Denso Corporation

Nippon Soken, Inc.

Nagoya Institute of Technology

Toyota Jidosha Kabushiki Kaisha

Toyota School Foundation

Kazuhisa Ishimaru

Naoki Kawasaki

Shunsuke Suzuki

Noriaki Shirai

Tetsuya Takafuji

Jun Sato

Tomohisa Kishigami

Hiroyuki Mori

Masayuki Imanishi

Osamu Shimomura

Shunya Kumano

Yusuke Ueda

Yuusuke Matsumoto

Kiyokazu Takagi

Go Matsunobu

Yuu Maeda

Hideki Tsuda

Taiki Kawano

Fumihiko Sakaue

Hossein Tehrani Niknejad

Seiichi Mita

Masaki Masuda

Qiwei Xie

Qian Long

A vehicle display control device includes at least one processor, wherein the at least one processor is configured to: recognize an object ahead of a host vehicle; and cause display of respective superimposed images, having lengths in a vehicle vertical direction, at each side of the recognized object in a vehicle width direction, at a display area so as to be superimposed on a view ahead of the host vehicle, the superimposed images being spaced apart from each other in the vehicle width direction.

Vehicle display control device, vehicle display control method, and vehicle storage medium

A vehicle position estimation device is configured to acquire a distance from a road edge to a subject vehicle using at least one of an imaging device or a distance measuring sensor, acquire position information of lane boundary lines detected by analyzing the images captured by the imaging device; acquire map information including a lane quantity of a traveling road of the subject vehicle from a map storage, calculate, as a roadside area width, a lateral direction distance between an outermost detection line, which is an outermost boundary line among the detected boundary lines, and the road edge, and specify a traveling lane of the subject vehicle based on (i) the distance from the road edge to the subject vehicle, (ii) the roadside area width, and (iii) the lane quantity included in the acquired map information.

Vehicle position estimation device and traveling position estimation method

A distance detection device calculates a pixel cost, every reference pixel, based on a difference between reference pixel information in a reference image and comparative pixel information in a comparative image while switching the reference and comparative images. The device calculates a parallax cost, every reference pixel, representing a cost regarding a change-amount of the parallax as a coordinate difference between a reference pixel and a comparative pixel when the reference image is switched. The device calculates a combination of each reference pixel and a comparative pixel having a minimum total cost every reference pixel. The minimum total cost represents a sum of the pixel cost and the parallax cost. The device obtains a relationship of a corresponding point between each reference pixel and its corresponding comparative pixel, and calculates a distance to an object in each captured image based on the relationship of the corresponding point.

Distance detection device

A position measuring apparatus detects, from respective first and second imaging planes of first and second captured images, first and second corresponding points estimated to represent a common three-dimensional position. The apparatus calculates first to fourth projected points. Each of the first and second projected points represents a projected point of the first corresponding point on a corresponding one of the first and second common planes. Each of the third and fourth projected points represents a projected point of the second corresponding point on a corresponding one of the first and second common planes. The apparatus calculates a first beam connecting the first and second projected points, a second beam connecting the third and fourth projected points, and a point having a minimum square distance relative to each of the first and second beams as a restored point representing the three-dimensional position of the first and second corresponding points.

Apparatus for measuring three-dimensional position of target object

A corresponding point searching method searches corresponding points in plural images, acquired by in-vehicle cameras, for each pixel in a reference image by using a predetermined first method, for example, the Viterbi algorithm. The method searches corresponding points in the plural images for each pixel in the reference image by using a predetermined second method, for example, an optical flow method. The method detects whether or not a search accuracy of the corresponding points in each region divided in the reference image obtained by the predetermined first method is not less than a reference value. When not less than the reference value, the method selects the corresponding points obtained by the predetermined first method. When less than the reference value, the searching method selects the corresponding points obtained by the predetermined second method. The searching method provides the corresponding points between the plural images with a high accuracy.

Corresponding point searching method and distance detection device

In an image processing apparatus, an image acquiring unit acquires a first image and a second image that form stereoscopic images. A first sub-image extracting unit extracts first sub-images from the first image. A second sub-image extracting unit extracts second sub-images from the second image. A matching unit matches each pair of the first and second sub-images to determine a degree of similarity therebetween. A similar sub-image setting unit sets the second sub-image having a highest degree of similarity to the first sub-image to be a similar sub-image to the first sub-image. A brightness comparing unit compares in brightness each pair of the first and second sub-images. The matching unit is configured to, if a result of comparison made by the brightness comparing unit between a pair of the first and second sub-images is out of a predetermined brightness range, exclude such a pair of the first and second sub-images.

Image processing apparatus

A monitoring apparatus is provided. When a determination process of determining whether or not the part of an object located in a search range is an airborne substance, a rangefinder measures a distance to the object located in the search range for each of a plurality of unit areas forming the search range, a variation measure calculator calculates a variance of the distances (individual distances) measured for the respective unit areas, a variable threshold setter variably sets a variation measure threshold based on the individual distances, and a determiner determines that at least part of the object is an airborne substance if the calculated variance exceeds the variation measure threshold.

Monitoring apparatus and non-transitory computer-readable medium

This invention is provided with: a camera for capturing the image of a travel path; an edge point extraction unit for extracting edge points on the basis of the brightness of an image captured by the camera; a candidate line extraction unit for extracting, on the basis of the succession of the extracted edge points, a candidate line for a boundary line demarcating the travel path; a frequency calculation unit for calculating, on the basis of edge points belonging to the candidate line extracted by the candidate line extraction unit, the frequency distribution of the edge points for a parameter that specifies the width of the boundary line; a probability generation unit for calculating, on the basis of the frequency distribution calculated by the frequency calculation unit, the distribution for the probability that the candidate line at the parameter is the boundary line; and a boundary line recognition unit for recognizing the boundary line on the basis of the probability distribution calculated by the probability generation unit.

Boundary line recognizer device

In vehicle-lane boundary line detection, low-luminance values are acquired from areas corresponding to below a tire and directly below a vehicle center based on a road surface image. A snow rut degree is calculated based on a luminance ration between the areas. A probability is calculated from a map based on the calculated snow rut degree. A parameter indicating the degree of snow rut likeness is calculated by a low-pass filtering process. A snow rut determination is made by the calculation result being compared with a predetermined threshold. A final determination of whether or not a snow rut is present is made, with reference to an outside temperature. When determined that a snow rut is present, a determination is made not to perform the detection. When determined that a snow rut is not present, a determination is made to perform the detection.

Apparatus for detecting boundary line of vehicle lane and method thereof

A position detection device obtains image coordinate groups representing a coordinate of a target object in each acquired image having first and second acquired image groups. The first acquired image group has acquired images obtained at an image acquiring timing in a reference period. The second acquired image group has acquired images obtained at an image acquiring timing in the reference period, which is delayed from the image acquiring timing of the first acquired image group by an asynchronous time. The device performs a Fourier transformation of each of a first locus and a second locus, and calculates a first frequency waveform based on the first locus and a second frequency waveform based on the second locus. The device calculates a position of the target object based on a relationship in which the frequency waveforms are delayed relative to each other by a phase corresponding to the asynchronous time.

Position detection device detecting a position of target object and a position detection program

A traffic lane marking recognition apparatus includes a candidate detecting unit, a gap detecting unit, and a recognition reducing unit. The candidate detecting unit detects a lane dividing line candidate which is a candidate for a lane dividing line that defines a traffic lane on a road, based on an image of the road captured by an on-board camera that is mounted in a vehicle. The gap detecting unit detects a gap included in the lane dividing line candidate detected by the candidate detecting unit. When the gap is detected by the gap detecting unit, the recognition reducing unit reduces a probability of recognition of the lane dividing line candidate as a lane dividing line to a first probability that is lower than the probability when the gap detecting unit does not detect the gap, in a region from the gap closest to the vehicle towards a direction away from the vehicle.

Traffic lane marking recognition apparatus and traffic lane marking recognition program

The communication signal generating device is for use in a communication system where communication signals each of which is set at a first level or a second level are exchanged among a plurality of communication apparatuses through a communication line. The communication signal generating device includes a switching element provided in a communication line to connect the communication line to a ground or a constant voltage source, and a driving means to generate a first communication signal at the first level by turning on the switching element to thereby pass a certain current to the communication line, and generate a second communication signal at the second level by turning off the switching element to thereby pass no current to the communication line. The driving means is configured to gradually increase an output impedance of the switching element during one bit time of the first communication signal.

Growing community of inventors

Nagoya, Japan

Kazuhisa Ishimaru