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11. 发明授权

US09956941B2 On-board device controlling accumulation removing units 有权
公开(公告)号：US09956941B2
公开(公告)日：2018-05-01
申请号：US14409689
申请日：2013-07-03
申请人： Clarion Co., Ltd. , Nissan Motor Co., Ltd.
发明人： Masahiro Kiyohara , Kota Irie , Katsuyuki Nakamura , Shoji Muramatsu , Masayuki Takemura , Osamu Fukata , Yasuhisa Hayakawa
IPC分类号： B60S1/08 , B60R1/00 , H04N5/217 , H04N5/225 , G08G1/16 , B05B12/08
CPC分类号： B60S1/0848 , B05B12/08 , B60R1/00 , B60S1/0844 , B60S1/56 , G08G1/166 , G08G1/167 , H04N5/2171 , H04N5/2252
摘要： An on-board device, that outputs a control signal to a cleaning control unit that controls accumulation removing units used to remove accumulations settled on a photographic lens in an on-board camera by adopting a plurality of methods, includes: an accumulation detection unit that detects an accumulation settled on the photographic lens from a photographic image output from the on-board camera when a vehicle speed input thereto is equal to or higher than a predetermined vehicle speed; a selection unit that selects an accumulation removing unit adopting a first method among the accumulation removing units adopting the plurality of methods; and a removal decision unit that makes a decision, based upon the photographic image, as to whether or not the accumulation has been removed from the photographic lens through a removal operation performed by the accumulation removing unit adopting the first method, which has been selected by the selection unit, wherein: if the removal decision unit decides that the accumulation has not been removed from the photographic lens, the selection unit selects an accumulation removing unit adopting a second method, different from the accumulation removing unit adopting the first method, based upon a number of times that the removal operation has been performed by engaging the accumulation removing unit adopting the first method.

12. 发明授权

US09811742B2 Vehicle-surroundings recognition device 有权
公开(公告)号：US09811742B2
公开(公告)日：2017-11-07
申请号：US15107143
申请日：2014-11-14
申请人： Clarion Co., Ltd.
发明人： Takehito Ogata , Masahiro Kiyohara , Kota Irie , Masao Sakata , Yoshitaka Uchida
IPC分类号： G06K9/00 , G08G1/16 , G06T7/70 , G06T7/50
CPC分类号： G06K9/00791 , G06K9/00362 , G06K9/00805 , G06T7/20 , G06T7/50 , G06T7/70 , G06T2207/30196 , G06T2207/30261 , G08G1/166
摘要： Provided is a vehicle surroundings recognition apparatus capable of enhancing a calculation accuracy of a relative position and a relative speed with respect to an object such as a pedestrian even in a case where the object cannot be detected accurately in some of the images obtained by performing image-capturing around a vehicle, for example. In a case where a first state in which a first detection unit and a second detection unit detect first position information and second position information about an object and a second state in which only a second detection unit detects second position information about the object occur in a time sequence, first position information interpolation information for interpolating the first position information about the object in the second state is calculated on the basis of the first position information and the second position information in the first state and the second position information in the second state, and a relative distance and a relative speed to the object are measured on the basis of the first position information and the first position information interpolation information.

13. 发明授权

US09773177B2 Surrounding environment recognition device 有权
公开(公告)号：US09773177B2
公开(公告)日：2017-09-26
申请号：US15035812
申请日：2014-10-15
申请人： Clarion Co., Ltd.
发明人： Masayuki Takemura , Masahiro Kiyohara , Kota Irie , Masao Sakata , Yoshitaka Uchida
IPC分类号： G06K9/00 , H04N5/217 , B60R1/00 , G08G1/16 , H04N7/18
CPC分类号： G06K9/00805 , B60R1/00 , B60R2300/305 , B60R2300/307 , B60R2300/8093 , G06K9/00791 , G06K9/00798 , G08G1/16 , H04N5/2171 , H04N7/18
摘要： A surrounding environment recognition device includes: an image acquisition unit that obtains a photographic image from a camera for capturing, via a camera lens, an image of a surrounding environment around a mobile object; an image recognition unit that recognizes an object image of an object present in the surrounding environment based upon the photographic image obtained by the image acquisition unit; an accumulation detection unit that detects accumulation settled on the camera lens based upon the photographic image obtained by the image acquisition unit; a suspension decision-making unit that makes a decision, based upon detection results provided by the accumulation detection unit, whether or not to suspend operation of the image recognition unit; a tracking unit that detects a characteristic quantity in a tracking target image from a specific area in an image captured by the image acquisition unit for a reference frame, determines through calculation an estimated area where the characteristic quantity should be detected in an image captured by the image acquisition unit for a later frame relative to the reference frame and makes a decision as to whether or not the characteristic quantity for the tracking target image is also present in the estimated area; and a resumption decision-making unit that makes a decision, based upon at least decision-making results provided by the tracking unit and indicating whether or not the characteristic quantity for the tracking target image is present, as to whether or not to resume the operation of the image recognition unit currently in a suspended state.

14. 发明授权

US09726883B2 Three-dimensional object detection device and foreign matter detection device 有权
公开(公告)号：US09726883B2
公开(公告)日：2017-08-08
申请号：US14410580
申请日：2013-07-12
申请人： Nissan Motor Co., Ltd. , Clarion Co., Ltd.
发明人： Osamu Fukata , Yasuhisa Hayakawa , Masayuki Takemura , Akira Utagawa , Masahiro Kiyohara , Shoji Muramatsu , Kota Irie
IPC分类号： G06K9/40 , H04N7/18 , G06K9/00 , G02B27/00 , G06T1/00 , H04N5/225 , H04N5/217 , H04N1/409 , G08G1/16 , G06T7/73 , G06T7/254
CPC分类号： G02B27/0006 , G06K9/00825 , G06T1/0007 , G06T7/254 , G06T7/73 , G06T2207/10016 , G06T2207/20224 , G06T2207/30261 , G08G1/166 , G08G1/167 , H04N1/4097 , H04N5/2171 , H04N5/225 , H04N7/18
摘要： A three-dimensional object detection has an image capturing device, an image conversion unit, a three-dimensional object detection unit, a three-dimensional object assessment unit, first and second foreign matter detection units and a controller. The image capturing device captures images rearward of a vehicle. The three-dimensional object detection unit detects three-dimensional objects based on image information. The three-dimensional object assessment unit assesses whether or not a detected three-dimensional object is another vehicle. The foreign matter detection units detect whether or not foreign matter has adhered to a lens based on the change over time in luminance values for each predetermined pixel of the image capturing element and the change over time in the difference between an evaluation value and a reference value. The controller outputs control commands to the other means to suppress the assessment of foreign matter as another vehicle when foreign matter has been detected.

15. 发明授权

US09558546B2 Three-dimensional object detection device, and three-dimensional object detection method 有权
标题翻译：三维物体检测装置和三维物体检测方法
公开(公告)号：US09558546B2
公开(公告)日：2017-01-31
申请号：US14410730
申请日：2013-07-26
申请人： Nissan Motor Co., Ltd. , Clarion Co., Ltd.
发明人： Yasuhisa Hayakawa , Osamu Fukata , Masayuki Takemura , Akira Utagawa , Shoji Muramatsu , Kota Irie
IPC分类号： H04N9/80 , H04N5/76 , H04N9/70 , H04N5/92 , H04N5/93 , G06T7/00 , G06T17/00 , G06K9/00 , H04N7/18 , H04N9/797 , H04N9/835 , H04N9/07 , H04N1/407
CPC分类号： G06T7/0008 , G06K9/00201 , G06K9/00771 , G06K9/00805 , G06T7/12 , G06T7/136 , G06T17/00 , G06T2200/04 , G06T2207/10004 , G06T2207/10152 , G06T2207/20224 , G06T2207/30232 , G06T2207/30252 , G06T2207/30261 , H04N7/183
摘要： A three-dimensional object detection device has an image capturing unit, an object detection unit, a nighttime assessment unit, a luminance detection unit, a luminance peak detection unit and a controller. The image capturing unit captures images rearward of a vehicle. The object detection unit detects a presence of an object from the captured images. The nighttime assessment unit assesses if nighttime has fallen. The luminance detection unit detects a luminance of image areas from the captured image. The luminance peak detection unit detects a peak in the luminance having a luminance gradient that is greater than or equal to a predetermined reference value from among the detected peaks in the luminance as a target luminance peak. The controller controls detection of the object in an image area in which the target luminance peak is detected when an assessment has been made that nighttime has fallen by the nighttime assessment unit.
摘要翻译：三维物体检测装置具有图像拍摄单元，对象检测单元，夜间评估单元，亮度检测单元，亮度峰值检测单元和控制器。图像拍摄单元捕获车辆后方的图像。物体检测单元从捕获的图像检测物体的存在。夜间评估组评估夜间是否下降。亮度检测单元从拍摄图像检测图像区域的亮度。亮度峰值检测单元从作为目标亮度峰值的亮度的检测峰值中检测具有大于或等于预定参考值的亮度梯度的亮度的峰值。当夜间已经被夜间评估单元下降时，控制器控制在检测到目标亮度峰值的图像区域中的物体的检测。

16. 发明申请

US20150201120A1 IN-VEHICLE IMAGE RECOGNIZER 有权
标题翻译：车内图像识别器
公开(公告)号：US20150201120A1
公开(公告)日：2015-07-16
申请号：US14416851
申请日：2013-07-19
申请人： CLARION CO., LTD. , NISSAN MOTOR CO., LTD.
发明人： Kota Irie , Masayuki Takemura , Shoji Muramatsu , Yasuhisa Hayakawa , Osamu Fukata , Masahiro Kiyohara , Akira Utagawa
IPC分类号： H04N5/232 , B60R1/00 , G02B27/00 , G06K9/00
CPC分类号： H04N5/23212 , B60R1/002 , G02B27/0006 , G06K9/00798 , G06K9/00825 , G06T7/254 , G06T7/73 , G06T2207/10016 , G06T2207/20224 , G06T2207/30261 , G08G1/16 , G08G1/166 , G08G1/167 , H04N5/2171 , H04N5/225 , H04N5/232 , H04N5/3572
摘要： An in-vehicle image recognizer effectively detects a moving object from an image even when a lens has grime. In a detection sensitivity adjustor (50) which adjusts detection sensitivity to be increased according to a white turbidity level (U), the detection sensitivity of a vehicle detector (70) (image recognition application execution unit), which detects the other vehicle (6) (moving object) existing in the surrounding area of a vehicle (5) with a predetermined detection sensitivity from the image obtained by an imaging unit (10) disposed in the vehicle (5) to observe the surrounding area of the vehicle (5) through a lens (12) and convert the light signal of the observed surrounding area of the vehicle (5) into an image signal, is corrected based on the attachment level M of the attached matter such as dirt or water drops to the lens (12), which is calculated by an attachment level calculator (26).
摘要翻译：车内图像识别器即使当镜头具有污垢时也能有效地检测来自图像的运动物体。在根据白浊度（U）调整检测灵敏度增加的检测灵敏度调节器（50）中，检测其他车辆（6）的车辆检测器（70）（图像识别应用程序执行单元）的检测灵敏度（5）的摄像单元（10）所获得的图像中以预定的检测灵敏度存在于车辆（5）的周围区域中的（移动物体），以观察车辆（5）的周围区域，通过透镜（12）并将车辆（5）的观察周围区域的光信号转换为图像信号，基于所附着物体的附着水平M（例如灰尘或水滴）被校正到透镜（12）），其由附件水平计算器（26）计算。

17. 发明申请

US20150169967A1 STATE RECOGNITION SYSTEM AND STATE RECOGNITION METHOD 有权
标题翻译：状态识别系统和状态识别方法
公开(公告)号：US20150169967A1
公开(公告)日：2015-06-18
申请号：US14412385
申请日：2013-07-03
申请人： CLARION CO., LTD. , NISSAN MOTOR CO., LTD.
发明人： Katsuyuki Nakamura , Kota Irie , Masahiro Kiyohara , Osamu Fukata , Yasuhisa Hayakawa
IPC分类号： G06K9/00 , G06K9/03
CPC分类号： G06K9/00798 , G06K9/03 , H04N7/18
摘要： It is provided a state recognition system configured to recognize a state of a traveling road on which a vehicle travels, the state recognition system being configured to: select a substance adhered on a lens of a camera mounted on the vehicle in an image captured by the camera; and determine whether the traveling road is on-road or off-road by determining a type and an amount of the selected adhered substance.
摘要翻译：提供了一种被配置为识别车辆行驶的行驶道路的状态的状态识别系统，所述状态识别系统被配置为：在由所述车辆行驶的图像拍摄的图像中选择附着在安装在车辆上的照相机的镜头上的物质相机; 并且通过确定所选择的粘附物质的类型和量来确定行驶道路是否在道路或越野。

18. 发明授权

US10096124B2 Water droplet detection device, and three-dimensional object detection device using water droplet detection device 有权
公开(公告)号：US10096124B2
公开(公告)日：2018-10-09
申请号：US14410585
申请日：2013-07-24
申请人： Nissan Motor Co., Ltd. , Clarion Co., Ltd.
发明人： Yasuhisa Hayakawa , Osamu Fukata , Masayuki Takemura , Akira Utagawa , Shoji Muramatsu , Kota Irie
IPC分类号： G06T7/20 , B60S1/08 , G06T7/42 , G06T7/00 , H04N7/18 , B60S1/56 , H04N5/359 , G08G1/16 , G06T7/73 , G06T7/174 , G06T7/254 , G06K9/00
摘要： A water droplet detection device has an image capturing unit and a water droplet detection unit. The image capturing unit has a photographic optical system that an area captures an image of a predetermined area. The water droplet detection unit sets an arbitrary attention point in the captured image, a plurality of first reference points inside an imaginary circle of a predetermined radius having the attention point as a center the imaginary circle, and a plurality of second reference points corresponding to the first reference points outside the imaginary circle. The water droplet detection unit detects edge information between the first reference points and second reference points, and assesses a circularity strength of the edge information to detect a water droplet attached to the photographic optical system. The water droplet detection device can be used with an image conversion unit to form a three-dimensional object detection device.

19. 发明授权

US10095934B2 In-vehicle device 有权
公开(公告)号：US10095934B2
公开(公告)日：2018-10-09
申请号：US14904997
申请日：2014-06-13
申请人： CLARION CO., LTD.
发明人： Masayuki Takemura , Masahiro Kiyohara , Shoji Muramatsu , Kota Irie , Yasuhiro Akiyama
IPC分类号： H04N5/00 , G06K9/00 , H04N5/225 , B60R11/04
摘要： An in-vehicle device includes: an image acquisition unit that obtains a captured image from a camera that captures, via a camera lens, an image of a surrounding environment around a vehicle; an accumulation detection unit that individually detects a plurality of types of accumulation settled at the camera lens based upon the captured image; an image recognition unit that recognizes an object image, expressing a specific object present in the surrounding environment, in the captured image; a detection results integrating unit that calculates integrated detection results by integrating a plurality of sets of detection results based upon various sets of detection results pertaining to detection of the plurality of types of accumulation provided by the accumulation detection unit; and an operation control unit that controls operation executed by the image recognition unit based upon the integrated detection results.

20. 发明授权

US09804386B2 Camera device, three-dimensional object detection device, and lens cleaning method 有权
公开(公告)号：US09804386B2
公开(公告)日：2017-10-31
申请号：US14416650
申请日：2013-07-26
申请人： Nissan Motor Co., Ltd. , Clarion Co., Ltd.
发明人： Yasuhisa Hayakawa , Osamu Fukata , Masayuki Takemura , Masahiro Kiyohara , Shoji Muramatsu , Kota Irie
IPC分类号： B60S1/48 , G02B27/00 , B60S1/56 , H04N5/217 , G06K9/00 , G06T7/00 , G03B17/02 , G03B17/08 , B60S1/08
CPC分类号： G02B27/0006 , B60S1/0848 , B60S1/56 , G03B17/02 , G03B17/08 , G06K9/00791 , G06K9/00805 , G06T7/0002 , H04N5/2171
摘要： A camera device includes image capturing device, a lens cleaning device, an adhesion state assessment unit and a controller. The image capturing device is installed on a vehicle and has a lens for forming an image of the vehicle surroundings. The lens cleaning device cleans the lens by spraying a cleaning fluid on the lens in accordance with a predetermined lens cleaning step, in which at least a supply time for supplying cleaning fluid to the lens surface is predetermined. The adhesion state assessment unit is programmed to assess an adhesion state of contamination from a distribution of pixels corresponding to foreign matter adhered to the lens based on a captured image. The controller is programmed to extend the time until a time to start supplying the cleaning fluid in the lens cleaning step as the number of pixels corresponding to foreign matter adhered to the lens increases.

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