JP6074137B2 - 車両周辺情報提供システム及びその方法 - Google Patents
車両周辺情報提供システム及びその方法 Download PDFInfo
- Publication number
- JP6074137B2 JP6074137B2 JP2011271509A JP2011271509A JP6074137B2 JP 6074137 B2 JP6074137 B2 JP 6074137B2 JP 2011271509 A JP2011271509 A JP 2011271509A JP 2011271509 A JP2011271509 A JP 2011271509A JP 6074137 B2 JP6074137 B2 JP 6074137B2
- Authority
- JP
- Japan
- Prior art keywords
- video acquisition
- vehicle
- baseline
- video
- acquisition units
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 18
- 238000012545 processing Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/08—Predicting or avoiding probable or impending collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
Description
その後、制御部150は算出された障害物位置情報に基づきメイン映像獲得部が提供する映像データ上の障害物の位置を補正し(S108)、補正された映像データを表示部140に出力する(S109)。
120 映像獲得部選択器
130 映像処理部
140 表示部
150 制御部
Claims (11)
- 予め定めた間隔で車両に設けられ、メイン映像獲得部と複数のサブ映像獲得部からなる複数の映像獲得部と、
前記映像獲得部のうち少なくとも二つ以上を選択し、選択された映像獲得部から映像データを受信する映像獲得部選択器と、
前記映像獲得部選択器から受信した映像データから障害物認識及び位置を算出し、車両の車速情報に従い前記映像獲得部のうち少なくとも二つ以上の映像獲得部を選択するように前記映像獲得部選択器を制御する制御部と、
を含み、
前記制御部は、前記メイン映像獲得部の映像を引き続き一括して見せるため、選択された映像獲得部から算出された障害物の位置に基づき、前記メイン映像獲得部の映像データ上の障害物の位置を補正することを特徴とする車両周辺情報提供システム。
- 前記制御部により補正された映像データを画面に表示する表示部をさらに含むことを特徴とする請求項1に記載の車両周辺情報提供システム。
- 前記制御部は、
車速が速いほどベースラインを長く決定し、車速が遅いほどベースラインを短く決定することを特徴とする請求項1に記載の車両周辺情報提供システム。
- 前記制御部は、
車両が低速走行の場合、第1ベースラインを有する少なくとも二つ以上の映像獲得部を選択するように制御し、
車両が中速走行の場合、第1ベースラインより長い第2ベースラインを有する少なくとも二つ以上の映像獲得部を選択するように制御し、
車両が高速走行の場合、第2ベースラインより長い第3ベースラインを有する少なくとも二つ以上の映像獲得部を選択するように制御することを特徴とする請求項1に記載の車両周辺情報提供システム。
- 前記映像獲得部は、
数列に従い互いに相違するベースラインを有するように設けられることを特徴とする請求項1に記載の車両周辺情報提供システム。
- 前記映像獲得部は、少なくとも3つ以上であることを特徴とする請求項1に記載の車両周辺情報提供システム。
- 前記制御部は、
補正された映像データを用いて車間距離制御を行うことを特徴とする請求項1に記載の車両周辺情報提供システム。
- 前記制御部は、
車両が路地走行の場合、第1ベースラインを有する少なくとも二つ以上の映像獲得部を選択するように制御し、
車両が市内走行の場合、第1ベースラインより長い第2ベースラインを有する少なくとも二つ以上の映像獲得部を選択するように制御し、
車両が高速道路走行の場合、第2ベースラインより長い第3ベースラインを有する少なくとも二つ以上の映像獲得部を選択するように制御することを特徴とする請求項1に記載の車両周辺情報提供システム。
- 車両の現在車速を判断する過程と、
車両の現在車速が予め定めた第1基準値未満の場合、メイン映像獲得部と複数のサブ映像獲得部からなる複数の映像獲得部のうち第1ベースラインを有する少なくとも二つの映像獲得部を選択する過程と、
車両の現在車速が予め定めた第2基準値未満の場合、複数の映像獲得部のうち第1ベースラインより長い第2ベースラインを有する少なくとも二つの映像獲得部を選択する過程と、
車両の現在車速が予め定めた第2基準値以上の場合、複数の映像獲得部のうち第2ベースラインより長い第3ベースラインを有する少なくとも二つの映像獲得部を選択する過程と、
選択された少なくとも二つの映像獲得部から映像データを受信して映像処理を行う過程と、
映像処理された映像データから障害物を認識して障害物の位置を算出する過程と、
メイン映像獲得部の映像を引き続き一括して見せるため、前記算出された障害物の位置を用いて前記映像獲得部のうちメイン映像獲得部から獲得された映像データ上の障害物の位置を補正し、補正された映像データを画面に表示する過程と、
を含むことを特徴とする車両周辺情報提供方法。
- ベースラインは、数列に従い設定されることを特徴とする請求項9に記載の車両周辺情報提供方法。
- 前記映像獲得部は、少なくとも3つ以上であることを特徴とする請求項9に記載の車両周辺情報提供方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020110092576A KR101316433B1 (ko) | 2011-09-14 | 2011-09-14 | 차량 주변정보 제공 시스템 및 그 방법 |
KR10-2011-0092576 | 2011-09-14 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013061317A JP2013061317A (ja) | 2013-04-04 |
JP6074137B2 true JP6074137B2 (ja) | 2017-02-01 |
Family
ID=47740342
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011271509A Active JP6074137B2 (ja) | 2011-09-14 | 2011-12-12 | 車両周辺情報提供システム及びその方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8836781B2 (ja) |
JP (1) | JP6074137B2 (ja) |
KR (1) | KR101316433B1 (ja) |
CN (1) | CN102997899B (ja) |
DE (1) | DE102012200262A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20140039820A (ko) * | 2012-09-25 | 2014-04-02 | 엘지이노텍 주식회사 | 디스플레이 룸미러 시스템 |
KR101480626B1 (ko) * | 2013-07-02 | 2015-01-08 | 현대자동차주식회사 | 스테레오 카메라를 이용한 물체 추적 장치 및 방법 |
KR101723401B1 (ko) * | 2013-08-12 | 2017-04-18 | 주식회사 만도 | 야간 카메라 영상 저장 장치 및 그 영상 저장 방법 |
KR101470230B1 (ko) | 2013-10-30 | 2014-12-08 | 현대자동차주식회사 | 주차 영역 추적 장치 및 그 방법 |
KR101535016B1 (ko) * | 2014-04-15 | 2015-07-07 | 현대자동차주식회사 | 차량용 블랙박스의 영상 처리 장치 및 그 방법 |
US20150334309A1 (en) * | 2014-05-16 | 2015-11-19 | Htc Corporation | Handheld electronic apparatus, image capturing apparatus and image capturing method thereof |
JP6299651B2 (ja) * | 2015-04-02 | 2018-03-28 | 株式会社デンソー | 画像処理装置 |
KR101714145B1 (ko) * | 2015-04-09 | 2017-03-08 | 현대자동차주식회사 | 주변차량 식별 장치 및 그 방법 |
JP2016217944A (ja) * | 2015-05-22 | 2016-12-22 | シャープ株式会社 | 計測装置、および計測方法 |
CN105292122B (zh) * | 2015-10-22 | 2018-07-06 | 四川膨旭科技有限公司 | 车辆行驶过程中对路况进行识别的方法 |
CN106909141A (zh) * | 2015-12-23 | 2017-06-30 | 北京机电工程研究所 | 障碍物探测定位装置及避障*** |
CN105823468A (zh) * | 2016-03-01 | 2016-08-03 | 乐卡汽车智能科技(北京)有限公司 | 基线距离可调的双目障碍物检测方法、装置及*** |
KR102462502B1 (ko) * | 2016-08-16 | 2022-11-02 | 삼성전자주식회사 | 스테레오 카메라 기반의 자율 주행 방법 및 그 장치 |
CN109664892A (zh) * | 2017-10-13 | 2019-04-23 | 北京长城华冠汽车科技股份有限公司 | 车辆障碍物的提醒方法、***及车辆 |
CN112004051B (zh) * | 2019-05-27 | 2022-10-25 | 奥迪股份公司 | 用于车辆的图像显示***、相应的方法和存储介质 |
US11427193B2 (en) | 2020-01-22 | 2022-08-30 | Nodar Inc. | Methods and systems for providing depth maps with confidence estimates |
EP4094433A4 (en) | 2020-01-22 | 2024-02-21 | Nodar Inc. | NON-RIGID STEREOSCOPIC VISION CAMERA SYSTEM |
EP3885237A1 (en) * | 2020-03-24 | 2021-09-29 | Aptiv Technologies Limited | Vehicle, system, and method for determining a position of a moveable element in a vehicle |
US11577748B1 (en) | 2021-10-08 | 2023-02-14 | Nodar Inc. | Real-time perception system for small objects at long range for autonomous vehicles |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05265547A (ja) * | 1992-03-23 | 1993-10-15 | Fuji Heavy Ind Ltd | 車輌用車外監視装置 |
JPH0829163A (ja) * | 1994-07-20 | 1996-02-02 | Fujitsu Ltd | カメラ撮影測距装置 |
JPH1139596A (ja) * | 1997-07-17 | 1999-02-12 | Fuji Heavy Ind Ltd | 車外監視装置 |
JP4256992B2 (ja) | 1999-09-09 | 2009-04-22 | 株式会社東芝 | 障害物検出装置 |
EP1150252B1 (en) * | 2000-04-28 | 2018-08-15 | Panasonic Intellectual Property Management Co., Ltd. | Synthesis of image from a plurality of camera views |
JP3300337B2 (ja) * | 2000-04-28 | 2002-07-08 | 松下電器産業株式会社 | 画像処理装置および監視システム |
JP2004173048A (ja) * | 2002-11-21 | 2004-06-17 | Auto Network Gijutsu Kenkyusho:Kk | 車載カメラシステム |
JP4153522B2 (ja) * | 2003-07-11 | 2008-09-24 | 株式会社日立製作所 | 画像処理カメラシステム及び画像処理カメラ制御方法 |
JP4725233B2 (ja) | 2005-08-02 | 2011-07-13 | 日産自動車株式会社 | 俯瞰画像表示システム |
KR20070066660A (ko) | 2005-12-22 | 2007-06-27 | 엘지전자 주식회사 | 차량 사고 정보 저장장치 및 후방 감시장치 |
JP4426535B2 (ja) | 2006-01-17 | 2010-03-03 | 本田技研工業株式会社 | 車両の周辺監視装置 |
KR100820310B1 (ko) | 2006-10-10 | 2008-04-08 | 영화테크(주) | 자동차의 추돌방지장치 및 방법 |
JP2008137426A (ja) * | 2006-11-30 | 2008-06-19 | Mazda Motor Corp | 車両の制御装置 |
DE102008040985B4 (de) * | 2008-08-05 | 2021-05-27 | Robert Bosch Gmbh | Verfahren zur Kalibrierung eines Mehrkamerasystems |
JP2010271143A (ja) * | 2009-05-20 | 2010-12-02 | Ricoh Co Ltd | 撮像装置、距離測定装置、及び車外監視装置、並びに撮像方法 |
JP4782899B2 (ja) * | 2009-07-22 | 2011-09-28 | パナソニック株式会社 | 視差検出装置、測距装置及び視差検出方法 |
JP5776173B2 (ja) * | 2010-03-01 | 2015-09-09 | 株式会社リコー | 撮像装置及び距離測定装置 |
US8395659B2 (en) * | 2010-08-26 | 2013-03-12 | Honda Motor Co., Ltd. | Moving obstacle detection using images |
-
2011
- 2011-09-14 KR KR1020110092576A patent/KR101316433B1/ko active IP Right Grant
- 2011-12-12 JP JP2011271509A patent/JP6074137B2/ja active Active
- 2011-12-12 US US13/323,617 patent/US8836781B2/en active Active
-
2012
- 2012-01-10 DE DE102012200262A patent/DE102012200262A1/de active Pending
- 2012-01-31 CN CN201210021394.XA patent/CN102997899B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US20130063594A1 (en) | 2013-03-14 |
JP2013061317A (ja) | 2013-04-04 |
DE102012200262A1 (de) | 2013-03-14 |
US8836781B2 (en) | 2014-09-16 |
KR101316433B1 (ko) | 2013-10-08 |
KR20130029262A (ko) | 2013-03-22 |
CN102997899A (zh) | 2013-03-27 |
CN102997899B (zh) | 2017-04-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6074137B2 (ja) | 車両周辺情報提供システム及びその方法 | |
US10953884B2 (en) | Systems and methods for navigating a vehicle among encroaching vehicles | |
CN108216023B (zh) | 车辆用注意提醒装置以及注意提醒方法 | |
JP6257989B2 (ja) | 運転支援装置 | |
JP2012527681A (ja) | 車両周辺映像を用いた車線離脱感知方法および装置 | |
CN107004250B (zh) | 图像生成装置及图像生成方法 | |
JP6206121B2 (ja) | 運転支援装置および運転支援方法 | |
KR20140073383A (ko) | 차선 변경 안내 방법 및 이를 실행하는 장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20141204 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20151008 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20151020 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20160120 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20160614 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20161004 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20161012 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20161213 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20170106 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6074137 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |