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21. 发明授权

US09715633B2 Vehicle-mounted image processing device 有权
公开(公告)号：US09715633B2
公开(公告)日：2017-07-25
申请号：US14647398
申请日：2013-11-27
申请人： Clarion Co., Ltd.
发明人： Takehito Ogata , Masahiro Kiyohara , Satoshi Suzuki , Shoji Muramatsu
IPC分类号： G06K9/00 , B60R1/00 , G08G1/16 , H04N7/18
CPC分类号： G06K9/00812 , B60R1/00 , G06K9/00362 , G06K9/00805 , G08G1/166 , G08G1/167 , G08G1/168 , H04N7/18
摘要： Provided is a vehicle-mounted image processing device capable of recognizing the outside of a vehicle based on an image taken by a vehicle-mounted camera more precisely. A vehicle-mounted image processing device of the present invention includes: an image acquisition unit (12) that acquires through-images (21) to (24) taken by cameras (1) to (4) disposed on front, rear and sides of a vehicle (10); a bird's eye view image generation unit (13) that converts the acquired through images (21) to (24) to generate a bird's eye view image (25); a parking line recognition unit (15) that performs parking line recognition processing to recognize a parking line WL based on at least one of the through-images (21) to (24) and the bird's eye view image (25). The parking line recognition unit (15) performs first parking line recognition processing (S111) based on the bird's eye view image (25) to recognize a parking line WL in a predetermined range of the bird's eye view image (25), and second parking line recognition processing (S112) based on the through-images (21) to (24) to recognize a parking line WL in an area that is far away from the predetermined range of the bird's eye view image (25).

22. 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.

23. 发明授权

US09734581B2 On-vehicle control device 有权
公开(公告)号：US09734581B2
公开(公告)日：2017-08-15
申请号：US14647294
申请日：2013-11-21
申请人： Clarion Co., Ltd.
发明人： Shoji Muramatsu , Akira Utagawa , Takehito Ogata , Satoshi Suzuki
IPC分类号： G06T7/00 , B62D15/02 , G06T7/70 , G06K9/00
CPC分类号： G06T7/70 , B62D15/0275 , G06T2207/30256
摘要： An on-vehicle control device includes: an image acquiring unit that acquires an image from an image-capturing device that captures the image of surroundings of a vehicle; an overhead view image generating unit that generates an overhead view image from the image acquired by the image acquiring unit, the overhead view image being a plan view of the surroundings of the vehicle seen from above the vehicle; a white line recognizing unit that recognizes possible white lines on a road surface in the overhead view image; a white line information saving unit that saves information including positional information of the possible white lines recognized by the white line recognizing unit; a white line position predicting unit that predicts a position of a possible white line to be reached, based on information about a previous possible white line saved by the white line information saving unit and vehicle behavior information; and a white line judging unit that excludes, among the possible white lines recognized by the white line recognizing unit, a possible white line that extends in a radial direction from the image-capturing device in the overhead view image and satisfies a predetermined condition.

24. 发明授权

US09224051B2 Lens-attached matter detector for determining presence or absence of attached matter, lens-attached matter detection method executed by the same, and vehicle system having the same 有权
标题翻译：用于确定附着物质的存在或不存在的透镜附着物质检测器，由其执行的透镜附着物检测方法，以及具有该附属物质的车辆系统
公开(公告)号：US09224051B2
公开(公告)日：2015-12-29
申请号：US13932787
申请日：2013-07-01
申请人： CLARION CO., LTD.
发明人： Kota Irie , Shoji Muramatsu , Kenji Kato , Masahiro Kiyohara
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06K9/00791 , G06T7/0002 , G06T2207/20021 , G06T2207/30252
摘要： A lens-attached matter detector includes an edge extractor configured to create an edge image based on an input image, divide the edge image into a plurality of areas including a plurality of pixels, and extract an area whose edge intensity is a threshold range as an attention area, a brightness distribution extractor configured to obtain a brightness value of the attention area and a brightness value of a circumference area, a brightness change extractor configured to obtain the brightness value of the attention area and the brightness value of the circumference area for a predetermined time interval, and obtain a time series variation in the brightness value of the attention area based on the brightness value of the attention area, and an attached matter determiner configured to determine the presence or absence of attached matter based on the time series variation in the brightness value of the attention area.
摘要翻译：透镜附着物检测器包括：边缘提取器，被配置为基于输入图像创建边缘图像，将边缘图像划分为包括多个像素的多个区域，并将其边缘强度为阈值范围的区域提取为注意区域，被配置为获得关注区域的亮度值和周围区域的亮度值的亮度分布提取器，被配置为获得关注区域的亮度值和周围区域的亮度值的亮度改变提取器，并且基于关注区域的亮度值获得关注区域的亮度值的时间序列变化，以及附着物确定器，被配置为基于时间序列变化来确定附着物的存在或不存在注意区域的亮度值。

25. 发明申请

US20150172582A1 Vehicle Surroundings Monitoring Device 有权
标题翻译：车辆环境监控装置
公开(公告)号：US20150172582A1
公开(公告)日：2015-06-18
申请号：US14411768
申请日：2013-06-28
申请人： Clarion Co., Ltd.
发明人： Masahiro Kiyohara , Shoji Muramatsu , Masayuki Takemura , Kota Irie
IPC分类号： H04N5/372 , B60R11/04 , G02B13/00
CPC分类号： H04N5/37213 , B60R11/04 , B60S1/0848 , B60S1/56 , G02B13/0015 , G06K9/00791 , G08G1/16 , H04N5/2171 , H04N5/225 , H04N5/372
摘要： A vehicle surroundings monitoring device includes: a captured image acquisition unit that acquires an image of surroundings of a vehicle by an image capturing unit mounted on the vehicle; an attachment detection unit that decides a state in which foreign matter adheres to a lens of the image capturing unit; a state decision unit that decides that the lens is in a lens state in which performance of image recognition is reduced in case that the attachment detection unit decides that the foreign matter adheres to the lens; a lens state recording unit that records the lens state in a recording unit upon termination of a system; and a lens state read-out unit that reads out the lens state recorded in the recording unit upon start of the system.
摘要翻译：车辆周边监视装置包括：拍摄图像获取单元，其通过安装在车辆上的图像捕获单元获取车辆周围环境的图像; 附着检测单元，其判定异物粘附到图像拍摄单元的透镜的状态; 状态判定单元，其判定所述透镜处于其中在附着检测单元判定所述异物粘附到所述透镜的情况下减少图像识别性能的透镜状态; 透镜状态记录单元，其在系统终止时记录在记录单元中的透镜状态; 以及透镜状态读出单元，其在系统启动时读出记录在记录单元中的透镜状态。

26. 发明授权

US09616856B2 Lens cleaning apparatus 有权
公开(公告)号：US09616856B2
公开(公告)日：2017-04-11
申请号：US14417772
申请日：2013-07-19
申请人： Clarion Co., Ltd.
发明人： Kota Irie , Shoji Muramatsu , Masayuki Takemura , Yasuhisa Hayakawa , Osamu Fukata , Akira Utagawa
IPC分类号： B60S1/54 , B60S1/56 , G06T7/174 , B60S1/08 , B60S1/48 , H04N5/217 , B60S1/52
CPC分类号： B60S1/56 , B60S1/0848 , B60S1/481 , B60S1/52 , B60S1/54 , G06T7/174 , H04N5/2171
摘要： A turbidity degree calculating unit calculates a degree of the white turbidity U on a surface of the lens based on a brightness gradient g of an image I (x, y), and a lens cleaning control unit sets a lens cleaning mode for spraying at least one of the cleaning fluid and the compressed air, which is performed by the lens cleaning unit, based on the calculated turbidity degree U.

27. 发明授权

US09473718B2 Vehicle surroundings monitoring device 有权
标题翻译：车辆环境监控装置
公开(公告)号：US09473718B2
公开(公告)日：2016-10-18
申请号：US14411768
申请日：2013-06-28
申请人： Clarion Co., Ltd.
发明人： Masahiro Kiyohara , Shoji Muramatsu , Masayuki Takemura , Kota Irie
IPC分类号： H04N5/372 , H04N5/225 , H04N5/217 , G06K9/00 , B60R11/04 , G02B13/00 , B60S1/56 , B60S1/08 , G08G1/16
CPC分类号： H04N5/37213 , B60R11/04 , B60S1/0848 , B60S1/56 , G02B13/0015 , G06K9/00791 , G08G1/16 , H04N5/2171 , H04N5/225 , H04N5/372
摘要： A vehicle surroundings monitoring device includes: a captured image acquisition unit that acquires an image of surroundings of a vehicle by an image capturing unit mounted on the vehicle; an attachment detection unit that decides a state in which foreign matter adheres to a lens of the image capturing unit; a state decision unit that decides that the lens is in a lens state in which performance of image recognition is reduced in case that the attachment detection unit decides that the foreign matter adheres to the lens; a lens state recording unit that records the lens state in a recording unit upon termination of a system; and a lens state read-out unit that reads out the lens state recorded in the recording unit upon start of the system.
摘要翻译：车辆周边监视装置包括：拍摄图像获取单元，其通过安装在车辆上的图像捕获单元获取车辆周围环境的图像; 附着检测单元，其判定异物粘附到图像拍摄单元的透镜的状态; 状态判定单元，其判定所述透镜处于其中在附着检测单元判定所述异物粘附到所述透镜的情况下减少图像识别性能的透镜状态; 透镜状态记录单元，其在系统终止时记录在记录单元中的透镜状态; 以及透镜状态读出单元，其在系统启动时读出记录在记录单元中的透镜状态。

28. 发明授权

US09467687B2 Vehicle-mounted environment recognition device 有权
标题翻译：车载环境识别装置
公开(公告)号：US09467687B2
公开(公告)日：2016-10-11
申请号：US14410392
申请日：2013-06-28
申请人： CLARION CO., LTD.
发明人： Masayuki Takemura , Shoji Muramatsu , Masahiro Kiyohara , Akira Utagawa
IPC分类号： H04N17/00 , H04N5/225 , G06K9/20 , G06K9/00 , G08G1/16
CPC分类号： H04N17/002 , G06K9/00791 , G06K9/00993 , G06K9/20 , G08G1/16 , H04N5/225
摘要： A vehicle-mounted environment recognition device includes an imaging unit that acquires an image taken by an imaging device; an image self-diagnosis unit that diagnoses contamination of a lens of the imaging device with respect to the image acquired by the imaging unit; an application execution unit that executes an application selected from a predetermined application group; and a fail determination unit that determines, on the basis of a diagnosis result from the image self-diagnosis unit, whether the lens contamination state is in an endurance range of the application and, if within the endurance range, sets the operation of the application executed by the application execution unit to a suppression mode. If outside the endurance range, contamination removal control is implemented, or a fail determination is made for the application. Contamination removal and fail determination can be implemented utilizing parameter adjustment and hardware, or an image-based self-diagnosis can be conducted.
摘要翻译：车载环境识别装置包括获取由成像装置拍摄的图像的成像单元; 图像自诊断单元，其相对于由所述摄像单元获取的图像诊断所述摄像装置的透镜的污染; 执行从预定应用组中选择的应用的应用执行单元; 以及失败确定单元，其基于来自图像自诊断单元的诊断结果确定镜片污染状态是否处于应用的耐久范围内，并且如果在耐久范围内设置应用的操作由应用执行单元执行到抑制模式。如果在耐久范围之外，执行污染物去除控制，或者对应用进行故障判定。可以利用参数调整和硬件实现污染去除和故障确定，或者可以进行基于图像的自我诊断。

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