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    • 8. 发明申请
    • Vehicle environment recognition apparatus and preceding-vehicle follow-up control system
    • 车辆环境识别装置和前车后续控制系统
    • US20090243823A1
    • 2009-10-01
    • US12382826
    • 2009-03-24
    • Yasushi Takahashi
    • Yasushi Takahashi
    • B60Q1/00H04N13/02G06K9/00
    • G06K9/00805H04N13/239H04N13/246
    • A vehicle environment recognition apparatus includes stereo-image taking means for outputting a reference image of the surroundings of a subject vehicle, stereo matching means for correlating a parallax with each pixel block in the reference image by stereo matching, preceding-vehicle detecting means for detecting a preceding vehicle from the reference image on the basis of the parallax or the like, and smear determining means for searching a pixel column vertically extending in the reference image for brightnesses of pixels, the pixel column including a pixel block having a parallax less than or equal to a long-distance parallax threshold value corresponding to the long distance including infinity, and determining that a smear occurs when a ratio of the number of pixels having brightnesses more than or equal to a predetermined brightness to the total number of pixels in the pixel column is more than or equal to a predetermined ratio.
    • 车辆环境识别装置包括立体图像摄取装置,用于输出本车辆的周围环境的参考图像,用于通过立体匹配将视差与参考图像中的每个像素块相关联的立体匹配装置,用于检测的前车检测装置 基于视差等的参考图像的前车,以及用于搜索在参考图像中垂直延伸的像素列用于像素亮度的拖尾确定装置,该像素列包括具有小于或等于视差的视差的像素块, 等于与包括无穷远的长距离相对应的长距离视差阈值,并且当具有大于或等于预定亮度的亮度的像素的数量与像素中的像素总数的比率时,确定拖尾发生 列大于或等于预定比例。