Nissan Motor Company Limited

Daiki Yamanoi

Haruo Matsuo

Akira Suzuki

Hiroshi Satoh

Takahiko Oki

Hidekazu Nishiuchi

Toshiyuki Andou

A traffic light recognition device includes: a camera that captures an image around a vehicle; a map information acquisition unit configured to acquire map information around the vehicle; a self-position detector configured to detect the position of a self-position on a map; a traffic light position estimator configured to estimate the position on an image of a traffic light on the basis of the self-position and the map information; a vehicle behavior estimator configured to estimate a vehicle behavior; a traffic light detection area calculator configured to set a detection area of the traffic light onto the image based on the estimated position on the image of the traffic light and an amount of displacement of the position on the image of the traffic light due to a behavior of the vehicle; and a traffic light recognition unit configured to detect a traffic light from the detection area.

Traffic light recognition device and traffic light recognition method

A traffic light recognition device includes: an imaging attitude setting unit configured to set an imaging direction of the camera on the basis of a position on the image of the traffic light and of a moving direction in the future on the image of the traffic light; a camera attitude controller configured to change the imaging direction of the camera to an imaging direction set by an imaging direction setting unit; and a traffic light recognition unit configured to recognize the traffic light from an image captured in the imaging direction by the camera. The traffic light recognition device is capable of accurately detecting the lighting state of a traffic light without being affected by the attitude of a camera.

A traffic signal detection device includes a narrow-angle camera, a wide-angle camera having an angle of view wider than the narrow-angle camera, and a traffic signal detector configured to detect a traffic signal from at least any of a narrow-angle image captured by the narrow-angle camera and a wide-angle image captured by the wide-angle camera. The traffic signal detector selects, as a detection result, any of a traffic signal detected from the narrow-angle image and a traffic signal detected from the wide-angle image, on the basis of a deceleration start region in which a vehicle should start deceleration, the deceleration start region calculated from a position of a traffic signal with respect to the vehicle and a speed of the vehicle in order to stop the vehicle at a stop position with respect to the traffic signal.

Traffic signal detection device and traffic signal detection method

A lamp detection device detects an edge portion from a camera image, the edge portion having a luminance difference equal to or above a predetermined value, and generates a smoothed image by diminishing the luminance difference of the edge portion. Then, the lamp detection device extracts synchronized pixels from the smoothed image, the synchronized pixels having luminances varying synchronously with an alternating current cycle of power supplied to a lamp, and detects the lamp from the synchronized pixels.

Lamp detection device and lamp detection method

A traffic light detection device uses an image pickup unit mounted on a vehicle to extract, from an image taken of surroundings of the vehicle, synchronized pixels, whose brightness changes in synchronization with an alternating current period of electric power supplied to a traffic light, and detects the traffic light from the synchronized pixels. The traffic light detection device is provided with: a positional variation calculation unit that calculates positional variation amounts of continuously extracted positions of the synchronized pixels; and a signal lamp determination unit that determines, as a signal lamp candidate, the synchronized pixels whose positional variation amount is equal to or smaller than a threshold value.

Traffic light detection device and traffic light detection method

A traffic light detection device includes: an image capture unit capturing an image of surroundings; a traffic light location estimation unit estimating a location of a traffic light around the vehicle and setting a traffic light search area in which the traffic light is estimated to be present; a traffic light detection unit detecting the traffic light by searching the traffic light search area on the image; and an obstruction estimation unit. When the obstruction estimation unit estimates that a continuous obstruction state where a view of the traffic light is continuously obstructed occurs in the traffic light search area, the traffic light location estimation unit selects the traffic light search area based on the continuous obstruction state.

A traffic signal recognition apparatus acquires image data by imaging the surroundings of a vehicle, detects a self-position of the vehicle, and detects, in the image, a traffic signal around the vehicle. The traffic signal recognition apparatus identifies two or more of the traffic signal predicted to be captured in the image, based on information on the self-position and map information containing positional information on the traffic signals, and assigns a priority level to each of the two or more traffic signals thus identified, based on a possibility of the traffic signal being blocked out of sight. When the two or more traffic signals are identified, the traffic signal detected in the image is a traffic signal with a highest priority level among the two or more traffic signals.

Traffic signal recognition apparatus and traffic signal recognition method

A target detection apparatus acquires an image by imaging the surroundings of a vehicle, detects a self-position of the vehicle based on an amount of movement of the vehicle from an initial position thereof, and estimates a relative position of a target, located around the vehicle, with respect to the vehicle based on the self-position and information on a position of the target on a map. The target detection apparatus sets a detection area for the target within the image based on the relative position of the target with respect to the vehicle, and detects the target from the detection area. The target detection apparatus estimates error contained in the self-position based on the amount of movement of the vehicle from the initial position, and adjusts the size of the detection area for the target according to the error.

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Kanagawa, Japan

Daiki Yamanoi