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1.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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3.发明申请PERIODIC STATIONARY OBJECT DETECTION SYSTEM AND PERIODIC STATIONARY OBJECT DETECTION METHOD 有权周期性静态对象检测系统和周期性静态对象检测方法公开(公告)号：US20130322688A1
公开(公告)日：2013-12-05
申请号：US13821918
申请日：2012-02-17
IPC分类号： G06K9/00
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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4.发明申请公开(公告)号：US20130242102A1
公开(公告)日：2013-09-19
申请号：US13823414
申请日：2012-04-11
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G06K9/00805 , G08G1/166 , G08G1/167
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 sets a detection region for detecting, from image data captured by the camera, 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 existence of the adjacent vehicle in the detection region.
摘要翻译： 驾驶辅助装置包括摄像机，移动物体检测器，候选反射区域检测器，预定位置亮度检测器和原因确定器。 移动物体检测器和候选反射区域检测器设置用于从相机拍摄的图像数据检测相邻车道中相邻车辆的存在的检测区域。 预定位置亮度检测器检测投影亮度等于或高于预定阈值的光的候选投光物体。 原因确定器确定在检测区域中是否存在指示相邻车辆的存在的候选投光对象。
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公开(公告)号：US08346437B2
公开(公告)日：2013-01-01
申请号：US13387450
申请日：2010-07-29
申请人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
发明人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
IPC分类号： B62D12/00
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08
摘要： When a lane-width-direction lateral position (X2obst+X0) of a vehicle (MM) reaches a predetermined control start position (60) being a lane-width-direction lateral position (X2obst+X0) serving as an approach prevention indicator for the vehicle (MM), a control start is determined and a yaw moment (Ms) toward the center of a vehicle traveling lane (200) is applied to the vehicle (MM) to control the vehicle (MM). Then, when the lane-width-direction lateral position (X2obst+X0) of the vehicle (MM) moves from the outside to the inside of the control start position (60), the determination of control start is suppressed for a predetermined period, compared to a period before the movement to the inside of the control start position (60).
摘要翻译： 当车辆（MM）的车道宽度方向横向位置（X2obst + X0）达到预定的控制开始位置（60），该预定控制开始位置（60）是用作车辆宽度方向横向位置（X2obst + X0） 确定车辆（MM），控制开始，向车辆（MM）施加朝向车辆行驶车道（200）的中心的横摆力矩（Ms），以控制车辆（MM）。 然后，当车辆（MM）的车道宽度方向横向位置（X2obst + X0）从控制开始位置（60）的外部移动到内部时，控制开始的确定被抑制预定时间段， 与移动到控制开始位置（60）内部的时间段相比。
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公开(公告)号：US20120130595A1
公开(公告)日：2012-05-24
申请号：US13387450
申请日：2010-07-29
申请人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
发明人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08
摘要： When a lane-width-direction lateral position (X2obst+X0) of a vehicle (MM) reaches a predetermined control start position (60) being a lane-width-direction lateral position (X2obst+X0) serving as an approach prevention indicator for the vehicle (MM), a control start is determined and a yaw moment (Ms) toward the center of a vehicle traveling lane (200) is applied to the vehicle (MM) to control the vehicle (MM). Then, when the lane-width-direction lateral position (X2obst+X0) of the vehicle (MM) moves from the outside to the inside of the control start position (60), the determination of control start is suppressed for a predetermined period, compared to a period before the movement to the inside of the control start position (60).
摘要翻译： 当车辆（MM）的车道宽度方向横向位置（X2obst + X0）达到预定的控制开始位置（60），该预定控制开始位置（60）是用作车辆宽度方向横向位置（X2obst + X0） 确定车辆（MM），控制开始，向车辆（MM）施加朝向车辆行驶车道（200）的中心的横摆力矩（Ms），以控制车辆（MM）。 然后，当车辆（MM）的车道宽度方向横向位置（X2obst + X0）从控制开始位置（60）的外部移动到内部时，控制开始的确定被抑制预定时间段， 与移动到控制开始位置（60）内部的时间段相比。
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7.发明申请公开(公告)号：US20100324823A1
公开(公告)日：2010-12-23
申请号：US12817844
申请日：2010-06-17
申请人： Masahiro Kobayashi , Yasuhisa Hayakawa , Kou Satou
发明人： Masahiro Kobayashi , Yasuhisa Hayakawa , Kou Satou
IPC分类号： G06F19/00
CPC分类号： B60T7/22 , B60W30/09 , B60W30/18009 , B60W2520/28 , B60W2540/10 , B60W2540/12 , B60W2540/20 , B60W2550/10 , B60W2550/402 , G01S13/931 , G01S2013/9332 , G01S2013/9353 , G08G1/167
摘要： When an obstacle on either of the two sides of a vehicle is detected, the future position of the vehicle after a prescribed time is predicted. When the future predicted vehicle position reaches a prescribed lateral position in the width direction of the lane, control start is determined such that obstacle avoiding control is carried out to prevent the approach of the vehicle to the obstacle. When an intention of the driver to enter the lane of the obstacle is detected, the start timing for obstacle avoiding control is shortened.
摘要翻译： 当检测到车辆的两侧的障碍物时，预测在规定时间之后的车辆的未来位置。 当未来预测车辆位置在车道的宽度方向上达到规定的横向位置时，确定控制开始，以便执行障碍物避免控制以防止车辆接近障碍物。 当驾驶员进入障碍物的车道的意图被检测到时，障碍物避免控制的开始定时被缩短。
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公开(公告)号：US20100030430A1
公开(公告)日：2010-02-04
申请号：US12497787
申请日：2009-07-06
IPC分类号： B62D6/00
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08 , B60T2201/087 , B60W30/08
摘要： A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.
摘要翻译： 车辆行驶控制装置具备车道检测装置，未来位置估计装置和车辆控制装置。 车道检测装置检测车道的车道标记。 未来位置估计装置在规定的时间量之后估计本车辆的未来横向位置。 车辆控制装置执行车辆控制，使得向主车辆向车道的中心施加横摆力矩。 在确定未来横向位置比从预先使用车道标记作为参考确定的规定的宽度方向车道位置横向更远离车道中部的车道中间位置时，赋予偏航力矩。 当车道标记的识别度低于规定值时，车辆控制装置抑制偏航力矩装置的赋予。
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公开(公告)号：US20090132125A1
公开(公告)日：2009-05-21
申请号：US12273747
申请日：2008-11-19
申请人： Takeshi Yonezawa , Kou Satou , Yasuhisa Hayakawa
发明人： Takeshi Yonezawa , Kou Satou , Yasuhisa Hayakawa
IPC分类号： G06F17/00
CPC分类号： B60W30/12
摘要： Disclosed herein are embodiments of controllers and methods of control to enable prevention of departure of vehicle even when the degree of the tendency of the vehicle to depart from the travel lane is low. One such controller comprises a lane departure tendency determining device configured to determine a departure tendency of the vehicle to depart from a travel lane, a yaw moment computing device configured to compute a reference yaw moment based on the departure tendency, a yaw moment correction device configured to compute a target yaw moment based on at least the reference yaw moment and a controller configured to apply the target yaw moment to the vehicle. When the reference yaw moment is lower than a prescribed threshold, the yaw moment correction device gradually increases the target yaw moment over time until the target yaw moment is greater than the prescribed threshold.
摘要翻译： 这里公开了控制器和控制方法的实施例，即使当车辆离开行车道的趋势程度低时，也能够防止车辆离开。 一个这样的控制器包括：车道偏离倾向确定装置，被配置为确定车辆离开行车道的偏离倾向;偏航力矩计算装置，被配置为基于偏离倾向计算参考横摆力矩;偏航力矩校正装置 至少基于所述参考横摆力矩来计算目标横摆力矩，以及被配置为将所述目标横摆力矩应用于所述车辆的控制器。 当基准横摆力矩低于规定的阈值时，横摆力矩校正装置随着时间逐渐增加目标横摆力矩，直到目标横摆力矩大于规定的阈值。
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公开(公告)号：US10397544B2
公开(公告)日：2019-08-27
申请号：US13817011
申请日：2011-07-29
IPC分类号： H04N13/204 , G06T3/00 , G06T7/12 , G06K9/00 , G06K9/46
摘要： A three-dimensional object detection device 1 includes a camera 10 and a calculator 20. The calculator 20 performs viewpoint conversion processing on an image captured by the camera 10 to create a bird's eye view image, calculates, for each of a plurality of positions along a vertical imaginary line extending in a vertical direction in an actual space, a luminance difference between two pixels near the position, and detects a three-dimensional object on the basis of continuities of the calculated luminance differences of the respective positions.
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