公开(公告)号：US11710294B2

公开(公告)日：2023-07-25

申请号：US17174289

申请日：2021-02-11

Applicant: DENSO CORPORATION

Inventor： Shunya Kumano ,  Shunsuke Suzuki ,  Ryota Yamamoto

IPC: G06V20/56 ,  G06V10/44 ,  G06N20/00 ,  G06V10/764 ,  G06V10/82

CPC classification number: G06V10/44 ,  G06N20/00 ,  G06V10/764 ,  G06V10/82 ,  G06V20/588

Abstract: In a road parameter estimation apparatus, a marker-based estimator extracts, based on markers extracted by a marker extractor, at least one lane line that demarcates a road into plural regions in a width direction of the road, and estimates, based on the extracted at least one lane line, a value of at least one feature parameter of the road as a maker-based estimation result. The at least one feature parameter of the road represents at least one feature of the road. A model-based estimator estimates, based on the at least one model-based demarcation line, a value of the at least one feature parameter of the road parameter as a model-based estimation result. A determiner compares the at least one lane line with the model-based demarcation line to accordingly determine whether to use the marker-based estimation result or the model-based estimation result.

公开(公告)号：US10691959B2

公开(公告)日：2020-06-23

申请号：US15871712

申请日：2018-01-15

Applicant: SOKEN, INC. ,  DENSO CORPORATION

Inventor： Shunya Kumano ,  Shunsuke Suzuki ,  Kenta Hoki

IPC: G06K9/00 ,  G06K9/46 ,  G08G1/16 ,  G06T7/12

Abstract: In a travelling road estimating apparatus, an estimator estimates, based on the coordinates of at least one of edge points included in a selected candidate, a road parameter using a previously prepared filter having an adjustable response level. The road parameter is associated with a condition of the travelling road relative to the vehicle and a shape of the travelling road. A determiner determines whether there is an unstable situation that causes an accuracy of estimating the edge points by an edge extractor to be reduced. A response level adjuster adjusts the response level of the filter in accordance with determination of whether there is an unstable situation that causes an accuracy of estimating the edge points by the edge extractor to be reduced.

公开(公告)号：US09934441B2

公开(公告)日：2018-04-03

申请号：US14886941

申请日：2015-10-19

Applicant: DENSO CORPORATION

Inventor： Naoki Kawasaki ,  Tomohiko Tsuruta ,  Shunsuke Suzuki

IPC: H04N19/167 ,  G06K9/00 ,  H04N7/18 ,  B60R1/00

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.

公开(公告)号：US09792508B2

公开(公告)日：2017-10-17

申请号：US14886918

申请日：2015-10-19

Applicant: DENSO CORPORATION

Inventor： Naoki Kawasaki ,  Tomohiko Tsuruta ,  Shunsuke Suzuki

IPC: G06K9/00 ,  H04N7/18 ,  B60R1/00 ,  G06K9/32

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.

公开(公告)号：US20170184396A1

公开(公告)日：2017-06-29

申请号：US15386652

申请日：2016-12-21

Applicant: DENSO CORPORATION

Inventor： Kojiro Tateishi ,  Naoki Kawasaki ,  Shunsuke Suzuki ,  Hiroshi Mizuno ,  Takeshi Shikimachi

IPC: G01B11/24 ,  G01C25/00 ,  G01C21/26

CPC classification number: G01B11/24 ,  B60W40/072 ,  G01C7/04 ,  G06K9/00798

Abstract: An in-vehicle system as a road curvature detection device calculates a curvature of a road in front of a vehicle based on an acquired front scene image. The in-vehicle system receives gradient information from the data map. The gradient information corresponds to a current road section on the road on which the vehicle drives. The in-vehicle system detects a gradient accuracy of the received gradient information. When the current road section has a gradient, i.e. the road is an uphill or downhill road, the in-vehicle system selects an appropriate special detection methods based on the gradient accuracy of the received gradient information, and calculates a road curvature by using the selected special detection method. Each of the special detection methods calculates a road curvature while effectively suppressing influence of a road gradient indicated by the received gradient information.

公开(公告)号：US09669829B2

公开(公告)日：2017-06-06

申请号：US14924539

申请日：2015-10-27

Applicant: DENSO CORPORATION

Inventor： Osamu Shimomura ,  Shunsuke Suzuki ,  Naoki Kawasaki ,  Tomohiko Tsuruta

IPC: B60W30/12 ,  G06K9/00 ,  B60W50/14 ,  B60W50/02

CPC classification number: B60W30/12 ,  B60W50/14 ,  B60W2050/0215 ,  B60W2420/42 ,  B60W2550/12 ,  B60W2550/141 ,  B60W2550/402 ,  G06K9/00798

Abstract: An on-board camera captures an image of a travel lane ahead of an own vehicle. At least one state acquisition apparatus acquires an acquired value indicating a state of the own vehicle. A travel lane marking recognition system recognizes a travel lane marking that demarcates the travel lane from an image captured by the on-board camera. The travel lane marking recognition system sets a reliability level of the recognized travel lane marking based on the acquired value of the at least one state acquisition apparatus. When the reliability level is higher than a first predetermined threshold, the travel lane marking recognition system performs driving control of the own vehicle based on the recognized travel lane marking. When the reliability level is lower than the first predetermined threshold, the travel lane marking recognition system performs a deviation warning of deviation from the travel lane based on the recognized travel lane marking.

公开(公告)号：US09594965B2

公开(公告)日：2017-03-14

申请号：US14830200

申请日：2015-08-19

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Naoki Kawasaki ,  Tomohiko Tsuruta ,  Shunsuke Suzuki

IPC: G06K9/00 ,  G06K9/03

CPC classification number: G06K9/00798 ,  G06K9/033

Abstract: In a lane boundary line recognition device, a calculation section calculates a degree of uncertainty which affects a correct recognition of white lines on a roadway of a vehicle. A learning section updates a learning value of the degree of uncertainty. A recognition suppression section suppresses execution of a recognition process of recognizing white lines on the roadway when the updated learning value is more than a threshold value. An environment change judgment section judges whether or not a road environment has changed. A learning resetting section resets the learning value of the degree of uncertainty to a previous learning value when the detection result of the environment change judgment section indicates an occurrence of change of the road environment.

Abstract translation: 在车道边界线识别装置中，计算部分计算影响车辆道路上的白线的正确识别的不确定度。 学习部分更新不确定程度的学习价值。 当更新的学习值大于阈值时，识别抑制部分抑制识别道路上的白线的识别处理的执行。 环境变化判断部判断道路环境是否变化。 当环境变化判断部分的检测结果指示道路环境的变化的发生时，学习重置部分将不确定度的学习值重置为先前的学习值。

公开(公告)号：US09317940B2

公开(公告)日：2016-04-19

申请号：US14397014

申请日：2013-04-23

Applicant: DENSO CORPORATION

Inventor： Naoki Kawasaki ,  Masayuki Imanishi ,  Shunsuke Suzuki ,  Tetsuya Takafuji

IPC: G06K9/00 ,  G06T11/00 ,  G08G1/16 ,  G06T11/60

CPC classification number: G06T11/001 ,  G06K9/00798 ,  G06T11/60 ,  G08G1/167

Abstract: A cruising zone division line recognition apparatus has an image acquisition device that acquires an image including a road surface ahead of a vehicle, and an image recognition device. The image recognition device adds blurring to an area including the road surface in the acquired image and recognizes a cruising zone division line from the image to which blurring has been added. When blurring is added, a cruising zone division line that is an intermittent double line included in a captured image can be made unclear. Therefore, the recognized cruising zone division line can be prevented from becoming a discontinuous, disjointed line.

Abstract translation: 巡航区分割线识别装置具有获取包括车辆前方路面的图像的图像获取装置和图像识别装置。 图像识别装置在所获取的图像中的包括路面的区域增加模糊，并从已经添加了模糊的图像识别巡航区划分线。 当添加模糊时，包含在拍摄图像中的间歇性双线的巡航区划分线可能不清楚。 因此，可以防止公认的巡航区划分线成为不连续的不相连的线。

公开(公告)号：US09280712B2

公开(公告)日：2016-03-08

申请号：US14386291

申请日：2013-03-19

Applicant: NIPPON SOKEN, INC. ,  DENSO CORPORATION

Inventor： Naoki Kawasaki ,  Junichi Hasegawa ,  Tetsuya Takafuji ,  Shunsuke Suzuki

IPC: G06K9/00 ,  G08G1/16 ,  G06T7/00 ,  G06K9/46

CPC classification number: G06K9/00798 ,  G06K9/4638 ,  G06T7/12 ,  G06T2207/30256 ,  G08G1/167

Abstract: An apparatus for recognizing a lane is provided. The apparatus performs a near-field white line recognition process and calculates road parameters (lane position, lane inclination, lane curvature and lane width) near the vehicle. The road parameters are calculated using the extended Kalman filter. In the calculation, the calculated lane curvature is used as a lane curvature to be included in predicted values. The apparatus outputs the calculated road parameters to a warning/vehicle-control apparatus.

Abstract translation: 提供了用于识别车道的装置。 该装置执行近场白线识别处理并计算车辆附近的道路参数（车道位置，车道倾斜，车道弯曲和车道宽度）。 道路参数使用扩展卡尔曼滤波器计算。 在计算中，将所计算的车道曲率用作要包括在预测值中的车道曲率。 该装置将计算的道路参数输出到警告/车辆控制装置。

公开(公告)号：US20160012300A1

公开(公告)日：2016-01-14

申请号：US14792858

申请日：2015-07-07

Applicant: DENSO CORPORATION

Inventor： Tomohiko Tsuruta ,  Shunsuke Suzuki ,  Naoki Kawasaki ,  Osamu Shimomura

IPC: G06K9/00 ,  G06T7/00 ,  G06K9/62 ,  G06K9/52 ,  G06T7/60

CPC classification number: G06K9/00798 ,  G06K9/52 ,  G06K9/6215 ,  G06K2009/4666 ,  G06T7/60 ,  G06T2207/30256

Abstract: In a lane boundary line recognition device, an extraction unit extracts lane boundary line candidates from image acquired by an in-vehicle camera. A position estimation unit estimates a position of each lane boundary line based on drive lane information containing a number of drive lanes on a roadway and a width of each drive lane when (a) and (b) are satisfied, (a) when an own vehicle drives on an own vehicle lane specified by the drive lane specifying unit, and (b) when the lane boundary line candidate corresponds to lane boundary lines of the own vehicle lane. A likelihood calculation unit increases a likelihood of the lane boundary line candidate when a distance between a position of the lane boundary line candidate and an estimated position of the lane boundary line candidate obtained by the drive lane boundary line position estimation unit is within a predetermined range.

Abstract translation: 在车道边界线识别装置中，提取单元从车载摄像机获取的图像中提取车道边界线候选。 当满足（a）和（b）时，位置估计单元基于包含道路上的多个驱动车道的驱动车道信息和每个驱动车道的宽度来估计每个车道边界线的位置，（a）当自身 由车道指定单元指定的车辆车道上的车辆驱动，以及（b）当车道边界线候补对应于本车道的车道边界线时。 当车道边界线候补的位置与由行驶车道边界线位置估计单元获得的车道边界线候选者的估计位置之间的距离在预定范围内时，似然度计算单元增加车道边界线候选的可能性 。