公开(公告)号：US20120035846A1

公开(公告)日：2012-02-09

申请号：US13264190

申请日：2010-04-13

申请人： Hiroshi Sakamoto ,  Kazutoshi Tsuchiya ,  Takehito Ogata

发明人： Hiroshi Sakamoto ,  Kazutoshi Tsuchiya ,  Takehito Ogata

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。

公开(公告)号：US20120170808A1

公开(公告)日：2012-07-05

申请号：US13391929

申请日：2010-07-22

申请人： Takehito Ogata ,  Kazutoshi Tsuchiya ,  Hiroshi Sakamoto

发明人： Takehito Ogata ,  Kazutoshi Tsuchiya ,  Hiroshi Sakamoto

IPC分类号： G06K9/00

CPC分类号： B60R21/0134 ,  G01B11/002 ,  G01S17/936 ,  G06K9/00369 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/4642 ,  G08G1/166

摘要： The present invention provides an obstacle detection device that enables stable obstacle detection with less misdetections even when a bright section and a dark section are present in an obstacle and a continuous contour of the obstacle is present across the bright section and the dark section. The obstacle detection device includes a processed image generating unit that generates a processed image for detecting an obstacle from a picked-up image, a small region dividing unit that divides the processed image into plural small regions, an edge threshold setting unit that sets an edge threshold for each of the small regions from pixel values of the plural small regions and the processed image, an edge extracting unit that calculates a gray gradient value of each of the small regions from the plural small regions and the processed image and generates, using the edge threshold for the small region corresponding to the calculated gray gradient value, an edge image and a gradient direction image, and an obstacle recognizing unit that determines presence or absence of an obstacle from the edge image in a matching determination region set in the edge image and the gradient direction image corresponding to the edge image. The small region dividing unit divides the processed image into the plural small regions on the basis of an illumination state on the outside of the own vehicle.

摘要翻译： 本发明提供一种障碍物检测装置，即使在障碍物中存在明亮部分和暗部分的情况下，即使在明亮部分和暗部分存在障碍物的连续轮廓，也能够以较少的误差进行稳定的障碍物检测。 障碍物检测装置包括：处理图像生成单元，其从拾取图像生成用于检测障碍物的处理图像;小区域分割单元，其将处理后的图像分割成多个小区域;边缘阈值设定单元， 阈值，所述边缘提取单元从所述多个小区域和所述处理图像计算每个所述小区域的灰度梯度值，并且使用所述边缘提取单元， 对应于所计算的灰度梯度值的小区域的边缘阈值，边缘图像和梯度方向图像，以及在边缘图像中设置的匹配确定区域中从边缘图像确定障碍物的存在或不存在的障碍物识别单元 以及与边缘图像对应的梯度方向图像。 小区域分割单元根据本车辆的外部的照明状态将处理后的图像分割为多个小区域。

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。

公开(公告)号：US08924140B2

公开(公告)日：2014-12-30

申请号：US13264190

申请日：2010-04-13

申请人： Hiroshi Sakamoto ,  Kazutoshi Tsuchiya ,  Takehito Ogata

发明人： Hiroshi Sakamoto ,  Kazutoshi Tsuchiya ,  Takehito Ogata

IPC分类号： G06F17/10 ,  G06G7/78 ,  G08G1/16 ,  G01S13/93 ,  G06K9/00 ,  G01S13/86 ,  B60T8/1755

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。

公开(公告)号：US08705796B2

公开(公告)日：2014-04-22

申请号：US13391929

申请日：2010-07-22

申请人： Takehito Ogata ,  Kazutoshi Tsuchiya ,  Hiroshi Sakamoto

发明人： Takehito Ogata ,  Kazutoshi Tsuchiya ,  Hiroshi Sakamoto

IPC分类号： G06K9/00

CPC分类号： B60R21/0134 ,  G01B11/002 ,  G01S17/936 ,  G06K9/00369 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/4642 ,  G08G1/166

摘要： The present invention provides an obstacle detection device that enables stable obstacle detection with less misdetections even when a bright section and a dark section are present in an obstacle and a continuous contour of the obstacle is present across the bright section and the dark section. The obstacle detection device includes a processed image generating unit that generates a processed image for detecting an obstacle from a picked-up image, a small region dividing unit that divides the processed image into plural small regions, an edge threshold setting unit that sets an edge threshold for each of the small regions from pixel values of the plural small regions and the processed image, an edge extracting unit that calculates a gray gradient value of each of the small regions from the plural small regions and the processed image and generates, using the edge threshold for the small region corresponding to the calculated gray gradient value, an edge image and a gradient direction image, and an obstacle recognizing unit that determines presence or absence of an obstacle from the edge image in a matching determination region set in the edge image and the gradient direction image corresponding to the edge image. The small region dividing unit divides the processed image into the plural small regions on the basis of an illumination state on the outside of the own vehicle.

摘要翻译： 本发明提供一种障碍物检测装置，即使在障碍物中存在明亮部分和暗部分的情况下，即使在明亮部分和暗部分存在障碍物的连续轮廓，也能够以较少的误差进行稳定的障碍物检测。 障碍物检测装置包括：处理图像生成单元，其从拾取图像生成用于检测障碍物的处理图像;小区域分割单元，其将处理后的图像分割成多个小区域;边缘阈值设定单元， 阈值，所述边缘提取单元从所述多个小区域和所述处理图像计算每个所述小区域的灰度梯度值，并且使用所述边缘提取单元， 对应于所计算的灰度梯度值的小区域的边缘阈值，边缘图像和梯度方向图像，以及在边缘图像中设置的匹配确定区域中从边缘图像确定障碍物的存在或不存在的障碍物识别单元 以及与边缘图像对应的梯度方向图像。 小区域分割单元根据本车辆的外部的照明状态将处理后的图像分割为多个小区域。

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

IPC分类号： G06F7/00 ,  G06F17/00 ,  B60Q1/14 ,  G08G1/16 ,  G06K9/00 ,  G06K9/32

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。

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。

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。

公开(公告)号：US20130018547A1

公开(公告)日：2013-01-17

申请号：US13545849

申请日：2012-07-10

申请人： Takehito Ogata ,  Shoji Muramatsu ,  Takashi Tsutsui ,  Katsuyuki Nakamura ,  Mitsutoshi Morinaga

发明人： Takehito Ogata ,  Shoji Muramatsu ,  Takashi Tsutsui ,  Katsuyuki Nakamura ,  Mitsutoshi Morinaga

IPC分类号： G08G1/16 ,  H04N7/18 ,  G06F7/00

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。

公开(公告)号：US09165374B2

公开(公告)日：2015-10-20

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 ,  G06T7/20 ,  G06K9/00 ,  G06K9/32

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。