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1. 发明申请

US20210019877A1 IN-VEHICLE STEREO CAMERA 有权
公开(公告)号：US20210019877A1
公开(公告)日：2021-01-21
申请号：US16975461
申请日：2019-03-11
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Shouji MURAMATSU , Takeshi SHIMA , Makoto KUDO
IPC分类号： G06T7/00 , G06T7/73
摘要： Provided is an in-vehicle stereo camera which enables the continuation of automated driving if failures occur during imaging. A pair of captured images 301, 302, which is captured by a pair of imaging units so that both contain an overlapping region, are acquired (S201), it is determined whether an abnormal region is present in at least one of the pair of captured images, and if an abnormal region is present, the degree of impact from the abnormal region on an object recognition process of an object recognition unit is diagnosed (S202), and the processing content of the object recognition process is updated according to the degree of impact (S203).

2. 发明申请

US20170217394A1 Object Recognition Device and Vehicle Control System 审中-公开
公开(公告)号：US20170217394A1
公开(公告)日：2017-08-03
申请号：US15501015
申请日：2015-08-07
申请人： Hitachi Automotive Systems, Ltd.
发明人： Takeshi SHIMA , Takuma OSATO , Masayuki TAKEMURA , Yuuji OTSUKA
IPC分类号： B60R21/0134 , B60K31/00 , G01S13/93 , B60W30/09 , G05D1/02
CPC分类号： B60R21/0134 , B60K31/0008 , B60R16/0231 , B60R21/00 , B60T7/22 , B60W30/09 , B60W2420/42 , B60W2420/62 , G01S13/931 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G05D1/0246 , G06K9/00369 , G06K9/00805 , G06T1/00 , G08G1/16
摘要： The present invention addresses the problem of attaining an object recognition device that can change control of a vehicle in accordance with the reliability of detection of a target object. The object recognition device according to the present invention recognizes a target object around a vehicle and includes: a distance-information-based target object determination unit 106 that determines whether or not an object 303 is a target object by using distance information from the vehicle 301 to the object 303; an image-information-based target object determination unit 107 that determines whether or not the object 303 is a target object by using image information obtained by capturing an image of the object 303 from the vehicle 301; and a target object detection reliability calculation unit 108 that calculates the reliability of detection of a target object by using the distance information and the image information.

3. 发明申请

US20160189330A1 Image Processing Device and Image Processing System 审中-公开
标题翻译：图像处理设备和图像处理系统
公开(公告)号：US20160189330A1
公开(公告)日：2016-06-30
申请号：US14910902
申请日：2014-05-26
申请人： Hitachi Automotive Systems, Ltd.
发明人： Haruki MATONO , Yuji OTSUKA , Atsushi ICHIGE , Yoshiyuki MUTO , Takeshi SHIMA
IPC分类号： G06T1/20 , G06T1/60 , G06F13/24
CPC分类号： G06T1/20 , G06F13/24 , G06T1/60 , G06T2200/28 , H04N13/239 , H04N13/296
摘要： The present invention provides CPU load reduction and a method of efficient image data transfer. An image processing device, which comprises an image generating unit (203) which further comprises a plurality of processing units which process a plurality of instances of image information and in where the image generating unit (203) transfers accumulated data for each interrupt factor, comprises: data transfer units for each factor (208-212) which accept the interrupts from the image generating unit (203) for each interrupt factor and transfer the data for each interrupt factor, and notifies a CPU (207) of the interrupt when the transfer of the data to be transferred for each interrupt factor is completed; and a communication line (1) which is connected to the image generating unit (203) and the data transfer units for each factor (208-212).
摘要翻译：本发明提供了CPU负载减少和有效的图像数据传送的方法。一种图像处理装置，包括图像生成单元，其还包括处理图像信息的多个实例的多个处理单元，以及图像生成单元（203）为每个中断因子传送累积数据的处理单元，包括：每个因素（208-212）的数据传送单元，其接收来自图像生成单元（203）的每个中断因子的中断，并且传送每个中断因子的数据，并且当转移时向CPU（207）通知中断的每个中断因子要传输的数据完成; 以及连接到图像生成单元（203）的数据传送单元（208-212）的通信线路（1）。

4. 发明申请

US20150339825A1 Stereo Camera Apparatus 审中-公开
标题翻译：立体相机
公开(公告)号：US20150339825A1
公开(公告)日：2015-11-26
申请号：US14692276
申请日：2015-04-21
申请人： Hitachi Automotive Systems, Ltd.
发明人： Shoji MURAMATSU , Mirai HIGUCHI , Tatsuhiko MONJI , Soichiro YOKOTA , Morihiko SAKANO , Takeshi SHIMA
IPC分类号： G06T7/00 , G08G1/16 , G01C3/06
CPC分类号： G06T7/0075 , G01C3/06 , G06K9/00805 , G06T7/593 , G06T2207/10012 , G06T2207/20012 , G06T2207/30261 , G08G1/166
摘要： A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.
摘要翻译：提供了一种立体相机装置，其通过根据距离物体的距离使得测量距离分辨率可变地稳定地且高精度地进行距离测量。立体相机装置1取两个图像，改变被摄取的每个图像的部分区域的分辨率，并且基于部分区域的部分区域的差异来计算从车辆到在该部分区域中成像的对象的距离其中分辨率改变的每个图像。因此，即使当物体长距离存在并且尺寸小时，也能够稳定地进行距离测量处理。

5. 发明申请

US20200349366A1 ONBOARD ENVIRONMENT RECOGNITION DEVICE 审中-公开
公开(公告)号：US20200349366A1
公开(公告)日：2020-11-05
申请号：US16764959
申请日：2018-12-04
申请人： Hitachi Automotive Systems, Ltd.
发明人： Masayuki TAKEMURA , Shouji MURAMATSU , Felipe GOMEZCABALLERO , Takeshi SHIMA
IPC分类号： G06K9/00 , H04N13/239 , H04N13/286 , G06T7/593 , G06T5/00 , G06T7/20 , G06T7/70 , B60Q9/00
摘要： The purpose of the present invention is to provide an onboard environment recognition device exhibiting high accuracy of measurement in a wider range of view fields. The present invention pertains to an onboard environment recognition device (1) that utilizes two cameras (100, 110) for sensing, wherein the onboard environment recognition device (1) is characterized in that: two camera view fields include a stereo-vision area and a monocular-vision area; and the device laterally searches for parallax images that are output results of the stereo-vision area, estimates a road surface distance in the stereo-vision area, and measures the distance of the monocular-vision area by using the estimated road surface distance after extending the same to the monocular-vision area in the lateral direction.

6. 发明申请

US20200284580A1 Imaging Device 审中-公开
公开(公告)号：US20200284580A1
公开(公告)日：2020-09-10
申请号：US16066274
申请日：2017-01-10
申请人： Hitachi Automotive Systems, Ltd.
发明人： Manabu SASAMOTO , Takeshi SHIMA , Shinichi NONAKA
IPC分类号： G01C3/14 , G06T7/593 , G01C3/06 , G06K9/00
摘要： The purpose of the present invention is to provide an imaging device whereby enhanced sensing precision and reduced computational load can both be achieved at the same time even when a plurality of objects as sensing subjects are present. In order to achieve this purpose, the present invention has: a first object detection processing unit having a plurality of imaging units, the first object detection processing unit performing first object detection processing for sensing, by stereo processing, a distance for each of a plurality of image elements in partial region of interest in an image acquired by the imaging units, then extracting a group of the image elements on the basis of the sensed distances and detecting an object; and a second object detection processing unit for performing second object detection processing for detecting the distance of the object by stereo processing for a partial region of another region of interest in the image.

7. 发明申请

US20170300764A1 Travel Route Recognition Device, and Travel Assistance System Using Same 审中-公开
公开(公告)号：US20170300764A1
公开(公告)日：2017-10-19
申请号：US15518108
申请日：2015-12-16
申请人： Hitachi Automotive Systems, Ltd.
发明人： Shinji KAKEGAWA , Takashi TSUTSUI , Haruki MATONO , Masayuki TAKEMURA , Takeshi SHIMA
IPC分类号： G06K9/00 , G06K9/20 , G01C21/36
CPC分类号： G06K9/00798 , G01C21/3602 , G06K9/209 , G06K9/6288 , G06T1/00 , G06T7/60
摘要： Provided are a travel route recognition device and a travel assistance system using the same, which are capable of precisely recognizing the positions of white lines and road boundaries even if, for example, there is a decrease in the accuracy of the detection of both white lines and road boundaries on the travel route. The direction of the travel route is estimated on the basis of the direction of a linear site included in an image obtained by imaging units, and the direction of the boundaries of a surface region included in a distance image comprising three-dimensional distance information generated on the basis of the images obtained by the imaging units or on the basis of distance information detected by the distance detection unit.

8. 发明申请

US20180357772A1 SURROUNDING ENVIRONMENT RECOGNITION DEVICE FOR MOVING BODY 审中-公开
公开(公告)号：US20180357772A1
公开(公告)日：2018-12-13
申请号：US16061207
申请日：2017-01-12
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Masayuki TAKEMURA , Takeshi SHIMA , Takeshi NAGASAKI
IPC分类号： G06T7/20 , G08G1/16 , B60R1/00
摘要： The purpose of the present invention is to provide a surrounding environment recognition device such that even in a situation where a certain moving three-dimensional object is apparently overlapped with another three-dimensional object, early detection of the certain moving three-dimensional object is enabled. To this end, a surrounding environment recognition device for a moving body is equipped with: imaging units for photographing multiple images in a time series; a three-dimensional object detection unit for detecting three-dimensional objects on the basis of distances of the objects from the imaging units; a vector detection unit for tracking feature points within predetermined areas of the multiple images containing the three-dimensional objects, thereby detecting motion vectors of the feature points; and a moving three-dimensional object detection unit for detecting three-dimensional objects which are present in the areas on the basis of detection results of the vector detection unit.

9. 发明申请

US20170039434A1 External-Environment-Recognizing Apparatus 审中-公开
标题翻译：外部环境识别装置
公开(公告)号：US20170039434A1
公开(公告)日：2017-02-09
申请号：US15303228
申请日：2015-03-25
申请人： Hitachi Automotive Systems, Ltd.
发明人： Takeshi SHIMA , Toshiyuki AOKI , Haruki MATONO , Tatsuhiko MONJI , Rikiya KASHIMURA , Yasuto ARAKAKI
IPC分类号： G06K9/00 , H04N7/18 , G05D1/02 , G06T1/20 , B60W30/09 , B60W50/14 , H04N13/02 , G06K9/62
CPC分类号： G06K9/00791 , B60W30/09 , B60W50/14 , B60W2050/143 , B60W2050/146 , G05D1/0251 , G06K9/6267 , G06T1/00 , G06T1/20 , G06T2200/16 , G08G1/16 , H04N7/18 , H04N7/181 , H04N13/239
摘要： The objective of the present invention is to obtain an external environment-recognizing apparatus with which it is possible to obtain detection results having a necessary accuracy when a plurality of target objects from a captured image are detected. This external-environment-recognizing apparatus has: a plurality of processing units for processing an image; a recognition application-storing unit for storing, by object type, a plurality of recognition applications for recognizing an object by processing using at least one processing unit among the plurality of processing units; an external-information-acquiring unit for acquiring external information that includes at least external environmental information or vehicle behavior information; and a selecting unit for selecting at least one recognition application from the recognition-application-storing unit, and for selecting, on the basis of the external information, a processing unit among the plurality of processing units for processing the selected recognition application.
摘要翻译：本发明的目的是获得一种外部环境识别装置，当检测到来自拍摄图像的多个目标对象时，可以获得具有必要精度的检测结果的外部环境识别装置。该外部环境识别装置具有：用于处理图像的多个处理单元; 识别应用存储单元，用于通过对象类型存储用于通过使用所述多个处理单元中的至少一个处理单元进行处理来识别对象的多个识别应用; 外部信息获取单元，用于获取至少包括外部环境信息或车辆行为信息的外部信息; 以及选择单元，用于从所述识别应用存储单元中选择至少一个识别应用，并且用于根据所述外部信息选择所述多个处理单元中的处理所选择的识别应用的处理单元。

10. 发明申请

US20180137375A1 ONBOARD ENVIRONMENT RECOGNITION DEVICE 审中-公开
公开(公告)号：US20180137375A1
公开(公告)日：2018-05-17
申请号：US15574374
申请日：2016-07-01
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Masayuki TAKEMURA , Takeshi NAGASAKI , Felipe GOMEZCABALLERO , Takeshi SHIMA
IPC分类号： G06K9/00 , B60R11/04 , B60Q1/04 , H04N5/235
摘要： An onboard environment recognition device is obtained with which it is possible to improve recognition performance within the headlight illumination range and outside the headlight illumination range of a vehicle with an onboard camera. This onboard environment recognition device has: an imaging unit 100 for imaging, using a camera installed in the vehicle, at a wider-angle range than the headlight illumination range; an in-illumination/out-of-illumination exposure adjustment unit for setting appropriate exposure conditions separately within the headlight illumination range and outside the headlight illumination range; and a recognition unit 500 for recognizing images on the basis of the acquired images. Therefore, it is possible to maintain high recognition performance in the boundary regions of the headlight illumination range, and outside the range, and the present invention can also be used for wide-angle sensing at night.

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