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公开(公告)号：US10885354B2
公开(公告)日：2021-01-05
申请号：US16328465
申请日：2017-08-03
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Taketo Harada , Mitsuyasu Matsuura , Hirohiko Yanagawa
Abstract: A perimeter monitoring device is applied to a vehicle comprising a distance measuring sensor for transmitting a probing wave and receiving a reflected wave of the probing wave and an imaging device for capturing an image of the surroundings of the vehicle. The perimeter monitoring device comprises: an information acquisition unit for acquiring distance information, directional information, and object width information of an object existing in the vicinity of the vehicle as detection information of the object provided by the distance measuring sensor; an area setting unit for setting an image processing area on which image processing is performed in the image captured by the imaging device based on the distance information, the directional information, and the object width information acquired by the information acquisition unit; and an object recognition unit for performing the image processing on the image processing area set by the area setting unit to recognize the object.
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公开(公告)号：US12110012B2
公开(公告)日：2024-10-08
申请号：US17648768
申请日：2022-01-24
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Atsushi Baba
CPC classification number: B60W30/095 , B60W10/04 , B60W10/20 , B60W40/02 , B60W50/0205 , B60W60/0015 , B60W2554/4046 , B60W2555/20 , B60W2556/65 , B60W2710/20 , B60W2720/10 , B60W2720/12
Abstract: A vehicle control apparatus is mounted in a subject vehicle provided with a running planning unit configured to calculate one or more candidate routes on which the subject vehicle is to travel. The vehicle control apparatus predicts an action of a prediction target moving body that includes the subject vehicle and at least one moving body present in a vicinity of the subject vehicle.
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公开(公告)号：US10885356B2
公开(公告)日：2021-01-05
申请号：US16442799
申请日：2019-06-17
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Mitsuyasu Matsuura , Hirohiko Yanagawa , Hideki Otsuka
Abstract: A parking assisting apparatus includes an imaging unit acquiring image information corresponding to an image of surroundings of a vehicle, an image processing section recognizing a feature shape in the image by processing the image information, an obstacle detecting section acquiring positional-relationship information corresponding to a positional relationship between the vehicle and an obstacle present around a parking space, and a manner-of-parking selecting section selecting a manner of parking the vehicle in the parking space from manner candidates including perpendicular parking and parallel parking based on the feature shape and the positional-relationship information. The manner-of-parking selecting section selects the manner of parking from the manner candidates by integrating a likelihood of each of the manner candidates based on the positional-relationship information with a likelihood of the manner candidate based on a recognition result to calculate final likelihoods of the respective manner candidates, and by comparing the calculated final likelihoods.
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公开(公告)号：US11097724B2
公开(公告)日：2021-08-24
申请号：US16233585
申请日：2018-12-27
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Shunya Kumano , Masaya Okada , Takaharu Oguri , Keiji Matsuoka
IPC: B60W30/09 , B60W30/095 , G06K9/00 , G08G1/16
Abstract: In an apparatus for controlling travel of an own vehicle which is a vehicle carrying the apparatus, an information acquirer is configured to acquire information regarding a target around the own vehicle from a target detector. A controller is configured to, if determining, using the target information acquired by the information acquirer, that if travel of the own vehicle is continued in accordance with a collision avoidance trajectory determined to avoid a collision with an object located on a roadway ahead of the own vehicle, the own vehicle is likely to collide with the object or another object, change a setting of a driving state of the own vehicle so as to avoid or reduce a likelihood of the collision.
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Patent Agency Ranking
公开(公告)号：US11014566B2
公开(公告)日：2021-05-25
申请号：US16345026
申请日：2017-10-10
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Hirohiko Yanagawa , Mitsuyasu Matsuura
IPC: B60W40/04 , B60W30/095 , G01S7/292 , G01S7/53 , G01S7/539 , G01S15/66 , G01S15/93 , G06K9/00 , G01S7/529 , G08G1/16 , G01S13/93
Abstract: An object detection apparatus is provided with a distance measurement sensor that measures a distance to an object which exists in a surrounding area of a vehicle, by transmitting scanning waves to the surrounding of the vehicle and receiving reflection waves of the scanning waves, and an image acquiring section that is adopted to the vehicle, and is provided with an on-vehicle camera that captures images in the surrounding of the vehicle, the imaging acquiring section acquiring an image that is captured by the camera. The apparatus includes a determination section that determines whether, a predetermined object that is difficult to detect by the reflection waves of the distance measurement sensor is included in the object image, and a sensitivity control section that increases a sensitivity of the object detection by the distance measurement sensor and a vehicle control that is executed relative to the predetermined object as a target object.
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公开(公告)号：US10986286B2
公开(公告)日：2021-04-20
申请号：US16704209
申请日：2019-12-05
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Hiroaki Takeda , Hirohiko Yanagawa
Abstract: An image creation device is provided with an image acquisition unit acquiring multiple captured images of a peripheral area, a detection unit detecting a three-dimensional object present in the peripheral area, a first conversion unit converting the multiple captured images into multiple individual overhead images to create a first conversion image by means of an overall overhead image, a second conversion unit creating a second conversion image in which an image captured from a virtual camera is converted in accordance with the conversion rule, the virtual camera being virtually arranged at a virtual position set on the vehicle such that a virtual optical axis direction faces the direction of the three-dimensional object, and a synthesis unit synthesizes the second conversion image on the first conversion image to create a synthesis image.
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公开(公告)号：US10576967B2
公开(公告)日：2020-03-03
申请号：US16305230
申请日：2017-05-25
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Taketo Harada , Mitsuyasu Matsuura , Hirohiko Yanagawa
IPC: B60W30/06 , B60W10/04 , B60W10/18 , B60W10/20 , G06K9/00 , G08G1/16 , G01B11/00 , B60R11/04 , B60R21/00
Abstract: A parking assistance device is applied to a vehicle equipped with a camera for capturing an image of an area in front of the vehicle and is configured to assist forward parking of the vehicle in a parking space. The parking assistance device includes: a position estimation unit which, in a situation where the vehicle is advancing toward the parking space in a lateral passage of the parking space, estimates, based on an image captured by the camera, at least one of a first corner position, which is a near-side corner position at a vehicle entrance part of the parking space, and a second corner position, which is a far-side corner position at the vehicle entrance part, before the vehicle passes by the parking space; and a space recognition unit which recognizes the parking space for forward parking based on the at least one estimated corner position.
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公开(公告)号：US11750768B2
公开(公告)日：2023-09-05
申请号：US17346662
申请日：2021-06-14
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Taketo Harada , Mitsuyasu Matsuura , Hirohiko Yanagawa , Muneaki Matsumoto
CPC classification number: H04N5/44504 , B60R1/00 , G06T1/00 , G06T7/13 , G06V20/58 , H04N5/2628 , H04N5/272 , H04N7/18 , B60R2300/304 , G06T2207/30261 , G06V2201/08
Abstract: An image processing unit identifies the shape of an obstacle that is identified from an area that appears in a peripheral image based on an image captured by a camera. The shape of the obstacle includes at least a tilt of a section of the obstacle in a road-surface direction. The section of the obstacle faces a vehicle. The image processing unit generates a superimposed image in which a mark image that is generated as a pattern that indicates the identified obstacle is superimposed onto a position that corresponds to the obstacle in the peripheral image. At this time, the image processing unit variably changes properties of the mark image based on the tilt of the obstacle identified by an obstacle identifying unit. The image processing unit then displays the generated superimposed image on display apparatus.
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公开(公告)号：US11064151B2
公开(公告)日：2021-07-13
申请号：US16096042
申请日：2017-04-25
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Taketo Harada , Mitsuyasu Matsuura , Hirohiko Yanagawa , Muneaki Matsumoto
Abstract: An image processing unit identifies the shape of an obstacle that is identified from an area that appears in a peripheral image based on an image captured by a camera. The shape of the obstacle includes at least a tilt of a section of the obstacle in a road-surface direction. The section of the obstacle faces a vehicle. The image processing unit generates a superimposed image in which a mark image that is generated as a pattern that indicates the identified obstacle is superimposed onto a position that corresponds to the obstacle in the peripheral image. At this time, the image processing unit variably changes properties of the mark image based on the tilt of the obstacle identified by an obstacle identifying unit. The image processing unit then displays the generated superimposed image on display apparatus.
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