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1. 发明公开

EP4024330A1 OBJECT RECOGNITION METHOD AND OBJECT RECOGNITION DEVICE 有权转让
公开(公告)号：EP4024330A1
公开(公告)日：2022-07-06
申请号：EP19943826.8
申请日：2019-08-28
申请人： NISSAN MOTOR Co., Ltd. , Renault s.a.s
发明人： KUROTOBI, Tomoko , NODA, Kuniaki , MATSUO, Haruo
IPC分类号： G06T7/00 , G06T7/60 , G01S17/93
摘要： An object recognition method using a sensor configured to acquire a position of an object existing in a surrounding environment as point clouds including a plurality of detection points in a top view. The method including: grouping the point clouds according to a proximity; determining, when performing polygon approximation on the grouped point clouds, whether or not at least part of the detection points constituting the grouped point clouds are located in a blind zone of an approximate polygon acquired by the polygon approximation on the point clouds with respect to the sensor; recognizing the grouped point clouds as point clouds corresponding to plural objects when it is determined that the detection points are located in the blind zone with respect to the sensor; and recognizing the grouped point clouds as point clouds corresponding to a single object of the approximate polygon when it is determined that the detection points are not located in the blind zone with respect to the sensor.

2. 发明公开

EP4099060A1 OBJECT RECOGNITION METHOD AND OBJECT RECOGNITION DEVICE 有权转让
公开(公告)号：EP4099060A1
公开(公告)日：2022-12-07
申请号：EP20916508.3
申请日：2020-01-31
申请人： NISSAN MOTOR Co., Ltd. , Renault s.a.s
发明人： KUROTOBI, Tomoko , NODA, Kuniaki , IKEGAMI, Takashi , MATSUO, Haruo
IPC分类号： G01S17/931 , G01S17/86 , G08G1/16
摘要： An object recognition method including: detecting a plurality of positions on surfaces of objects (100, 101) in surroundings of an own vehicle (1) along a predetermined direction and acquiring a group of points; generating a captured image of surroundings of the own vehicle; grouping points included in the acquired group of points and classifying the points into a group (p1 to p21) of object candidate points; extracting, from among object candidate points, the object candidate points being points included in the group of object candidate points, a position (p1, p7, p10, p21) at which change in distance from the own vehicle between adjacent object candidate points increases from a value equal to or less than a predetermined threshold value to a value greater than the predetermined threshold value as a boundary position candidate, the boundary position candidate being an outer end position of an object (100, 101); extracting a region (R) in which a person (100) is detected in the captured image as a partial region by image recognition processing; and when, in the captured image, a position of the boundary position candidate (p1, p7, p10, p21) coincides with a boundary position of the partial region (R), the boundary position being an outer end position, in the predetermined direction, recognizing that a pedestrian exists in the partial region (R) .

3. 发明公开

EP4303850A1 OBJECT DETECTION METHOD AND OBJECT DETECTION DEVICE 审中-实审
公开(公告)号：EP4303850A1
公开(公告)日：2024-01-10
申请号：EP21928380.1
申请日：2021-03-03
申请人： NISSAN MOTOR CO., LTD. , Renault s.a.s
发明人： IKEGAMI, Takashi , NODA, Kuniaki
IPC分类号： G08G1/16
摘要： An object detection method includes irradiating a position in front of a host-vehicle with an electromagnetic wave, and detecting an object in front of the host-vehicle based on a reflected wave of the electromagnetic wave. The object detection method further includes capturing an image of the position in front of the host-vehicle to acquire an image, and determining whether the object is floating matters based on the acquired image if a state where the object is not detected changes to a state where the object is detected.

4. 发明公开

EP3477614A1 VEHICLE CONTROL METHOD AND VEHICLE CONTROL DEVICE 有权
公开(公告)号：EP3477614A1
公开(公告)日：2019-05-01
申请号：EP16907217.0
申请日：2016-06-27
申请人： Nissan Motor Co., Ltd.
发明人： NODA, Kuniaki , FANG, Fang
IPC分类号： G08G1/16 , B60T7/12
摘要： A vehicle control method includes: detecting a blocking object that is at a position at which the blocking object obstructs travel of the tracked vehicle in a traffic lane in which the tracked vehicle is traveling and that hides at least part of the traffic lane from the sensor, and an oncoming vehicle traveling in a direction toward the tracked vehicle in an oncoming lane opposite from the traffic lane; and slowing down the vehicle when the oncoming vehicle slows down.

5. 发明授权

EP3467802B1 OBJECT DETECTION METHOD AND OBJECT DETECTION DEVICE 有权
公开(公告)号：EP3467802B1
公开(公告)日：2020-09-30
申请号：EP16903924.5
申请日：2016-05-30
申请人： Nissan Motor Co., Ltd.
发明人： NODA, Kuniaki , FANG, Fang
IPC分类号： G08G1/16 , G01C21/26

6. 发明公开

EP3480788A1 OBJECT TRACKING METHOD AND OBJECT TRACKING DEVICE 审中-公开
公开(公告)号：EP3480788A1
公开(公告)日：2019-05-08
申请号：EP16907289.9
申请日：2016-06-30
申请人： Nissan Motor Co., Ltd.
发明人： FANG, Fang , NODA, Kuniaki
IPC分类号： G06T7/20 , G08G1/16
摘要： In a case where multiple objects detected by an object detector (10) enter a hidden area calculated by a hidden area calculator (32), a positional relationship estimator (33) estimates a positional relationship between the multiple objects in the hidden area based on: information about each of the multiple objects; and lanes and routes into which each of the multiple objects may change their courses, and which are calculated by a route calculator (34). When the objects come out of the hidden area, an identification number assigner (35) determines identification information about each object based on the positional relationship estimated by the positional relationship estimator (33).

7. 发明公开

EP3471408A1 INTER-VEHICLE DISTANCE ESTIMATION METHOD AND INTER-VEHICLE DISTANCE ESTIMATION DEVICE 有权
公开(公告)号：EP3471408A1
公开(公告)日：2019-04-17
申请号：EP16905411.1
申请日：2016-06-14
申请人： Nissan Motor Co., Ltd.
发明人： NODA, Kuniaki , FANG, Fang
IPC分类号： H04N7/18 , G08G1/00 , G08G1/01
摘要： An inter-vehicle distance estimation method according to one aspect of the present invention includes: estimating a screened area screened by an obstacle from a sensor and two unscreened areas sandwiching the screened area; and, based on speeds of two tracked vehicles traveling in a same traffic lane respectively within the two unscreened areas, estimating the inter-vehicle distances from the two tracked vehicles to a tracked vehicle traveling in the same traffic lane within the screened area.

8. 发明公开

EP3467802A1 OBJECT DETECTION METHOD AND OBJECT DETECTION DEVICE 有权
公开(公告)号：EP3467802A1
公开(公告)日：2019-04-10
申请号：EP16903924.5
申请日：2016-05-30
申请人： Nissan Motor Co., Ltd.
发明人： NODA, Kuniaki , FANG, Fang
IPC分类号： G08G1/16 , G01C21/26
摘要： An object detection method according the present invention includes: acquiring three-dimensional data on an area around a host vehicle by use of a distance measurement sensor; based on map data on an area around a current position of the host vehicle, setting a planned travel area where the host vehicle is going to travel in the future; estimating crossing object existence areas where there currently exist objects which are likely to cross the host vehicle in the future in the set planned travel area; and detecting the object by use of the three dimensional data on insides of the estimated crossing object existence areas.

9. 发明公开

EP3477615A1 OBJECT TRACKING METHOD AND OBJECT TRACKING DEVICE 有权
公开(公告)号：EP3477615A1
公开(公告)日：2019-05-01
申请号：EP16907218.8
申请日：2016-06-27
申请人： Nissan Motor Co., Ltd.
发明人： FANG, Fang , NODA, Kuniaki
IPC分类号： G08G1/16 , B60R21/00
摘要： An object tracking device tracks objects (8) in a time series using an object detection sensor (10) for detecting objects (8) around a host vehicle (7). When a plurality of objects (8) are detected, the object tracking device sorts the objects (8) into groups (G) in accordance with a degree of influence of the positions of the objects (8) on the movement (9) of the host vehicle (7). The object tracking device tracks each of the groups (G) as a single object in a time series.

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