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1. 发明授权

EP1920270B1 OBJECT DETECTION APPARATUS AND METHOD 有权
标题翻译：对象检测装置及方法
公开(公告)号：EP1920270B1
公开(公告)日：2011-10-12
申请号：EP06795356.2
申请日：2006-08-29
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： HAYASAKA, Shoichi , OKUDA, Masato , SATONAKA, Hisashi
IPC分类号： G01S15/93
CPC分类号： G01S15/025 , G01S7/52004 , G01S15/931 , G01S2013/9314 , G01S2013/9353 , G01S2015/934 , G01S2015/935 , G01S2015/936
摘要： A reflection-point estimation section (41) constituting an object detection apparatus (10) first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar (50) is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angle φn=atan{(dn+1-dn)/In} where n is a natural number. Subsequently, the reflection-point estimation section (41) obtains estimated reflection points Pn' after correction, by rotating each estimated reflection point Pn based on the calculation result.

2. 发明公开

EP1920270A2 OBJECT DETECTION APPARATUS AND METHOD 有权
标题翻译：对象检测装置及方法
公开(公告)号：EP1920270A2
公开(公告)日：2008-05-14
申请号：EP06795356.2
申请日：2006-08-29
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： HAYASAKA, Shoichi , OKUDA, Masato , SATONAKA, Hisashi
IPC分类号： G01S15/93
CPC分类号： G01S15/025 , G01S7/52004 , G01S15/931 , G01S2013/9314 , G01S2013/9353 , G01S2015/934 , G01S2015/935 , G01S2015/936
摘要： A reflection-point estimation section (41) constituting an object detection apparatus (10) first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar (50) is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angle φn=atan{(dn+1-dn)/In} where n is a natural number. Subsequently, the reflection-point estimation section (41) obtains estimated reflection points Pn' after correction, by rotating each estimated reflection point Pn based on the calculation result.

3. 发明授权

EP3342620B1 WARNING OUTPUT DEVICE 有权
公开(公告)号：EP3342620B1
公开(公告)日：2019-08-14
申请号：EP17208157.2
申请日：2017-12-18
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： OHTANI, Shinya , OKUDA, Masato , KIDA, Akihiro , TAKAGI, Yuka , TAKAGI, Toshihiro
IPC分类号： B60K35/00

4. 发明公开

EP3342620A1 WARNING OUTPUT DEVICE 有权
公开(公告)号：EP3342620A1
公开(公告)日：2018-07-04
申请号：EP17208157.2
申请日：2017-12-18
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： OHTANI, Shinya , OKUDA, Masato , KIDA, Akihiro , TAKAGI, Yuka , TAKAGI, Toshihiro
IPC分类号： B60K35/00
CPC分类号： B60Q9/008 , B60K35/00 , B60K2370/152 , B60K2370/157 , B60K2370/173 , B60K2370/178 , B60K2370/179 , B60K2370/186 , B60K2370/193 , B60K2370/21 , B60K2370/48 , G08G1/04 , G08G1/166
摘要： A warning output device (1) includes a rear sensor unit (90) and an electronic control unit (40). The electronic control unit (40) is configured to, when a shift position is an R range, based on information from the sensor unit (90) indicating that a first obstacle is detected, output a warning for informing an occupant of the presence of the first obstacle, in a first state, output first predetermined warning display and first predetermined warning sound; and in a second state, output second predetermined warning display and second predetermined warning sound. The ECU is configured to, in the second state, output the second predetermined warning sound for a predetermined time, then stop the output of the second predetermined warning sound, and output the second predetermined warning display for a longer time than the second predetermined warning sound.

5. 发明公开

EP3104599A1 IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD 审中-公开
标题翻译：图像处理装置和图像处理方法
公开(公告)号：EP3104599A1
公开(公告)日：2016-12-14
申请号：EP16172535.3
申请日：2016-06-01
申请人： FUJITSU TEN LIMITED , Toyota Jidosha Kabushiki Kaisha
发明人： KIYO, Kouei , MATSUYAMA, Satoru , MORIYAMA, Shinichi , ASAI, Goro , OKUDA, Masato , SATOMI, Yohei , SHIDOCHI, Yuka
IPC分类号： H04N7/18
CPC分类号： G06T3/4038 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/602 , G06T3/0068 , H04N5/23293 , H04N5/247 , H04N7/181
摘要： An image processing device (3) according to an embodiment includes a display control unit (32), a pattern specification unit (35), and a pattern collating unit(36). The display control unit (32) generates a composite image (113) that is a surrounding image of a vehicle (100) viewed from a virtual viewpoint, based on images input from in-vehicle cameras (2a to 2d), and displays thereof on a display unit (4). The pattern specification unit (35) specifies an image pattern to be output as the input image among image patterns, for each in-vehicle camera (2a to 2d). The pattern collating unit (36) determines whether all image pattern responses from the in-vehicle cameras (2a to 2d) match with the image pattern. The display control unit (32) displays a certain preparation image (112) on the display unit (4) when the display switching condition to the composite image (113) is satisfied, and displays the composite image (113) thereon instead of the preparation image (112), when the pattern collating unit (36) determines that all the image pattern responses match with the image pattern.
摘要翻译：根据实施例的图像处理设备（3）包括显示控制单元（32），图案指定单元（35）和图案整理单元（36）。显示控制单元（32）基于从车载摄像机（2a至2d）输入的图像生成作为从虚拟视点观看的车辆（100）的周围图像的合成图像（113），并且将其显示在一个显示单元（4）。对于每个车载摄像机（2a至2d），图案指定单元（35）指定要在图像图案之中输出的图像图案作为输入图像。模式整理单元（36）确定来自车载相机（2a至2d）的所有图像模式响应是否与图像模式匹配。当显示切换条件满足合成图像（113）时，显示控制单元（32）在显示单元（4）上显示特定的准备图像（112），并在其上显示合成图像（113）而不是准备图像（112），当模式整理单元（36）确定所有图像模式响应与图像模式匹配时。

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