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1. 发明申请

US20200242937A1 APPARATUS AND METHOD FOR MONITORING SURROUNDINGS OF VEHICLE 审中-公开
公开(公告)号：US20200242937A1
公开(公告)日：2020-07-30
申请号：US16749097
申请日：2020-01-22
申请人： DENSO CORPORATION
发明人： Shogo OMIYA , Hirohiko YANAGAWA
IPC分类号： G08G1/16 , G08G1/056 , G08G1/04
摘要： In an apparatus for monitoring surroundings of a vehicle, a road surface recognizer recognizes from an image of surroundings of the vehicle captured by a camera, a road surface on which the vehicle can travel. A travel trajectory estimator estimates a travel trajectory from a current location of the vehicle based on a steering state of the vehicle. A travelable degree calculator calculates, based on the travel trajectory estimated by the travel trajectory estimator and a result of recognition of the road surface by the road surface recognizer, a travelable degree that is a degree to which the vehicle can travel on the road surface. A notifier provides a notification of the travelable degree calculated by the travelable degree calculator.

2. 发明申请

US20200019797A1 OBSTACLE DETECTION APPARATUS 审中-公开
公开(公告)号：US20200019797A1
公开(公告)日：2020-01-16
申请号：US16584137
申请日：2019-09-26
申请人： DENSO CORPORATION
发明人： Mitsuyasu MATSUURA , Hideki OTSUKA , Hirohiko YANAGAWA
IPC分类号： G06K9/00 , G01S15/93 , G01S15/06
摘要： An obstacle detection apparatus includes a distance measuring sensor, an imaging section, and a control section. Based on a reception result of reception waves obtained by the distance measuring sensor, the control section acquires an estimated reflection position in an illuminated region already irradiated with search waves. Based on the estimated reflection position, the control section recognizes an outer shape of an obstacle. Based on an imaging result obtained by the imaging section, the control section performs image recognition of the obstacle. Based on a recognition result of the outer shape of the obstacle and a result of the image recognition, the control section acquires a relative position, with respect to a vehicle, of a portion of the obstacle in an image captured by the imaging section included in a non-irradiated region ahead of the illuminated region in a vehicle traveling direction.

3. 发明申请

US20200210722A1 PERIMETER MONITORING DEVICE AND PERIMETER MONITORING METHOD 审中-公开
公开(公告)号：US20200210722A1
公开(公告)日：2020-07-02
申请号：US16328465
申请日：2017-08-03
申请人： DENSO CORPORATION
发明人： Yu MAEDA , Taketo HARADA , Mitsuyasu MATSUURA , Hirohiko YANAGAWA
IPC分类号： G06K9/00 , G06K9/20 , G06K9/32 , G01B11/02
摘要： A perimeter monitoring device is applied to a vehicle comprising a distance measuring sensor for transmitting a probing wave and receiving a reflected wave of the probing wave and an imaging device for capturing an image of the surroundings of the vehicle. The perimeter monitoring device comprises: an information acquisition unit for acquiring distance information, directional information, and object width information of an object existing in the vicinity of the vehicle as detection information of the object provided by the distance measuring sensor; an area setting unit for setting an image processing area on which image processing is performed in the image captured by the imaging device based on the distance information, the directional information, and the object width information acquired by the information acquisition unit; and an object recognition unit for performing the image processing on the image processing area set by the area setting unit to recognize the object.

4. 发明申请

US20190291722A1 PARKING ASSISTANCE DEVICE AND PARKING ASSISTANCE METHOD 审中-公开
公开(公告)号：US20190291722A1
公开(公告)日：2019-09-26
申请号：US16305230
申请日：2017-05-25
申请人： DENSO CORPORATION
发明人： Yu MAEDA , Taketo HARADA , Mitsuyasu MATSUURA , Hirohiko YANAGAWA
IPC分类号： B60W30/06 , B60W10/20 , B60W10/18 , B60W10/04 , G06K9/00 , G08G1/16
摘要： A parking assistance device is applied to a vehicle equipped with a camera for capturing an image of an area in front of the vehicle and is configured to assist forward parking of the vehicle in a parking space. The parking assistance device includes: a position estimation unit which, in a situation where the vehicle is advancing toward the parking space in a lateral passage of the parking space, estimates, based on an image captured by the camera, at least one of a first corner position, which is a near-side corner position at a vehicle entrance part of the parking space, and a second corner position, which is a far-side corner position at the vehicle entrance part, before the vehicle passes by the parking space; and a space recognition unit which recognizes the parking space for forward parking based on the at least one estimated corner position.

5. 发明申请

US20190303691A1 PARKING ASSISTING APPARATUS AND CONTROL UNIT 审中-公开
公开(公告)号：US20190303691A1
公开(公告)日：2019-10-03
申请号：US16442799
申请日：2019-06-17
申请人： DENSO CORPORATION
发明人： Yu MAEDA , Mitsuyasu MATSUURA , Hirohiko YANAGAWA , Hideki OTSUKA
IPC分类号： G06K9/00 , H04N5/247
摘要： A parking assisting apparatus includes an imaging unit acquiring image information corresponding to an image of surroundings of a vehicle, an image processing section recognizing a feature shape in the image by processing the image information, an obstacle detecting section acquiring positional-relationship information corresponding to a positional relationship between the vehicle and an obstacle present around a parking space, and a manner-of-parking selecting section selecting a manner of parking the vehicle in the parking space from manner candidates including perpendicular parking and parallel parking based on the feature shape and the positional-relationship information. The manner-of-parking selecting section selects the manner of parking from the manner candidates by integrating a likelihood of each of the manner candidates based on the positional-relationship information with a likelihood of the manner candidate based on a recognition result to calculate final likelihoods of the respective manner candidates, and by comparing the calculated final likelihoods.

6. 发明申请

US20190276030A1 OBJECT DETECTION APPARATUS 审中-公开
公开(公告)号：US20190276030A1
公开(公告)日：2019-09-12
申请号：US16345026
申请日：2017-10-10
申请人： DENSO CORPORATION
发明人： Yu MAEDA , Hirohiko YANAGAWA , Mitsuyasu MATSUURA
IPC分类号： B60W40/04 , G06K9/00 , G01S15/93 , G01S7/539 , B60W30/095 , G01S7/53 , G01S7/292 , G01S15/66
摘要： An object detection apparatus is provided with a distance measurement sensor that measures a distance to an object which exists in a surrounding area of a vehicle, by transmitting scanning waves to the surrounding of the vehicle and receiving reflection waves of the scanning waves, and an image acquiring section that is adopted to the vehicle, and is provided with an on-vehicle camera that captures images in the surrounding of the vehicle, the imaging acquiring section acquiring an image that is captured by the camera. The apparatus includes a determination section that determines whether, a predetermined object that is difficult to detect by the reflection waves of the distance measurement sensor is included in the object image, and a sensitivity control section that increases a sensitivity of the object detection by the distance measurement sensor and a vehicle control that is executed relative to the predetermined object as a target object.

7. 发明申请

US20150319370A1 ONBOARD IMAGE GENERATOR 审中-公开
标题翻译： ONBOARD图像发生器
公开(公告)号：US20150319370A1
公开(公告)日：2015-11-05
申请号：US14438978
申请日：2013-09-02
申请人： DENSO CORPORATION
发明人： Bingchen WANG , Hirohiko YANAGAWA
IPC分类号： H04N5/247 , B60R1/00 , H04N5/262
CPC分类号： H04N5/247 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/60 , H04N5/2624 , H04N5/2628 , H04N7/18
摘要： An onboard image generator is provided. The onboard image generator includes a first camera capturing an image in front of or behind a vehicle, and a second camera and a third camera capturing images on right and left sides of the vehicle, respectively. Based on the images captured by the second and third cameras, a first viewpoint converter generates a set of symmetrical viewpoint conversion images shaped viewed toward the front or rear of the vehicle from a pair of parallel virtual viewpoints. Based on the image captured by the first camera, a center image generator generates a center image. A combined image generator generates a combined image by arranging the center image in a center of and arranging the set of viewpoint conversion images besides the center image.
摘要翻译：提供了一个板载图像生成器。车载图像发生器包括分别在车辆前方或后方拍摄图像的第一相机，以及分别在车辆的右侧和左侧拍摄图像的第二相机和第三相机。基于由第二摄像机和第三摄像机拍摄的图像，第一视点转换器从一对平行的虚拟视点产生一组对称的视点转换图像，其形状从车辆的前方或后方观察。基于由第一相机拍摄的图像，中心图像生成器生成中心图像。组合图像发生器通过将中心图像布置在中心图像的中心并且布置除了中心图像之外的视点转换图像集合来生成组合图像。

8. 发明申请

US20210321049A1 IMAGE GENERATION APPARATUS AND IMAGE DISPLAY SYSTEM 有权
公开(公告)号：US20210321049A1
公开(公告)日：2021-10-14
申请号：US17357745
申请日：2021-06-24
申请人： DENSO CORPORATION
发明人： Shingo IMURA , Hirohiko YANAGAWA , Woocheol SHIN
IPC分类号： H04N5/262 , G06K9/00 , G06T15/60 , G06T7/20 , H04N7/18 , G06T7/70 , H04N5/272 , B60R1/00
摘要： In an image generation apparatus, an image acquisition unit is configured to acquire, from at least one camera operable to capture an image of surroundings of a vehicle, a captured image. A bird's-eye view image generation unit is configured to generate a bird's-eye view image from the captured image. A three-dimensional object recognition unit is configured to recognize a three-dimensional object in the captured image. A superimposition-image acquisition unit is configured to acquire a superimposition image that represents the three-dimensional object recognized by the three-dimensional object recognition unit, by performing a process depending on a type of the three-dimensional object recognized by the three-dimensional object recognition unit. A superimposition unit is configured to superimpose, onto the bird's-eye view image, the superimposition image acquired by the superimposition-image acquisition unit, at a position where the three-dimensional object is present in the bird's-eye view image.

9. 发明申请

US20210306590A1 DISPLAY CONTROL APPARATUS 有权
公开(公告)号：US20210306590A1
公开(公告)日：2021-09-30
申请号：US17346662
申请日：2021-06-14
申请人： DENSO CORPORATION
发明人： Yu MAEDA , Taketo HARADA , Mitsuyasu MATSUURA , Hirohiko YANAGAWA , Muneaki MATSUMOTO
IPC分类号： H04N5/445 , B60R1/00 , H04N7/18 , G06T1/00 , G06T7/13 , G06K9/00 , H04N5/262 , H04N5/272
摘要： An image processing unit identifies the shape of an obstacle that is identified from an area that appears in a peripheral image based on an image captured by a camera. The shape of the obstacle includes at least a tilt of a section of the obstacle in a road-surface direction. The section of the obstacle faces a vehicle. The image processing unit generates a superimposed image in which a mark image that is generated as a pattern that indicates the identified obstacle is superimposed onto a position that corresponds to the obstacle in the peripheral image. At this time, the image processing unit variably changes properties of the mark image based on the tilt of the obstacle identified by an obstacle identifying unit. The image processing unit then displays the generated superimposed image on display apparatus.

10. 发明申请

US20200249347A1 OBJECT DETECTION DEVICE 审中-公开
公开(公告)号：US20200249347A1
公开(公告)日：2020-08-06
申请号：US16854023
申请日：2020-04-21
申请人： DENSO CORPORATION
发明人： Yohei SUZUKI , Mitsuyasu MATSUURA , Taketo HARADA , Hirohiko YANAGAWA
IPC分类号： G01S15/46 , G01S15/86 , G01V1/00 , G01S15/931 , G06T7/73 , G06K9/00
摘要： In an object detection device to be installed to a vehicle and detect an object outside the vehicle, a position calculator sets multiple candidate points representing a candidate position of the object, based on positions of feature points extracted from a first image captured at a first time. The multiple candidate points are set to be denser within a detection range set based on a distance to the object detected by the ultrasonic sensor than outside the detection range. The position calculator estimates positions of the multiple candidate points at a second time which is after the first time, based on the positions of the multiple candidate points and movement information of the vehicle, and calculates the position of the object by comparing the estimated positions of the multiple candidate points at the second time and the positions of the feature points extracted from a second image captured at the second time.

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