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1. 发明授权

US11619495B2 Position estimating apparatus and position estimating method 有权
公开(公告)号：US11619495B2
公开(公告)日：2023-04-04
申请号：US17122047
申请日：2020-12-15
申请人： CLARION CO., LTD.
发明人： Shinya Tagawa , Arihito Ihara
IPC分类号： G01C21/30 , G05D1/02
摘要： A position estimating apparatus including: a position estimating unit that compares a target in first coordinate system data indicating a position of the target by coordinates in a first coordinate system and a target in second coordinate system data indicating a position of the target present around a position estimation object by coordinates in a second coordinate system set based on a position and an attitude of the position estimation object at a predetermined starting timing, and estimates a position of the position estimation object in the first coordinate system based on a comparison result; and a comparison range adjusting unit that shrinks a coordinate range used for the comparison by the position estimating unit in the second coordinate system data when the position estimation object is turning.

2. 发明授权

US11472401B2 Parking assistance device 有权
公开(公告)号：US11472401B2
公开(公告)日：2022-10-18
申请号：US17254337
申请日：2018-12-25
申请人： CLARION CO., LTD.
发明人： Koji Muto
IPC分类号： G08G1/14 , B60W30/06 , B60R1/00 , G01S15/931 , G06V20/58
摘要： A parking assistance device includes a parking region detection unit configured to periodically detect a parking-possible space in which the own-vehicle can be parked based on a result of detection by an external image capturing camera and a sonar configured to periodically detect the status of surroundings of the own-vehicle, a candidate region selection unit configured to select a parking candidate space as a parking candidate for the own-vehicle among the parking-possible spaces detected by the parking region detection unit, and a display control unit configured to cause a touch panel to display a surrounding image in which a parking position image illustrating a parking position is superimposed on the parking candidate space selected by the candidate region selection unit, and the candidate region selection unit continuously selects, as the parking candidate space, the parking-possible space corresponding to the selected parking candidate space for a predetermined duration.

3. 发明授权

US11461595B2 Image processing apparatus and external environment recognition apparatus 有权
公开(公告)号：US11461595B2
公开(公告)日：2022-10-04
申请号：US16469770
申请日：2017-12-13
申请人： CLARION CO., LTD.
发明人： Yasuhiro Akiyama , Koichi Hamada
IPC分类号： G06K9/62 , B60Q9/00 , G06V20/58 , G08G1/16 , B60W30/09 , G06T1/00 , G06T7/00 , G06V10/44 , G06V10/82
摘要： An image processing apparatus includes: an object detection section that performs convolution computation on an input image based on a captured image obtained by capturing the image with a camera, and that detects an object; a feature map validation section that performs feature map validation validating a likelihood that the input image contains the object on the basis of a feature map obtained by the convolution computation; a time series validation section that performs time series validation validating a result of the feature map validation performed by the feature map validation section in time series; and a detection result correction section that corrects a detection result about the object output by the object detection section on the basis of a result of the time series validation performed by the time series validation section.

4. 发明授权

US11450040B2 Display control device and display system 有权
公开(公告)号：US11450040B2
公开(公告)日：2022-09-20
申请号：US16963904
申请日：2018-10-01
申请人： Clarion Co., Ltd.
发明人： Daisuke Fukuda
IPC分类号： G09G5/00 , G06T11/20 , G06T7/73 , B60R1/00 , B62D15/02 , G01B21/22 , G01P3/00 , G01S17/42 , G06T11/00 , H04N5/247 , H04N5/272 , G06V20/56
摘要： A display control device includes a front image acquiring portion configured to acquire front images by a front camera that images a front of a vehicle traveling on a traveling lane, a lane line position calculation portion configured to calculate a position of a lane line separating the traveling lane and an adjacent lane adjacent to the traveling lane based on movement of the vehicle in a period from a point at which the front image is acquired by the front camera, a movement track calculation portion configured to calculate a movement track of the vehicle, a map creating portion configured to create a map, and a display control portion configured to display, a synthesized image in which a pseudo lane line image corresponding to the lane line is superimposed onto a rear side image acquired after the movement of the vehicle by a rear side camera based on the map.

5. 发明授权

US11447178B2 Towing assist device 有权
公开(公告)号：US11447178B2
公开(公告)日：2022-09-20
申请号：US17110705
申请日：2020-12-03
申请人： Clarion Co., Ltd.
发明人： Kensuke Yamamoto , Ryo Sakurai
IPC分类号： B62D13/06 , B60R11/04
摘要： A towing assist device includes a controller configured to assist reversing of a vehicle to which a trailer is coupled with a coupling tool, and a monitor configured to display a periphery of the coupling tool attached to a rear portion of the vehicle with a rear view at least when the vehicle reverses, wherein the controller includes an alarm angle calculator configured to calculate an alarm angle equal to or smaller than a jackknife angle causing a jackknife phenomenon by the vehicle and the trailer in reversing, and an alarm generator configured to give an alarm when a trailer angle between the vehicle and the trailer is equal to or larger than the alarm angle.

6. 发明授权

US11413962B2 In-vehicle apparatus and information presentation method 有权
公开(公告)号：US11413962B2
公开(公告)日：2022-08-16
申请号：US16772718
申请日：2018-12-07
申请人： Clarion Co., Ltd. , KISHI MIRAI INC.
发明人： Norikazu Nara , Noriyuki Abe , Makoto Orino , Takaaki Yashiro , Toshihiro Mochizuki , Norimasa Kishi
IPC分类号： B60K35/00 , G01C21/36
摘要： An in-vehicle apparatus mounted in a vehicle includes: an assistance processing unit that executes assistance processing for providing a user with specified information; and a display control unit that performs control to display a list according to a sequential order of the assistance processing executed by the assistance processing unit.

7. 发明授权

US11407406B2 Parking assistance device 有权
公开(公告)号：US11407406B2
公开(公告)日：2022-08-09
申请号：US16744959
申请日：2020-01-16
申请人： CLARION CO., LTD.
发明人： Noriyasu Hasejima , Shinya Tagawa
IPC分类号： B60W30/06 , G05D1/02 , B62D15/02 , B60R21/00 , G08G1/16
摘要： A parking assist device according to the present invention includes a backward-direction-path calculation unit that calculates a backward-direction path for taking an own vehicle out from a target parking position B based on constraint conditions of a parking space and an own-vehicle behavior, a connection-candidate-position storage unit that sets a plurality of connection candidate positions D on the backward-direction path, a forward-direction-path calculation unit that calculates a forward-direction path leadable to one of the connection candidate positions D from a current position A of the own vehicle, and a parking-path setting unit that sets a parking path by combining the backward-direction path and the forward-direction path.

8. 发明授权

US11370434B2 Inter-vehicle communication device and driving assistance device 有权
公开(公告)号：US11370434B2
公开(公告)日：2022-06-28
申请号：US16637228
申请日：2018-04-26
申请人： CLARION CO., LTD.
发明人： Yoshikazu Sugiyama , Tomonori Tanaka , Keisuke Mutou
IPC分类号： B60W30/165 , G08G1/16
摘要： An inter-vehicle communication and driving assistance device performs wireless communication with other vehicles, and includes an inter-vehicle communication unit including a reception level detection unit, a position information reception unit, and an arithmetic processing unit. The arithmetic processing unit calculates inter-vehicle distances to other vehicles using latitude and longitude information of the other vehicles and the own vehicle, receives a position error radius, and acquires a reception level from the other vehicles. When a difference between the inter-vehicle distances is smaller than position error radius, a vehicle with a larger reception level is determined as a vehicle closer to the own vehicle. When the difference between the inter-vehicle distances is larger than the position error radius, a vehicle with a smaller inter-vehicle distance is determined as a vehicle closer to the own vehicle, and a distance to a leading vehicle is calculated.

9. 发明授权

US11326898B2 Parking assist apparatus and parking assist method 有权
公开(公告)号：US11326898B2
公开(公告)日：2022-05-10
申请号：US16865456
申请日：2020-05-04
申请人： CLARION CO., LTD.
发明人： Toshihisa Kuwahara , Takayuki Kaneko
IPC分类号： G01C21/36 , G01C21/34 , G08G1/01 , G08G1/14
摘要： A parking assist apparatus includes: a map generation unit that generates an obstacle map showing a position of an obstacle existing in a surrounding of own vehicle based on a detected result of a sonar, and records data indicating existence of the obstacle on the obstacle map; a wheel-stop detection unit that divides the obstacle map generated by the map generation unit into a plurality of areas, counts a number of data pieces in each of the plurality of divided areas, and detects a position of a wheel stop based on the counted number of data pieces in each of the plurality of areas; and a parking position setting unit that sets a parking position for parking the own vehicle based on the position of the wheel stop detected by the wheel-stop detection unit.

10. 发明授权

US11275956B2 Demarcation line recognition device 有权
公开(公告)号：US11275956B2
公开(公告)日：2022-03-15
申请号：US16652003
申请日：2018-09-28
申请人： Clarion Co., Ltd.
发明人： Kimiyoshi Machii , Takehito Ogata , Junya Nakamura , Naoki Shimizu , Ayano Enomoto
IPC分类号： G06K9/00 , G06T7/143 , G06T7/277 , G06K9/46 , G06K9/52 , G06K9/62
摘要： The present invention addresses the problem of enabling an accurate determination of line type using a plurality of cameras. A demarcation line recognition device of the present invention includes a plurality of cameras (101); a line type determination unit (210) that senses demarcation line candidates from respective images obtained by the plurality of cameras and determines line types of the sensed demarcation line candidates; a demarcation line position calculation unit that calculates the positions of the sensed demarcation line candidates; a reliability level calculation unit that computes a reliability level of each demarcation line candidate by using positional relationships between the sensed demarcation line candidates; a probability computation unit (204) to which line types of demarcation line candidates for which the reliability level is equal to or greater than a threshold value are input and that determines the probability of each line type; and a line type decision unit (205) that finally decides the line types of the demarcation lines on the basis of the results of the probability computation unit.

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