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1. 发明专利

JP2013061934A Lane recognition device 有权
标题翻译： LANE识别装置
公开(公告)号：JP2013061934A
公开(公告)日：2013-04-04
申请号：JP2012176065
申请日：2012-08-08
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： TAKEDA FUMINORI , TAKAHAMA MIGAKU
IPC分类号： G06T7/60 , G06T1/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To recognize a lane even when the lane is not reflected on a picked-up image.SOLUTION: A lane recognition device 10 includes: a lane sign detection section 31 for individually setting first image processing areas on the respective right side and left side in a picked-up image of an own vehicle traveling path to detect a lane sign; a lane sign position estimation section 33 for estimating a lane sign position on one side of the right side and the left side in the detected picked-up image on the basis of the lane sign on the other side and a lane width in the picked-up image; a wide area lane sign detection section 34 including the first image processing areas in the picked-up image of the own vehicle traveling path and setting a second image processing area wider than the first image processing area to detect the lane sign; a detection result collation section 35 for matching the detection result of the lane sign by the wide area lane sign detection section 34 with each of the detection result of the lane sign by the lane sign detection section 31 and the estimated result of the lane sign position by the lane sign position estimation section 33; and a lane recognition state determination section 36 for recognizing the lane on the basis of the matching result by the detection result collation section 35.
摘要翻译：要解决的问题：即使当车道未在拾取的图像上反射时也识别车道。车道识别装置10包括：车道标志检测部31，用于在本车辆行驶路径的拾取图像中分别设置在相应的右侧和左侧的第一图像处理区域，以检测车道标志 ; 车道标志位置估计部分33，用于基于另一侧的车道标志来估计检测到的拍摄图像中的右侧和左侧的车道标志位置，形象; 广域通道标志检测部34，其包括本车行驶路径的拍摄图像中的第一图像处理区域，并设定比第一图像处理区域宽的第二图像处理区域，以检测车道标志; 检测结果对照部35，用于将广域通道标志检测部34的车道标志的检测结果与车道标志检测部31的车道标志的检测结果以及车道标志位置的估计结果进行匹配通过车道号位置估计部33; 以及车道识别状态判定部36，用于根据检测结果对照部分35的匹配结果识别车道。（C）版权所有：（C）2013，JPO＆INPIT

2. 发明专利

JP2010191661A Traveling path recognition device, automobile, and traveling path recognition method 审中-公开
标题翻译：行驶路径识别装置，汽车和旅行路径识别方法
公开(公告)号：JP2010191661A
公开(公告)日：2010-09-02
申请号：JP2009035041
申请日：2009-02-18
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： TAKEDA FUMINORI , TAKAHAMA MIGAKU
IPC分类号： G08G1/16 , B60W30/00 , B60W40/06 , B60W40/072 , B60W40/076 , G06T1/00 , G06T7/60
摘要： PROBLEM TO BE SOLVED: To provide a traveling path recognition device, an automobile, and a traveling path recognition method for highly precisely obtaining a curvature. SOLUTION: A lane marker candidate point detection part 22 detects a plurality of coordinate values of lane marker candidate points from an picked-up image picked up by a CCD camera 10. A traveling path estimation part 23 estimates the road parameter and vehicle state amounts of a road model on the basis of the coordinate values of the lane marker candidate points, and obtains an approximate line for tracing a lane marker. A reference point calculation part 24 calculates a reference point to be used for curvature calculation on the basis of the obtained approximate line. Then, a curvature calculation part 25 recalculates curvature on the basis of the reference point and the road model. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供用于高精度地获得曲率的行进路径识别装置，汽车和行驶路径识别方法。车道标记候补点检测部22从由CCD摄像机10拾取的拍摄图像中检测车道标记候选点的多个坐标值。行驶路径估计部23估计道路参数和车辆根据车道标记候补点的坐标值，判定道路模型的状态量，得到跟踪车道标记的近似线。参考点计算部24基于所获得的近似线计算用于曲率计算的基准点。然后，曲率计算部25基于基准点和道路模型重新计算曲率。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2009208676A Vehicle surrounding environment detector 有权
标题翻译：车辆环境环境检测器
公开(公告)号：JP2009208676A
公开(公告)日：2009-09-17
申请号：JP2008055002
申请日：2008-03-05
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： TAKAHAMA MIGAKU , TAKEDA FUMINORI , IWASAKI HIDEKI
IPC分类号： B60R21/00 , G01S17/42
摘要： PROBLEM TO BE SOLVED: To provide a vehicle surrounding environment detecto discriminating the attribute of an object with a high accuracy by using a radar.
SOLUTION: A vehicle is provided with: a laser radar 1 for detecting an object around the vehicle by receiving the reflected signal of the laser beam; and an external recognition device 5 having the motion detection function for detecting the motion of the object detected by the laser radar 1, the reception state detection function for detecting the light-receiving state in the laser radar 1, and a likelihood calculating function for calculating the likelihood that the object detected by the laser radar 1 is a person based on the motion of the detected object and the light-receiving state.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过使用雷达来提供围绕环境检测的车辆以高精度来辨别物体的属性。解决方案：车辆设置有：激光雷达1，用于通过接收激光束的反射信号来检测车辆周围的物体; 以及具有用于检测由激光雷达1检测到的物体的运动的运动检测功能的外部识别装置5，用于检测激光雷达1中的光接收状态的接收状态检测功能，以及用于计算激光雷达1的光接收状态的似然计算功能由激光雷达1检测到的物体是基于被检测物体的运动和光接收状态的人的可能性。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2004150912A Outside recognition device for vehicle 有权
公开(公告)号：JP2004150912A
公开(公告)日：2004-05-27
申请号：JP2002315353
申请日：2002-10-30
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： TAKAHAMA MIGAKU , KIMURA TAKESHI , NAITOU MOTOHIRA
IPC分类号： B60R21/00 , B60T7/12 , G01S17/93
摘要： PROBLEM TO BE SOLVED: To preclude a relative speed from being calculated erroneously, and to preclude an obstacle from being judged erroneously, even when a step difference is generated in detection positions of bodies existing in the vicinity of left and right ends in a radar view field. SOLUTION: This vehicular outside recognition device provided with a scanning type range finding means for detecting the bodies in a periphery of own vehicle to output a position of the own vehicle relative to the each detected body, and a relative speed calculating means for calculating the speed of the own vehicle relative to the each detected body, based on an output from the scanning type range finding means, is provided with a range-finding condition grasping means for grasping a range finding condition of the each body based on the output from the scanning type range finding means, and a relative speed computation changing means for changing computation for the relative speed calculating means in response to an output from the range-finding condition grasping means. COPYRIGHT: (C)2004,JPO

5. 发明专利

JP2004086714A Vehicle deceleration control device 审中-公开
公开(公告)号：JP2004086714A
公开(公告)日：2004-03-18
申请号：JP2002248933
申请日：2002-08-28
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： KIMURA TAKESHI , TAKAHAMA MIGAKU , SUZUKI TATSUYA , NAITOU MOTOHIRA
IPC分类号： B60R21/00 , B60K31/00 , B60T7/12 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/184 , F02D29/02 , G08G1/16 , B60K41/00 , B60K41/20
摘要： PROBLEM TO BE SOLVED: To provide a vehicle deceleration control device capable of controlling the deceleration of a vehicle in good time. SOLUTION: When a plurality of objects exist in a route of a vehicle concerned, inter-vehicle time THW from each object and contact time TTC with each object are respectively calculated (step S6), an object having the shortest inter-vehicle time THW and an object having the shortest contact time TTC are respectively selected (steps S7, S11), the required deceleration Fc of the vehicle for the selected objects is calculated (step S9 or step S10 and step S13 or step S14), and the object requiring larger deceleration Fc is selected as a target for which the vehicle should be decelerated. COPYRIGHT: (C)2004,JPO

6. 发明专利

JP2015020584A 車両用レーン認識装置审中-公开
标题翻译：车辆识别装置
公开(公告)号：JP2015020584A
公开(公告)日：2015-02-02
申请号：JP2013150015
申请日：2013-07-19
申请人：日産自動車株式会社 , Nissan Motor Co Ltd
发明人： TAKAHAMA MIGAKU , TAKEDA FUMINORI
IPC分类号： B60R21/00 , B62D6/00 , G08G1/16
摘要：【課題】ドライバに与える違和感および不安感を軽減できる車両用レーン認識装置を提供する。【解決手段】レーン検出結果の不適切程度が大きいと判定された場合にはレーンキープサポートシステム、車線逸脱警報システム、車線逸脱防止支援システムおよびブラインドスポットインターベンションを全て禁止し、不適切程度が小さいと判定された場合にはレーンキープサポートシステムのみを禁止し車線逸脱警報システム、車線逸脱防止支援システムおよびブラインドスポットインターベンションを許可する。【選択図】図1
摘要翻译：要解决的问题：提供一种能够减轻驾驶者不协调和焦虑的车辆车道识别装置。解决方案：当确定车道检测结果的不正确程度大时，所有车道保持支撑系统禁止车道偏离报警系统，车道偏离预防支援系统和盲点干预，当判定不合格小时，只能禁止车道保持支撑系统，车道偏离报警系统，车道偏差预防系统和盲点干预是允许的。

7. 发明专利

JP2011043907A Lane recognition device and lane recognition method 有权
标题翻译： LANE识别装置和LANE识别方法
公开(公告)号：JP2011043907A
公开(公告)日：2011-03-03
申请号：JP2009190235
申请日：2009-08-19
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： TAKEDA FUMINORI , TAKAHAMA MIGAKU
IPC分类号： G06T7/60 , G06T1/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To improve the reliability of a control system for handling a recognition result of a travel lane.
SOLUTION: First, this lane recognition device decides whether or not a candidate point of a lane marker is clearly falsely detected, and performs the reset processing of initializing a road model (step S105) when the false detection of the candidate point is clear (the decision in step S104 is "Yes"). The lane recognition device decides whether or not there is continuity in a detection result of the candidate point when the false detection of the candidate point is unclear (the decision in the step S104 is "No"), and stops the update of the road model, that is, deletes a this-time value of a road parameter and performs the lost processing of holding a preceding value (step S107) because there is a possibility of being temporarily affected by disturbance when it is decided that there is not the continuity in the detection result of the candidate point (the decision in any of steps S106, 109, 110 is "Yes").
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提高用于处理旅行车道识别结果的控制系统的可靠性。解决方案：首先，该车道识别装置判定是否明确地错误地检测到车道标记的候补点，并且当候选点的错误检测是（2）的情况下，执行初始化道路模型的复位处理（步骤S105）清除（步骤S104中的判定为“是”）。当候选点的错误检测不清楚（步骤S104中的判定为“否”）时，车道识别装置判定候选点的检测结果是否存在连续性，并且停止更新道路模型也就是说，删除道路参数的这个时间值，并执行保持前一个值的丢失处理（步骤S107），因为当确定不存在连续性时，可能暂时受到干扰的影响候选点的检测结果（步骤S106,109,110中的任一个的判定为“是”）。版权所有（C）2011，JPO＆INPIT

8. 发明专利

JP2010211283A Lane recognition device and method 有权
标题翻译： LANE识别装置和方法
公开(公告)号：JP2010211283A
公开(公告)日：2010-09-24
申请号：JP2009053652
申请日：2009-03-06
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： TAKAHAMA MIGAKU , TAKEDA FUMINORI
IPC分类号： G06T7/60 , B60R21/00 , G06T1/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a lane recognition device for detecting a lane with high precision for supporting a driving operation. SOLUTION: The lane recognition device includes a visibility obtaining part 14 for obtaining the visibility of a marker for lane recognition set on a traveling path based on a pickup image picked up by an image pickup part 11 which picks up a traveling path; and a road shape calculation part 13 for setting an image processing region for the pickup image at a remote side from the vehicle when the visibility grasped by the visibility obtaining part 14 is high. In the post-stage, the lane is recognized by using an image (road shape) included in the image processing region set by an image region setting part 12. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于检测用于支持驾驶操作的高精度的车道的车道识别装置。车道识别装置包括可视性获取部分14，用于基于拾取行进路径的图像拾取部分11拍摄的拾取图像获得设置在行进路径上的车道识别标记的可视性; 以及道路形状计算部13，用于当由可见度获取部14掌握的视觉度高时，将用于远离车辆的拍摄图像的图像处理区域设定为高。在后期，通过使用由图像区域设定部分12设定的图像处理区域中包含的图像（道路形状）识别通道。（C）2010，JPO＆INPIT

9. 发明专利

JP2010191780A Surrounding object detector, surrounding object detection method, and motor vehicle 有权
标题翻译：环绕对象检测器，周边物体检测方法和电动车
公开(公告)号：JP2010191780A
公开(公告)日：2010-09-02
申请号：JP2009036607
申请日：2009-02-19
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： KAWAMATA SHOTA , TAKAHAMA MIGAKU
IPC分类号： G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a surrounding object detector capable of outputting more suitable information to a behavior control device, and a surrounding object detection method. SOLUTION: The surrounding object detector detects an object area showing an area where the object exists around a self-vehicle. It also calculates coordinates information of the object area with the self-vehicle as the origin. Then, it groups a plurality of object areas satisfying a preset grouping condition as one object area on the basis of the coordinates information, and corrects the coordinates information. Further, it outputs information based on the corrected object area information. COPYRIGHT: (C)2010,JPO&INPIT

10. 发明专利

JP2009037542A Adjacent vehicle detection apparatus and adjacent vehicle detection method 有权
标题翻译：相邻车辆检测装置和相邻车辆检测方法
公开(公告)号：JP2009037542A
公开(公告)日：2009-02-19
申请号：JP2007203230
申请日：2007-08-03
申请人： Nissan Motor Co Ltd , 日産自動車株式会社
发明人： TAKEDA FUMINORI , TAKAHAMA MIGAKU
IPC分类号： G06T1/00 , B60R1/00 , B60R21/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a new adjacent vehicle detection apparatus which can surely detect an adjacent vehicle running on the side of its own vehicle and persistently track the adjacent vehicle, and an adjacent vehicle detection method. SOLUTION: The position of the adjacent vehicle is recognized by a head lamp detection method, a template is generated from image information around the vehicle lamp of the recognized adjacent vehicle and the adjacent vehicle is tracked by a template matching method using the generated template. Then, the relative position of the adjacent vehicle to the vehicle itself is specified on the basis of either one or both of positional information of the adjacent vehicle recognized by the head lamp detection method and the positional information of the adjacent vehicle tracked by the template matching method. Consequently, the adjacent vehicle running on the side of the vehicle itself can be surely detected and persistently tracked. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种新的相邻车辆检测装置，其可以可靠地检测在其自身车辆侧行驶的相邻车辆并且持续地跟踪相邻的车辆以及相邻的车辆检测方法。解决方案：通过头灯检测方法识别相邻车辆的位置，通过识别的相邻车辆的车辆灯的周围的图像信息生成模板，并且通过使用所生成的车辆灯的模板匹配方法跟踪相邻车辆模板。然后，基于由前灯检测方法识别的相邻车辆的位置信息和通过模板匹配跟踪的相邻车辆的位置信息中的一个或两个来指定相邻车辆对车辆本身的相对位置方法。因此，可以可靠地检测并持续跟踪在车辆本身侧行驶的相邻车辆。版权所有（C）2009，JPO＆INPIT

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