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1. 发明授权

US10268902B2 Outside recognition system, vehicle and camera dirtiness detection method 有权
公开(公告)号：US10268902B2
公开(公告)日：2019-04-23
申请号：US15117777
申请日：2015-01-30
申请人： Clarion Co., Ltd.
发明人： Yasuhiro Akiyama , Katsuyuki Nakamura , Kota Irie
IPC分类号： G06K9/00 , H04N7/18 , G08G1/16 , B60R11/04
摘要： An outside recognition system configured to include a camera installed on a vehicle, to analyze an image from the camera, and to recognize surroundings of the vehicle based on an analysis result of the image from the camera comprises a dirtiness detection unit which determines, as at least one reference line, at least one line on a part of at least one object that does not change in the image from the camera even if the vehicle travels, determines an observation line that corresponds to each of the at least one reference line with the image from the camera, calculates an amount by which the observation line is displaced from each of the at least one reference line, and detects whether dirt adheres to the camera based on the amount of displacement.

2. 发明授权

US09811745B2 Approaching-object detection system and vehicle 有权
公开(公告)号：US09811745B2
公开(公告)日：2017-11-07
申请号：US14892961
申请日：2014-05-29
申请人： Clarion Co., Ltd.
发明人： Katsuyuki Nakamura , Yasuhiro Akiyama , Kota Irie
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20 , B60R1/00 , G06K9/36
CPC分类号： G06K9/00805 , B60R1/00 , B60R2300/30 , G06K9/00825 , G06K2009/363 , G06T2207/30261
摘要： An approaching-object detection system detects an approaching object based on images captured by an imaging device. The approaching-object detection system comprises an extraction unit, a distortion correction unit, an object detection unit, and an approaching-object classification unit. The extraction unit extracts a partial image of one far side and a partial image of the other far side from each of the images. The distortion correction unit corrects distortion of the partial images. The object detection unit detects an object from the corrected partial images through pattern matching with reference to preinstalled image information on the object. The approaching-object classification unit classifies the detection result of the object detection unit as an approaching object or not.

3. 发明授权

US09286519B2 White turbid state diagnostic apparatus 有权
标题翻译：白色浊状态诊断仪
公开(公告)号：US09286519B2
公开(公告)日：2016-03-15
申请号：US13928001
申请日：2013-06-26
申请人： CLARION CO., LTD.
发明人： Kota Irie , Shoji Muramatsu , Shunsuke Kondou , Masahiro Kiyohara
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06K9/00791 , G06T7/0002 , G06T2207/30252
摘要： A white turbid state diagnostic apparatus has an imaging part installed on a vehicle and configured to convert a light signal from a periphery of the vehicle into an image signal, a region detection part configured to detect a region from the image signal, the region being constituted by pixels having brightness values over a predetermined brightness and being in a substantially circular shape having a predetermined area or more, a brightness gradient calculation part configured to calculate a brightness gradient on a line which is directed from a predetermined position in a predetermined direction based on brightness values of pixels on the line in the region, and a white turbid level calculation part configured to calculate a white turbid level of the lens based on the brightness gradient.
摘要翻译：白色混浊状态诊断装置具有安装在车辆上的摄像部件，其被配置为将来自车辆周边的光信号转换成图像信号;区域检测部，被配置为从图像信号检测区域，构成的区域具有超过预定亮度的亮度值并且具有预定面积或更大的大致圆形形状的亮度梯度计算部分，被配置为基于基于预定方向的预定方向指定的线上的亮度梯度所述区域中的线上的像素的亮度值以及被配置为基于亮度梯度来计算透镜的白浊度水平的白浑浊度计算部。

4. 发明申请

US20150203076A1 LENS CLEANING APPARATUS 有权
标题翻译：镜头清洁装置
公开(公告)号：US20150203076A1
公开(公告)日：2015-07-23
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： B60S1/48 , B60S1/56 , H04N5/217 , B60S1/54
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.
摘要翻译：浊度计算单元基于图像I（x，y）的亮度梯度g计算透镜的表面上的白色浊度U的程度，并且透镜清洁控制单元至少设置用于喷射的透镜清洁模式基于所计算的浊度U，由透镜清洁单元执行清洁流体和压缩空气中的一个。

5. 发明授权

US10317671B2 Imaging device and waterdrop guiding member 有权
公开(公告)号：US10317671B2
公开(公告)日：2019-06-11
申请号：US15117488
申请日：2014-12-12
申请人： CLARION CO., LTD.
发明人： Kota Irie , Hayato Tsuchihashi
IPC分类号： B60R1/00 , G02B1/18 , B60R11/00 , B60R11/04 , B60R13/07 , G02B27/00 , G03B17/02 , G03B17/08
摘要： A technique for improving the visibility of images from an imaging device even in conditions such that waterdrops adhering on a surface of a lens is very small is provided. An imaging device 13 includes a camera 20 having a lens 23, in which a lens side hydrophilic layer 23a is applied on a surface of the lens 23, and being configured to be provided to a vehicle, and a waterdrop guiding part 21 which guides waterdrops that adhere on the vehicle to the lens 23.

6. 发明授权

US09813593B2 Outside recognition apparatus and lens dirtiness detection method 有权
公开(公告)号：US09813593B2
公开(公告)日：2017-11-07
申请号：US14906969
申请日：2014-06-05
申请人： Clarion Co., Ltd.
发明人： Yasuhiro Akiyama , Katsuyuki Nakamura , Kota Irie
IPC分类号： H04N5/217 , H04N5/232 , G06T7/42 , B60S1/08 , B60R11/04
CPC分类号： H04N5/217 , B60R11/04 , B60S1/0844 , G06T7/0004 , G06T7/42 , G06T2207/20048 , G06T2207/20056 , G06T2207/30168 , G06T2207/30248 , G06T2207/30252 , H04N5/23229
摘要： It is possible to consider an image as a composite wave that is the result of layering waves having differing periods and amplitudes. An image captured via a lens having a water droplet attached thereto has a higher occurrence of changes such as image blur than an image that does not have a water droplet attached thereto, which means that this type of change in an image results in changes in the composite wave thereof as well. Provided is a lens dirtiness detection device that suitably determines whether a lens is dirty without being affected by a background image by: focusing on the occurrence of large changes in the composite wave of an image that accompany an increase in the dirtiness of a camera lens; extracting each of the image frequency components that constitute the composite wave; and analyzing changes in the magnitude relation between the frequency components.

7. 发明授权

US09591274B2 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：US09591274B2
公开(公告)日：2017-03-07
申请号：US14410760
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： H04N7/18 , G06K9/00 , B60R1/00 , G06T7/00 , H04N5/232 , H04N5/217 , H04N101/00 , G06K9/20 , G06K9/46
CPC分类号： H04N7/188 , B60R1/00 , B60R2300/607 , B60R2300/8026 , G03B2217/005 , G06K9/00201 , G06K9/00805 , G06K9/2027 , G06K9/4604 , G06T7/12 , G06T7/136 , G06T2207/10028 , G06T2207/30261 , H04N5/217 , H04N5/232 , H04N2101/00
摘要： A three-dimensional object detection device has an image capturing unit, an object detection unit, first and second edge intensity calculation units, a day/night assessment unit and a controller. The day/night assessment unit assess whether it is currently daytime or nighttime when detecting a three-dimensional object based on the captured images. Upon assesses it is daytime, edges of a subject are extracted from a first edge extraction area, including a horizon reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges in the first edge extraction area. Upon assesses it is nighttime, the edges of a subject are extracted from a second edge extraction area, including a road edge reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges that are extracted from the second edge extraction area.
摘要翻译：三维物体检测装置具有图像拍摄单元，物体检测单元，第一和第二边缘强度计算单元，昼夜评估单元和控制器。白天/夜晚评估单元基于捕获的图像来评估当前是否检测到三维物体时是白天还是夜间。在评估为白天时，从包括水平参考区域的第一边缘提取区域提取对象的边缘，并且基于第一边缘提取中的边缘的强度来设置用于检测三维物体的阈值区。在评估为夜间时，从包括道路边缘参考区域的第二边缘提取区域提取被摄体的边缘，并且基于提取的边缘的强度来设置用于检测三维物体的阈值从第二边缘提取区域。

8. 发明授权

US09288381B2 In-vehicle image recognizer 有权
标题翻译：车载图像识别器
公开(公告)号：US09288381B2
公开(公告)日：2016-03-15
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： H04N7/12 , H04N11/02 , H04N11/04 , H04N5/232 , H04N5/217 , H04N5/357 , G06K9/00 , G06T7/00 , G06T7/20 , G08G1/16 , H04N5/225 , B60R1/00 , G02B27/00
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。

9. 发明申请

US20150220793A1 Image Processing Device 有权
标题翻译：图像处理装置
公开(公告)号：US20150220793A1
公开(公告)日：2015-08-06
申请号：US14417650
申请日：2013-07-22
申请人： Clarion Co., Ltd. , Nissan Motor Co., Ltd.
发明人： Masahiro Kiyohara , Katsuyuki Nakamura , Masayuki Takemura , Kota Irie , Yasuhisa Hayakawa , Osamu Fukata
IPC分类号： G06K9/00 , G06K9/46 , H04N5/225
CPC分类号： G06K9/00791 , G06K9/00805 , G06K9/4642 , G06K9/4661 , G08G1/166 , G08G1/167 , H04N5/2252 , H04N7/18 , H04N7/183
摘要： An image processing device includes: an image acquisition unit that obtains a photographic image of an area outside of a vehicle captured and output by a camera; a sun decision unit that calculates a sun position which indicates, at least, a solar elevation and makes a decision as to whether or not the solar elevation is equal to or lower than a predetermined elevation; an opacity detection unit that detects clouding of a lens surface of the camera; a vehicle detection unit that detects another vehicle, different from the vehicle, based upon image information of a first image area in the photographic image; and a control unit that suspends detection of the other vehicle by the vehicle detection unit if the opacity detection unit detects opacity in, at least, the first image area and the sun decision unit decides that the solar elevation is equal to or lower than the predetermined elevation.
摘要翻译：一种图像处理装置，包括：图像获取单元，其获得由相机捕捉并输出的车辆外部的区域的摄影图像; 计算太阳位置的太阳决定单元，该太阳位置至少表示太阳高度，并判定太阳高度是否等于或低于预定高度; 不透明度检测单元，其检测相机的透镜表面的混浊; 基于摄影图像中的第一图像区域的图像信息，检测与车辆不同的另一车辆的车辆检测单元; 以及控制单元，如果所述不透明度检测单元至少在所述第一图像区域中检测到不透明度，并且所述太阳判定单元判定所述太阳高度等于或低于所述预定海拔。

10. 发明授权

US10346694B2 Vehicle start support device 有权
公开(公告)号：US10346694B2
公开(公告)日：2019-07-09
申请号：US14916174
申请日：2014-07-16
申请人： Clarion Co., Ltd.
发明人： Kota Irie , Daisuke Fukuda , Kenji Kato , Shinya Tagawa
IPC分类号： G06K9/00 , H04N5/232 , B60R1/00 , H04N7/18 , G08G1/16 , H04N5/247
摘要： When a vehicle starts, a surrounding state is securely provided to a driver. When a vehicle operation detector detects that there is a possibility that a parked vehicle starts, a vehicle surrounding state recognizer recognizes a state of surrounding of the vehicle based on images imaged by a plurality of cameras imaging a plurality of different areas of the surrounding of the vehicle. A parking style determiner determines a parking style executed in parking at a position where the vehicle now parks based on a recognition result of the vehicle surrounding state recognizer. A monitoring area setter sets a monitoring area where a driver is required to pay attention when the vehicle is started based on a determination result of the parking style determiner. A vehicle surrounding state provider provides a driver with information provision in the monitoring area.

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