用于选择具有 作为来自所选择的候选对象中的步行者确定请求对象的与本车辆的最小相对距离。 该装置还包括步行者确定装置106，用于使用图像信息来确定所选择的步行者确定请求对象是否是行人。
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