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1. 发明授权

US09811747B2 Traffic light detecting device and traffic light detecting method 有权
公开(公告)号：US09811747B2
公开(公告)日：2017-11-07
申请号：US15122549
申请日：2014-03-10
申请人： Nissan Motor Co., Ltd.
发明人： Takahiko Oki , Hidekazu Nishiuchi
IPC分类号： H04N7/18 , G06K9/00
CPC分类号： G06K9/00825 , H04N7/183
摘要： A traffic light detecting device includes a camera capturing an image in the travelling direction of a vehicle, and a traffic light detecting unit detecting a traffic light from the image. The unit sets reference signals the number of which is a multiple of three, and phases of which are shifted each other by a time obtained by dividing a cycle of an alternating current power supplied to the traffic light by the multiple of three, and adjusts a phase of the reference signal which is closest to the phase of the alternating current power, to the phase thereof. The unit extracts from the image a synchronized pixel with a luminance which varies in synchronization with the reference signal having the phase adjusted to the phase thereof, and judges that a traffic light is present at a position of the synchronized pixel.

2. 发明授权

US09772627B2 Self-position calculating apparatus and self-position calculating method 有权
公开(公告)号：US09772627B2
公开(公告)日：2017-09-26
申请号：US15118754
申请日：2014-02-24
申请人： Nissan Motor Co., Ltd.
发明人： Ichiro Yamaguchi , Hidekazu Nishiuchi
IPC分类号： G05D1/00 , G01C1/00 , G06T7/00 , G06T7/70 , G01C21/00 , G01C21/20 , G05D1/02 , G01C21/28 , G01C11/02 , G06K9/00 , G06K9/46 , G06T7/73 , G06F17/11 , G06F17/16
CPC分类号： G05D1/0248 , G01C11/02 , G01C21/28 , G06F17/11 , G06F17/16 , G06K9/00791 , G06K9/4671 , G06K2209/25 , G06T7/73 , G06T2207/30244 , G06T2207/30256
摘要： A self-position calculating apparatus includes: a light projector configured to project a patterned light beam onto a road surface around a vehicle; an image capturing unit configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam; an orientation angle calculator configured to calculate an orientation angle of the vehicle relative to the road surface from a position of the patterned light beam on the image obtained by the image capturing unit; a feature point detector configured to detect multiple feature points on the road surface within the feature-point detection region; an orientation change amount calculator configured to calculate an amount of change in the orientation of the vehicle; and a self-position calculator configured to calculate a current position and a current orientation angle of the vehicle.

3. 发明授权

US09767372B2 Target detection apparatus and target detection method 有权
公开(公告)号：US09767372B2
公开(公告)日：2017-09-19
申请号：US15311250
申请日：2014-05-20
申请人： Nissan Motor Co., Ltd.
发明人： Daiki Yamanoi , Hidekazu Nishiuchi , Toshiyuki Andou , Hiroshi Satoh , Haruo Matsuo
IPC分类号： G06K9/32 , G06K9/00 , G01C21/30 , G06T7/73 , G06K9/20
CPC分类号： G06K9/00825 , G01C21/30 , G06K9/00798 , G06K9/00818 , G06K9/03 , G06K9/2054 , G06K9/3233 , G06T7/74 , G06T2207/30252
摘要： 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.

4. 发明申请

US20170103275A1 Traffic Signal Recognition Apparatus and Traffic Signal Recognition Method 有权
公开(公告)号：US20170103275A1
公开(公告)日：2017-04-13
申请号：US15311884
申请日：2014-05-20
申请人： Nissan Motor Co., Ltd.
发明人： Daiki Yamanoi , Toshiyuki Andou , Hidekazu Nishiuchi , Haruo Matsuo , Hiroshi Satoh
IPC分类号： G06K9/00 , G06T7/70 , G08G1/095
CPC分类号： G06K9/00825 , G01C21/26 , G06K9/00798 , G06T7/70 , G08G1/09 , G08G1/095
摘要： 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.

5. 发明授权

US09843109B2 Antenna device and signal processing method 有权
公开(公告)号：US09843109B2
公开(公告)日：2017-12-12
申请号：US15025195
申请日：2014-07-14
申请人： NISSAN MOTOR CO., LTD.
发明人： Mitsunori Nakamura , Hiroshi Satoh , Shinichi Nishioka , Hidekazu Nishiuchi
IPC分类号： H01Q21/24 , H01Q3/22 , G01S7/03 , G01S7/02 , G01S7/35 , G01S13/34 , H01Q21/06 , G01S13/58 , G01S13/93
CPC分类号： H01Q21/24 , G01S7/024 , G01S7/03 , G01S7/352 , G01S13/34 , G01S13/584 , G01S13/931 , H01Q3/22 , H01Q21/061
摘要： An antenna device includes a plurality of antenna elements respectively configured to receive incident waves coming from an object, a modulating unit respectively configured to modulates a first received signal of the incident waves output from the antenna elements into a second received signal, the second received signals having a plurality of different frequencies and phases corresponding to polarization directions of the received incident waves, a synthesizing unit configured to synthesize the plurality of second received signals and generates a synthetic signal, a signal processing unit, configured to perform predetermined signal processing on the synthetic signal, and an extracting unit configured to extract third received signals for each frequency and each phase from the synthetic signal on which has been performed the predetermined signal processing.

6. 发明授权

US09679208B2 Traffic light detecting device and traffic light detecting method 有权
公开(公告)号：US09679208B2
公开(公告)日：2017-06-13
申请号：US15124534
申请日：2014-03-10
申请人： Nissan Motor Co., Ltd.
发明人： Takahiko Oki , Hidekazu Nishiuchi
IPC分类号： G06K9/00 , G06K9/20 , G06K9/46
CPC分类号： G06K9/00825 , G06K9/2036 , G06K9/209 , G06K9/4652 , G06K9/4661
摘要： A traffic light detecting device includes an image capturing unit configured to repeatedly capture images in a travelling direction of a vehicle to obtain a series of multiple images and a traffic light detecting unit configured to detect traffic lights from the images. The traffic light detecting unit detects phase information of an electric power system used in an area around the vehicle including the traffic lights from a cycle of a luminance variation in the series of multiple images and extracts from the images a synchronized pixel with a luminance which varies in synchronization with an alternating current cycle of electric power supplied to the traffic light by using the phase information of the electric power system. The traffic light detecting device judges from the synchronized pixel whether or not the traffic light is present.

7. 发明授权

US09679207B2 Traffic light detecting device and traffic light detecting method 有权
公开(公告)号：US09679207B2
公开(公告)日：2017-06-13
申请号：US15122360
申请日：2014-03-10
申请人： Nissan Motor Co., Ltd.
发明人： Takahiko Oki , Hidekazu Nishiuchi
IPC分类号： G06K9/00 , G06K9/20 , G06K9/46 , G08G1/0962
CPC分类号： G06K9/00825 , G06K9/2036 , G06K9/2054 , G06K9/209 , G06K9/4652 , G06K9/4661 , G08G1/09623 , H04N5/2357
摘要： A traffic light detecting device includes an image capturing unit configured to capture an image of surroundings of a vehicle and a traffic light detecting unit configured to detect a traffic light from the image. The traffic light detecting unit extracts a synchronized pixel with a luminance which varies in synchronization with an alternating current cycle of electric power supplied to the traffic light, and sets a predetermined range including the synchronized pixel as a pixel group. The traffic light detecting unit, then, judges from the synchronized pixel whether or not the traffic light is present when the synchronized pixel is continuously extracted from the pixel group for a predetermined determination period.

8. 发明申请

US20170018087A1 Self-Position Calculating Apparatus and Self-Position Calculating Method 有权
标题翻译：自定位计算装置和自动位置计算方法
公开(公告)号：US20170018087A1
公开(公告)日：2017-01-19
申请号：US15120603
申请日：2014-02-24
申请人： NISSAN MOTOR CO., LTD.
发明人： Ichiro Yamaguchi , Hidekazu Nishiuchi
IPC分类号： G06T7/00 , G01B11/00 , B60Q1/24 , G01B11/26
CPC分类号： G01B11/26 , B60Q1/24 , G01B11/002 , G01C21/28 , G06T7/521 , G06T7/73 , G06T2207/10152 , G06T2207/30244 , G06T2207/30252
摘要： A self-position calculating apparatus includes: a light projector configured to project a patterned light beam onto a road surface around a vehicle; an image capturing unit configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam; an orientation angle calculator configured to calculate an orientation angle of the vehicle relative to the road surface from; a feature point detector configured to detect multiple feature points on the road surface; an orientation change amount calculator configured to calculate an amount of change in the orientation of the vehicle; and a self-position calculator configured to calculate a current position and a current orientation angle of the vehicle. The light projector selectively projects the patterned light beam onto a specific patterned light beam-projected region out of the multiple patterned light beam-projected regions.
摘要翻译：自动位置计算装置包括：投光器，被配置为将图案化的光束投影到车辆周围的路面上; 图像拍摄单元，被配置为捕获并获得覆盖所述投影图案化光束的区域的所述车辆周围的路面的图像; 定位角计算器，被配置为计算车辆相对于路面的定向角度; 特征点检测器，被配置为检测路面上的多个特征点; 姿态变化量计算器，被配置为计算车辆的朝向的变化量; 以及自身位置计算器，被配置为计算车辆的当前位置和当前定向角度。光投影仪将图案化的光束选择性地投影到多个图案化的光束投影区域中的特定图案化的光束投影区域上。

9. 发明申请

US20170011268A1 Self-Position Calculating Apparatus and Self-Position Calculating Method 审中-公开
标题翻译：自定位计算装置和自动位置计算方法
公开(公告)号：US20170011268A1
公开(公告)日：2017-01-12
申请号：US15119457
申请日：2014-02-24
申请人： NISSAN MOTOR CO., LTD.
发明人： Ichiro Yamaguchi , Hidekazu Nishiuchi
IPC分类号： G06K9/00 , G01B11/26 , B60Q1/08 , G06K9/20 , G06T7/00 , G06T7/20 , G06K9/62 , G01C21/26 , B60R1/00
CPC分类号： G06K9/00798 , B60Q1/085 , B60Q2400/50 , B60R1/00 , G01B11/26 , G01C21/265 , G01C21/28 , G06K9/2036 , G06K9/6201 , G06T7/20 , G06T7/70 , G06T2207/30252
摘要： A self-position calculating apparatus includes: a light projector 11 configured to project a patterned light beam 32a onto a road surface 31 around a vehicle; and a camera 12 configured to capture an image 38 of the road surface 31 around the vehicle including an area onto which the patterned light beam 32a is projected. The self-position calculating apparatus calculates an orientation angle of the vehicle 10 relative to the road surface 31 from a position of the patterned light beam 32a on the image 38 obtained by the camera 12, and calculates an amount of change in the orientation of the vehicle based on temporal changes in multiple feature points on the road surface which are detected from the image 38. The self-position calculating apparatus calculates current position and orientation angle of the vehicle by adding the amount of change in the orientation to initial position and orientation angle of the vehicle. If a condition under which the multiple feature points are detected does not satisfy a first criterion, the self-position calculating apparatus projects the patterned light beam 32a.
摘要翻译：自动位置计算装置包括：投影仪11，被配置为将图案化的光束32a突出到车辆周围的路面31上; 以及摄像机12，被配置为捕获围绕车辆的路面31的图像38，包括其上投射有图案化光束32a的区域。自身位置计算装置从由照相机12获得的图像38上的图案化光束32a的位置计算车辆10相对于路面31的定向角度，并且计算相机12的朝向的变化量基于从图像38检测到的路面上的多个特征点的时间变化的车辆。自身位置计算装置通过将取向的变化量与初始位置和取向相加来计算车辆的当前位置和方向角度车辆的角度。如果检测到多个特征点的条件不满足第一标准，则自身位置计算装置投射图案化的光束32a。

10. 发明申请

US20130229554A1 CAMERA APPARATUS AND IMAGE PROCESSING METHOD 有权
标题翻译：相机设备和图像处理方法
公开(公告)号：US20130229554A1
公开(公告)日：2013-09-05
申请号：US13779147
申请日：2013-02-27
申请人： NISSAN MOTOR CO., LTD.
发明人： Yosuke MATSUNO , Hiroshi Satoh , Hidekazu Nishiuchi
IPC分类号： H04N9/04
CPC分类号： H04N9/045
摘要： An image taking unit takes an image by using a specific light projector which emits specific light in a wavelength region corresponding to one of the three primary colors of light and by exposing light receivers which are sensitive to light in wavelength regions corresponding to the three primary colors of light. A marker pulse generator generates an exposure timing pulse for the image taking unit, and an emission timing pulse for the specific light projector on the basis of a reference signal. A color image creator creates a color image from an image taken by the image taking unit. A synchronous detection processor creates a detection image by performing a synchronous detection process on the image taken by the image taking unit by use of the reference signal.
摘要翻译：图像拍摄单元通过使用特定的光投影仪拍摄图像，该专用光投射器在与三原色光之一相对应的波长区域中发射特定光，并且通过曝光对应于三原色的波长区域中对光敏感的光接收器的光。标记脉冲发生器基于参考信号产生用于图像获取单元的曝光定时脉冲和用于特定投光器的发射定时脉冲。彩色图像创建器从由摄像单元拍摄的图像创建彩色图像。同步检测处理器通过使用参考信号对由摄像单元拍摄的图像执行同步检测处理来创建检测图像。

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