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1. 发明授权

EP3074922B1 SYSTÈME ET PROCÉDÉ DE FORMATION D'IMAGES NOCTURNES POUR UN VÉHICULE AUTOMOBILE 有权
公开(公告)号：EP3074922B1
公开(公告)日：2018-11-21
申请号：EP14814946.1
申请日：2014-11-24
申请人： Renault s.a.s
发明人： CORNOU, Sébastien , AMBROISE, Stéphanie
IPC分类号： G06K9/00 , G06T5/50
CPC分类号： G06K9/00791 , G06K9/00825 , G06T5/50 , G06T2207/10052 , G06T2207/20221 , H04N5/2356

2. 发明授权

EP3032454B1 Method and system for adaptive ray based scene analysis of semantic traffic spaces and vehicle equipped with such system 有权
公开(公告)号：EP3032454B1
公开(公告)日：2018-09-26
申请号：EP14197121.8
申请日：2014-12-10
申请人： Honda Research Institute Europe GmbH
发明人： Fritsch, Jannik , Weisswange, Thomas
IPC分类号： G06K9/46 , G06K9/62 , G06K9/00
CPC分类号： G06K9/00805 , G06K9/00536 , G06K9/00791 , G06K9/00798 , G06K9/00825 , G06K9/46 , G06K9/6267 , G06K2209/23
摘要： The invention is in the field of automated computerized driver assistance for vehicles. The invention regards in particular a method and a system for computationally performing scene analysis of semantic traffic spaces based on an adaptive spatio-temporal ray-based approach. The method for spatial analysis of a traffic scene comprises a step of acquiring a spatial semantic environment map including semantic context data, a step of calculating at least one feature for at least one location on the spatial environment map taking into account the semantic context of the location and a step of determining a category for the at least one location based on the at least one calculated feature. In an embodiment the feature is a ray based feature calculated by integrating input values along at least one ray extending in least one of a space dimension and a time dimension. The ray may have a ray shape corresponding to a general shape of a road and/or the at least one spatially extending ray follows a course of the road and/or is perpendicular to a surrounding road segment orientation.

3. 发明授权

EP2669844B1 Level Difference Recognition System Installed in Vehicle and Recognition Method executed by the Level Difference Recognition System 有权
公开(公告)号：EP2669844B1
公开(公告)日：2018-09-05
申请号：EP13169323.6
申请日：2013-05-27
申请人： Ricoh Company, Ltd.
发明人： Ishigaki, Tomoko , Li, Xue
IPC分类号： G06K9/00 , G06T7/00 , G06K9/20 , G06T7/593
CPC分类号： G06K9/00798 , G06K9/00825 , G06K9/209 , G06T7/593 , G06T2207/10021 , G06T2207/30256
摘要： A level difference recognition system (1) and method, to recognize one or more level difference image area (EL, CL) indicating one or more level difference on a side of a vehicle lane, including the steps of: recognizing a lane marker image (WL) indicating a lane marker on the side of the lane based on a captured image; storing a previously recognized lane marker image (WL-S); extracting a candidate set of level difference image areas (EL-C. WL-C) representing the level difference based on the captured image; selecting the specific level difference image area (EL, CL) from the candidate set of level difference image areas EL-C, CL-C) based on relative position to the currently recognized lane marker image (WL) when the lane marker image (WL) is recognized and based on the previously recognized and stored lane marker image (WL-S) when the lane marker image (WL) is not recognized.

4. 发明授权

EP2618304B1 Imaging apparatus, vehicle system having the same, and image-processing method 有权
公开(公告)号：EP2618304B1
公开(公告)日：2018-07-18
申请号：EP13152061.1
申请日：2013-01-21
申请人： Ricoh Company, Ltd.
发明人： Ishigaki, Tomoko , Sekiguchi, Hiroyoshi
IPC分类号： G06T5/00 , G06T5/40 , G06K9/00 , G06K9/20
CPC分类号： G06K9/00791 , G06K9/00798 , G06K9/00825 , G06K9/2018 , G06K9/209 , G06T5/009 , G06T5/40 , G06T2207/10004 , G06T2207/30256
摘要： A dynamic expansion operation of an index value image is performed by specifying an index value range before correction (Gmin to Gmax) for one index value image, calculating magnification K for which to be expanded to an ideal index value range (0 to 1023), and correcting an index value before correction G by the magnification K. An effective magnification Kthre to expand a maximum effective index value range (215 to 747) that can be taken by the index value before correction G calculated from transmittance of a filter to the ideal index value range (0 to 1023) is stored, and in a case where the calculated magnification K is smaller than the effective magnification Kthre, the expansion operation is performed by use of the effective magnification Kthre.

5. 发明公开

EP2559935A4 OPTICAL UNIT, VEHICLE MONITOR, AND OBSTRUCTION DETECTOR 有权
公开(公告)号：EP2559935A4
公开(公告)日：2018-07-04
申请号：EP11768628
申请日：2011-04-12
申请人： KOITO MFG CO LTD
发明人： YAMAMURA SATOSHI
IPC分类号： G01S17/93 , B60Q1/14 , B60R11/04 , F21S41/147 , F21S41/155 , F21S41/25 , F21S41/36 , F21S41/37 , F21S41/675 , F21V29/505 , G01S13/88 , G06K9/00 , H04N7/18
CPC分类号： G06K9/00825 , B60Q1/143 , B60Q2300/056 , B60Q2300/3321 , B60Q2300/40 , B60Q2300/41 , B60Q2300/42 , B60Q2300/45 , B60R11/04 , F21S41/147 , F21S41/155 , F21S41/25 , F21S41/36 , F21S41/365 , F21S41/37 , F21S41/675 , G01S13/426 , G01S13/88 , G01S13/931 , G01S2013/9396 , H04N7/183
摘要： Disclosed is an optical unit wherein a rotating reflector (26) rotates about a rotation axis in one direction, while reflecting light emitted from a light source. The rotating reflector (26) is provided with a reflecting surface such that the light reflected by the rotating reflector, while rotating, forms a desired light distribution pattern, said light having been emitted from the light source. The light source is composed of light emitting elements. The rotation axis is provided within a plane that includes an optical axis and the light source. The rotating reflector (26) is provided with, on the periphery of the rotation axis, a blade that functions as the reflecting surface.

6. 发明公开

EP3309767A4 SIGNALER DETECTION DEVICE AND SIGNALER DETECTION METHOD 有权
公开(公告)号：EP3309767A4
公开(公告)日：2018-06-06
申请号：EP15894910
申请日：2015-06-09
申请人： NISSAN MOTOR
发明人： YAMANOI DAIKI , MATSUO HARUO , OKI TAKAHIKO , SUZUKI AKIRA
IPC分类号： G06K9/00 , G08G1/16
CPC分类号： G08G1/16 , G06K9/00825
摘要： A traffic signal detection device 100 includes: a traffic signal position estimation unit 13 which estimates a relative position of a traffic signal with respect to a vehicle 5, based on map information D02 including positional information of the traffic signal around the vehicle 5 and a self-position of the vehicle 5; a first detection region setting unit 21 which sets a first detection region on an image for each traffic signal predicted to be present on the image obtained by an image capturing unit 11 from the relative position of the traffic signal; a second detection region setting unit 14 which sets, when it is predicted that a plurality of traffic signals is present on the image, a second detection region including the plurality of predicted traffic signals on the image; a third detection region setting unit 23 which sets a third detection region by correcting the first detection region, based on lamp candidates of the traffic signals detected from the second detection region; and a traffic signal detector 17 which detects the traffic signals from the third detection region.

7. 发明公开

EP3306589A1 TRAFFIC SIGNAL DETECTION DEVICE AND TRAFFIC SIGNAL DETECTION METHOD 有权
标题翻译：交通信号检测装置和交通信号检测方法
公开(公告)号：EP3306589A1
公开(公告)日：2018-04-11
申请号：EP15894261.5
申请日：2015-06-05
申请人： Nissan Motor Co., Ltd.
发明人： YAMANOI, Daiki , MATSUO, Haruo , OKI, Takahiko
IPC分类号： G08G1/16 , B60R1/00 , H04N7/18
CPC分类号： G06K9/00825 , B60R1/00 , B60R2300/105 , B60W40/04 , G08G1/095 , G08G1/16 , H04N7/18
摘要： A traffic signal detection device includes a narrow-angle camera 11, a wide-angle camera 12 having an angle of view wider than the narrow-angle camera 11, and a traffic signal detector 4 configured to detect a traffic signal from at least any of a narrow-angle image captured by the narrow-angle camera 11 and a wide-angle image captured by the wide-angle camera 12. The traffic signal detector 4 selects, as a detection result, any of a traffic signal detected from the narrow-angle image and a traffic signal detected from the wide-angle image, on the basis of a deceleration start region in which a vehicle 5 should start deceleration, the deceleration start region calculated from a position of a traffic signal with respect to the vehicle 5 and a speed of the vehicle 5 in order to stop the vehicle 5 at a stop position with respect to the traffic signal.
摘要翻译：交通信号检测装置包括窄角照相机11，具有比窄角照相机11宽的视角的广角照相机12以及配置为检测来自至少任一由窄角照相机11捕捉的窄角图像和由广角照相机12捕捉的广角图像。交通信号检测器4选择从窄角照相机11检测到的任何交通信号作为检测结果。基于车辆5应该开始减速的减速开始区域，根据交通信号相对于车辆5的位置计算出的减速开始区域以及从广角图像检测到的交通信号，以及车辆5的速度以使车辆5相对于交通信号停在停止位置。

8. 发明授权

EP2526508B1 TRAFFIC SIGNAL MAPPING AND DETECTION 有权转让
标题翻译：交通信号映射和检测
公开(公告)号：EP2526508B1
公开(公告)日：2018-04-04
申请号：EP11702743.3
申请日：2011-01-20
申请人： WAYMO LLC
发明人： FAIRFIELD, Nathaniel , URMSON, Christopher , THRUN, Sebastian
IPC分类号： G06K9/00 , G05D1/02 , G08G1/0962
CPC分类号： G06K9/00825 , G05D1/0212 , G08G1/09623
摘要： A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.

9. 发明公开

EP3168823A4 TRAFFIC SIGNAL DETECTION DEVICE AND TRAFFIC SIGNAL DETECTION METHOD 有权
公开(公告)号：EP3168823A4
公开(公告)日：2018-01-03
申请号：EP14896968
申请日：2014-07-08
申请人： NISSAN MOTOR
发明人： MATSUO HARUO , YAMANOI DAIKI , OKI TAKAHIKO
IPC分类号： G08G1/09 , G01C21/26 , G06K9/00 , G06T7/70
CPC分类号： G06K9/00825 , B60W30/18154 , B60Y2400/3015 , G01C21/26 , G05D1/0231 , G06K9/00798 , G06K9/00805 , G06T7/70 , G06T2207/10021 , G06T2207/30252
摘要： A traffic light detection device capable of properly selecting a traffic light for a detection target depending on an obstruction state of the traffic light is provided. A traffic light detection device (10) includes: an image capture unit (31) that is mounted on a vehicle and captures an image of surroundings; a vehicle location detection unit (11) that detects a location of the vehicle; a map information unit (12) that stores map information; a traffic light location estimation unit (13) that estimates a location of a traffic light around the vehicle with reference to the location of the vehicle and the map information, and sets a traffic light search area in which the traffic light is estimated to be present; a traffic light detection unit (32) that detects the traffic light by searching the traffic light search area on the image; and an obstruction estimation unit (22) that estimates whether a continuous obstruction state where a view of the traffic light is continuously obstructed occurs in the traffic light search area. When the obstruction estimation unit (22) estimates that a continuous obstruction state occurs, the traffic light location estimation unit (13) selects the traffic light search area based on the continuous obstruction state.

10. 发明公开

EP3094075A4 IN-VEHICLE-CAMERA IMAGE PROCESSING DEVICE 有权转让
标题翻译： BILDVERARBEITUNGSVORRICHTUNGFÜRBORDKAMERA EINES FAHRZEUGS
公开(公告)号：EP3094075A4
公开(公告)日：2017-09-27
申请号：EP14878010
申请日：2014-11-28
申请人： HITACHI AUTOMOTIVE SYSTEMS LTD
发明人： ICHIGE ATSUSHI
IPC分类号： H04N5/225 , B60R21/00 , G06K9/00 , H04N5/232 , H04N7/18 , H04N13/00 , H04N13/02 , H04N17/00
CPC分类号： H04N17/002 , B60R11/04 , G06K9/00798 , G06K9/00805 , G06K9/00818 , G06K9/00825 , H04N5/23229 , H04N7/181 , H04N13/0203 , H04N13/0239 , H04N2013/0096
摘要： The present invention inexpensively executes fault diagnosis in real time without obstructing an original image-processing function even while driving. To this end, this in-vehicle-camera image processing device has: one or more camera units (101) capable of selectively switching between a captured image and a test image and outputting the same; an image-processing unit (105) for subjecting a captured image outputted by the camera units (101) to image processing; and a fault diagnosis unit (106) for subjecting the camera units (101) to fault diagnosis, on the basis of the test image outputted by the camera units (101). In addition, the image-processing unit (105) determines whether or not a fault diagnosis is possible on the basis of the image-processing results, and when fault diagnosis is determined to be possible, outputs diagnosis instruction information to the fault diagnosis unit. The in-vehicle-camera image processing device is characterized in that upon receiving input of the diagnosis instruction information from the image-processing unit (105), the fault diagnosis unit (106) outputs, to the camera units (101), an image-selection-instruction signal for switching the image outputted by the camera units (101) from the captured image to the test image.
摘要翻译：本发明即使在驾驶时也不会妨碍原始的图像处理功能，所以可实时廉价地执行故障诊断。为此，该车载摄像机图像处理设备具有：一个或多个摄像机单元（101），其能够选择性地在捕捉图像和测试图像之间切换并输出; 图像处理单元（105），用于对由相机单元（101）输出的拍摄图像进行图像处理; 以及故障诊断单元（106），用于基于相机单元（101）输出的测试图像对相机单元（101）进行故障诊断。另外，图像处理单元（105）基于图像处理结果确定故障诊断是否可能，并且当故障诊断被确定为可能时，将诊断指示信息输出到故障诊断单元。车载摄像机图像处理装置的特征在于，故障诊断部106接受来自图像处理部105的诊断指示信息的输入后，向摄像机部101输出图像 - 选择指令信号，用于将摄像机单元（101）输出的图像从拍摄图像切换到测试图像。

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