Source: https://patents.google.com/patent/JP6142784B2/en
Timestamp: 2020-04-04 19:44:24
Document Index: 683469828

Matched Legal Cases: ['art 11', 'art 11', 'art 11', 'art 11', 'art 11', 'art, 12', 'art, 13', 'art, 20', 'art, 22']

JP6142784B2 - Driving assistance device - Google Patents
JP6142784B2
JP6142784B2 JP2013245089A JP2013245089A JP6142784B2 JP 6142784 B2 JP6142784 B2 JP 6142784B2 JP 2013245089 A JP2013245089 A JP 2013245089A JP 2013245089 A JP2013245089 A JP 2013245089A JP 6142784 B2 JP6142784 B2 JP 6142784B2
JP2013245089A
JP2015101282A (en
勝之 福田
川島　毅
毅 川島
猛 羽藤
羽藤　猛
大祐 竹森
小西　敏之
敏之 小西
2013-11-27 Application filed by 株式会社デンソー filed Critical 株式会社デンソー
2013-11-27 Priority to JP2013245089A priority Critical patent/JP6142784B2/en
2015-06-04 Publication of JP2015101282A publication Critical patent/JP2015101282A/en
2017-06-07 Publication of JP6142784B2 publication Critical patent/JP6142784B2/en
The present invention relates to a driving support device that displays an image of a rear side of a host vehicle.
A technology that captures the adjacent lane on the rear side of the vehicle with a camera and displays driving assistance information such as a guide line superimposed on the image obtained by shooting, which is an indication of whether or not the lane can be changed. It has been proposed (see, for example, Patent Document 1).
JP 2006-51850 A
In the technique described in Patent Document 1, a guide line that serves as an indication as to whether or not a lane change or the like is possible is displayed based on the immediately following vehicle traveling in the adjacent lane on the rear side of the host vehicle. It has become. The problem with this technology is that only the guide line corresponding to the nearest following vehicle is displayed, so when the driver gives up changing the lane in front of the nearest following vehicle, the lane change is made after the following vehicle. There is no guideline for determining in advance whether or not this is possible. Therefore, after being overtaken by the nearest succeeding vehicle, the driver has to determine whether or not the lane change is possible with reference to the guide line corresponding to the next nearest succeeding vehicle.
The present invention has been made to solve the above-described problem, and an object of the present invention is to provide a technique for displaying support information for a plurality of succeeding vehicles that can determine in advance the risk associated with a lane change. And
The present invention displays an image by imaging means for imaging an adjacent lane on the rear side of the own vehicle, status acquisition means for acquiring information on a plurality of subsequent vehicles traveling on the adjacent lane on the rear side of the own vehicle, and an image. The present invention relates to a driving support apparatus that is communicably connected to a display means. The driving support apparatus of the present invention includes an image acquisition unit, a calculation unit, an evaluation unit, and a display control unit.
The image acquisition unit acquires a captured image captured by the imaging unit. The calculation means calculates the distance and relative speed between the host vehicle and the following vehicle and the distance and relative speed between the following vehicles based on the information acquired by the situation acquisition means. The evaluation means evaluates the degree of risk associated with the own vehicle changing the lane to the adjacent lane for a plurality of subsequent vehicles based on the distance and relative speed calculated by the calculation means. The display control means creates support information relating to the risk associated with the lane change in association with the road section based on the position where the plurality of subsequent vehicles exist based on the risk evaluation result by the evaluation means. Then, a support image in which the created support information is superimposed at a corresponding position on the captured image is displayed on the display unit.
According to the driving support device of the present invention, based on the degree of risk evaluated for a plurality of subsequent vehicles traveling in the adjacent lane, support information associated with a road section based on a position where the plurality of subsequent vehicles are present is captured. It can be displayed superimposed on the top. By doing in this way, the driver | operator can grasp | ascertain the danger accompanying a lane change not only about the next one following vehicle but the subsequent vehicles after that.
The block diagram showing the structure of a driving assistance device. The flowchart showing the procedure of a risk determination process (the latest 1st succeeding vehicle). The flowchart showing the procedure of a risk determination process (between a plurality of subsequent vehicle quantities). Explanatory drawing showing the outline | summary of an emphasis display. Explanatory drawing showing the example of a display which superimposed the highlight display image on the captured image. Explanatory drawing showing the example of a display which superimposed the highlight display image on the captured image. Explanatory drawing showing the example of a display which superimposed the highlight display image on the captured image.
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, this invention is not limited to the following embodiment, It is possible to implement in various aspects.
[Description of configuration of driving support system]
As shown in FIG. 1, the in-vehicle system 1 of the embodiment includes a driving support device 10, a camera 20 connected to the driving support device 10, a rear vehicle detection unit 21, a speed sensor 22, a blinker switch 23, and a display 30. And a speaker 31.
The camera 20 captures an image of the rear side of a vehicle (hereinafter, the host vehicle) on which the in-vehicle system 1 is mounted. For example, the camera 20 is attached to the rearview mirror of the host vehicle or the side of the vehicle body so that the lane adjacent to the lane in which the host vehicle is traveling (hereinafter referred to as the adjacent lane) enters the imaging range. Yes. This camera 20 may be attached to either the left or right side of the vehicle, for example.
The rear vehicle detection unit 21 detects, for example, the presence or position of a succeeding vehicle that travels in the adjacent lane on the rear side of the host vehicle, which is the imaging range of the camera 20, by image recognition with respect to a millimeter wave radar, a laser radar, or a camera image. This is an object detection sensor that detects a relative position with respect to the host vehicle. The speed sensor 22 detects the speed of the host vehicle and inputs the detection signal to the driving support device 10. The turn signal switch 23 is a switch for operating a turn signal (direction indicator) mounted on the host vehicle, and outputs a switch signal for operating the turn signal.
The display 30 is a display device for displaying an image captured by the camera 20 and support information superimposed on the captured image. For example, the display 30 is installed at a position that is easily visible from a meter panel in front of the driver's seat or a driver near the A pillar. The speaker 31 is a sound output device for outputting a warning sound according to the degree of danger accompanying lane change.
The driving support device 10 is an information processing device (for example, a microcomputer) configured mainly with a CPU, ROM, RAM, and the like (not shown). The driving support device 10 realizes a function of displaying support information related to the degree of danger associated with the lane change of the host vehicle. As a functional configuration therefor, a control unit 11, a display output unit 12, and a warning sound are provided. An output unit 13 is provided.
The control unit 11 performs image processing on a captured image acquired from the camera 20 and a plurality of subsequent vehicles detected by the rear vehicle detection unit 21 due to the influence of these subsequent vehicles, causing the host vehicle to change lanes to adjacent lanes. Determine the risk. The determination of the risk level is performed by executing a risk level determination process (see FIG. 2) regarding the first succeeding vehicle and a risk level determination process (refer to FIG. 3) regarding a plurality of subsequent vehicles. Detailed procedures of these processes will be described later.
Moreover, the control part 11 produces the image of the assistance information showing the degree of the risk in the road section where each succeeding vehicle is traveling based on the result of determining the risk for the plurality of succeeding vehicles. The image of the support information is created as a highlighted image that is superimposed on a captured image acquired from the camera 20 and superimposed on an area corresponding to a road section where each subsequent vehicle is traveling. Further, when the control unit 11 determines that there is an intention to change the lane based on the operation state of the turn signal switch 23, the control unit 11 outputs a warning sound according to the degree of the degree of danger accompanying the lane change.
The display output unit 12 outputs and displays on the display 30 a support image in which an image of support information created by the control unit 11 is superimposed on the captured image. The warning sound output unit 13 outputs a warning sound based on the control of the control unit 11 from the speaker 31.
[Danger degree determination process for the first succeeding vehicle]
The procedure of the risk determination process regarding the first succeeding vehicle will be described with reference to the flowchart of FIG. This process is repeatedly executed by the control unit 11 of the driving support apparatus 10 at a predetermined control cycle.
In S100, based on the detection result obtained from the rear vehicle detection unit 21, the control unit 11 determines the distance between the first subsequent vehicle closest to the own vehicle and the own vehicle among the subsequent vehicles traveling in the adjacent lane. And the relative speed is calculated. Here, the position of the succeeding vehicle in the captured image may be specified using image recognition for the captured image captured from the camera 20, and the distance between the succeeding vehicle and the host vehicle may be calculated.
In S102, the control unit 11 determines the degree of risk related to the first succeeding vehicle based on the distance and relative speed with the first succeeding vehicle calculated in S100 and the speed of the host vehicle. Here, for example, the shorter the distance between the host vehicle and the following vehicle, the higher the relative speed in the direction in which the host vehicle and the following vehicle approach, and the higher the speed of the host vehicle, the higher the degree of risk. Be evaluated. In the present embodiment, the risk is evaluated in three stages of risk 1 (low), risk 2 (medium), and risk 3 (high).
If it is determined that the first following vehicle has a risk level 1 (S102: risk level 1), the control unit 11 proceeds to S104. In S104, the control unit 11 creates an image of support information corresponding to the degree of risk 1 for the first succeeding vehicle. On the other hand, when it is determined that the risk level is 2 for the first following vehicle (S102: risk level 2), the control unit 11 proceeds to S106. In S106, the control unit 11 creates an image of support information corresponding to the degree of risk 2 for the first subsequent vehicle. On the other hand, when it is determined that the risk level is 3 for the first following vehicle (S102: risk level 3), the control unit 11 proceeds to S112. In S112, the control unit 11 creates an image of support information corresponding to the degree of risk 3 for the first succeeding vehicle.
In S <b> 104, S <b> 106, and S <b> 112, the control unit 11 displays a partial area of the adjacent lane with respect to the captured image acquired from the camera 20 based on the position where the first succeeding vehicle is present according to the risk level. The image to be emphasized is created as an image of support information. Here, the control unit 11 is any one of the risk levels 1 to 3 as the determination result in S102 with respect to an area on the captured image corresponding to an area that is separated from the first succeeding vehicle by a predetermined distance forward in the traveling direction. A highlighted display image having a display mode corresponding to the above is generated. In addition, for the region on the captured image corresponding to the proximity region before and after the first following vehicle in the traveling direction, a highlighted display image corresponding to the degree of risk 3 is created regardless of the determination result in S102.
In S <b> 108, the control unit 11 determines whether or not the direction indicator is on based on the operation state of the blinker switch 23. When the direction indicator is on (S108: YES), the control unit 11 proceeds to S110. In S <b> 110, the control unit 11 outputs a predetermined warning sound corresponding to the degree of risk 2 determined in S <b> 102 from the speaker 31 via the warning sound output unit 13. The warning sound generated here is for informing the driver that there is a medium risk of lane change. On the other hand, when it determines with the direction indicator not having been turned on in S108 (S108: NO), the control part 11 complete | finishes this process.
In S <b> 114, the control unit 11 determines whether or not the direction indicator is on based on the operation state of the blinker switch 23. When the direction indicator is on (S114: YES), the control unit 11 proceeds to S116. In S <b> 116, the control unit 11 outputs a predetermined warning sound corresponding to the degree of risk 3 determined in S <b> 102 from the speaker 31 via the warning sound output unit 13. The warning sound generated here is for informing the driver that a high degree of danger is associated with the lane change. On the other hand, when it determines with the direction indicator not having been turned on in S114 (S114: NO), the control part 11 complete | finishes this process.
[Risk determination processing for multiple following vehicles]
The procedure of the risk determination process regarding a plurality of subsequent vehicles will be described with reference to the flowchart of FIG. This process is repeatedly executed by the control unit 11 of the driving support apparatus 10 at a predetermined control cycle.
In S200, the control unit 11 sets the value (n) of a counter for counting the order of the following vehicles to 1. In S202, based on the detection result obtained from the rear vehicle detection unit 21, the control unit 11 selects the nth subsequent vehicle and the (n + 1) th subsequent vehicle from the closest to the host vehicle among the subsequent vehicles traveling in the adjacent lane. Calculate the distance between and the relative speed. Here, using the image recognition with respect to the captured image acquired from the camera 20, the position of the succeeding vehicle in the captured image may be specified, and the distance between the succeeding vehicles may be calculated.
In the next S204, the control unit 11 determines the risk level between these two subsequent vehicles based on the distance and relative speed between the nth and n + 1th subsequent vehicles calculated in S200 and the speed of the host vehicle. judge. Here, for example, the shorter the distance between two succeeding vehicles, the greater the relative speed in the direction in which the two succeeding vehicles approach, and the greater the speed of the host vehicle, the higher the degree of risk. Is done. Here, the risk is evaluated in three stages of risk 1, risk 2, and risk 3.
When it is determined that the risk level is 1 in S204 (S204: risk level 1), the control unit 11 proceeds to S206. In S <b> 206, the control unit 11 creates an image of support information corresponding to the degree of risk 1 for an intermediate region between the n-th and n + 1-th following vehicles. On the other hand, when it determines with the risk level 2 in S204 (S204: risk level 2), the control part 11 progresses to S208. In S208, the control unit 11 creates an image of support information corresponding to the degree of risk 2 for an intermediate region between the nth and n + 1th following vehicles. On the other hand, when it determines with the risk level 3 in S204 (S204: risk level 3), the control part 11 progresses to S210. In S <b> 210, the control unit 11 creates an image of support information corresponding to the degree of risk 3 for an intermediate region between the n-th and n + 1-th following vehicles.
In S206, S208, and S210, the control unit 11 displays the adjacent lane region corresponding to the middle of the nth and n + 1th following vehicles in the display mode corresponding to the degree of risk with respect to the captured image acquired from the camera 20. An image to be emphasized is created as an image of support information. Here, the control unit 11 has a risk level of 1 to 3 as a determination result in S206 for an area on the captured image corresponding to a range that is a predetermined distance from each subsequent vehicle in the middle of the two subsequent vehicles. A highlighted display image having a display mode corresponding to any one of them is created. In addition, for the region on the captured image corresponding to the proximity region before and after the traveling direction of each subsequent vehicle, a highlighted display image corresponding to the degree of risk 3 is created regardless of the determination result in S206.
In next step S212, the control unit 11 determines whether or not the risk level has been determined for all the subsequent vehicles that have been detected. When there is an undetermined subsequent vehicle (S212: NO), the control unit 11 proceeds to S214. In S214, the control unit 11 increments the counter value (n) by one and returns to S202. On the other hand, when the risk level is determined for all detected subsequent vehicles (S212: YES), the control unit 11 ends this process.
The images of the support information created in the above-mentioned “risk level determination process regarding the first succeeding vehicle” (see FIG. 2) and “risk level determination process regarding a plurality of subsequent vehicles” (see FIG. 3) The image is superimposed on the corresponding position on the captured image captured from the camera 20 and displayed on the display 30 via the display output unit 12.
[Specific example of risk judgment result]
Risk distribution based on the results of the above-described “risk level determination process for the first succeeding vehicle” (see FIG. 2) and “risk level determination process for a plurality of subsequent vehicles” (see FIG. 3). A specific example of the situation will be described with reference to FIG. In the example of FIG. 4, it is assumed that three subsequent vehicles 1 to 3 are traveling in the same direction as the host vehicle behind the adjacent lane on the right side of the host vehicle.
As illustrated in FIG. 4, an emphasis display of a risk level 3 is assigned to each of the regions B, D, and F corresponding to the adjacent regions immediately before and immediately after each of the subsequent vehicles 1 to 3 on the adjacent lane. The lengths before and after the regions B, D, and F are variable depending on, for example, the relative speed with the host vehicle and other subsequent vehicles, and the vehicle speed of each subsequent vehicle.
It is assumed that the subsequent vehicle 1 that is closest to the host vehicle has been determined to have a risk level of 2. In this case, an emphasis display of risk level 2 is assigned to the area A that is separated from the following vehicle 1 by the area B ahead. Further, it is assumed that a risk level 1 is determined between the following vehicle 1 and the following vehicle 2. In this case, the highlighting of the risk level 1 is assigned to the region C corresponding to the gap between the region B that is the proximity region of the following vehicle 1 and the region D that is the proximity region of the following vehicle 2.
Further, it is assumed that a risk level 3 is determined between the following vehicle 2 and the following vehicle 3. In this case, the danger level 3 highlighting is assigned to the area E corresponding to the gap between the area D that is the proximity area of the following vehicle 2 and the area F that is the proximity area of the following vehicle 3. In addition, the clearance gap between the area | region D and the area | region F is narrower than the full length of the own vehicle. Therefore, when the lane is changed so that the own vehicle enters the gap, there is a possibility of interfering with the adjacent area of the following vehicles 2 and 3. In this way, when the gap between the adjacent areas of the two following vehicles is extremely narrow, the highlighting of the risk level 3 is assigned.
[Display example of highlighted image]
With respect to display examples of an image in which a highlighted image is superimposed on a captured image captured from the camera 20, several examples with different expression methods will be described with reference to FIGS.
FIG. 5A is an example of a captured image acquired from the camera 20. In this captured image, a part of the body of the host vehicle is shown at the left end, and the scenery of the adjacent lane of the host vehicle is shown in the area on the right side of the captured image. Further, it is assumed that this captured image shows three subsequent vehicles that travel in a line on the adjacent lane behind the host vehicle. Hereinafter, these subsequent vehicles are identified as first, second, and third in order from the closest to the host vehicle.
FIG. 5B is a first display example in which a planar highlight display image is superimposed on the captured image shown in FIG. In this example, an expression method is used in which the entire area where the degree of danger on the road surface of the adjacent lane is to be displayed is covered with a pattern such as solid paint or shaded. These highlighted images make it possible to determine the degree of risk by changing the color, pattern, shading, transparency, etc. of the symbol in accordance with the degree of risk. In addition, the highlighted image is not drawn in a portion overlapping the subsequent vehicle in the image. In addition to the method of expressing the degree of risk in a stepwise manner for each region, a method of expressing the degree of danger continuously using color, light and dark gradations, and gradation of light and shade may be used.
FIG. 6A shows a second display example in which a linear highlight display image is superimposed on the captured image shown in FIG. In this example, a line representing a range of risk is drawn by drawing a line such as a solid line, dotted line, or broken line in parallel along the road surface at the front and rear ends of the area where the risk should be displayed on the road surface of the adjacent lane. The method is used. FIG. 6B is a third display example in which a linear highlight display image is superimposed on the captured image shown in FIG. In this example, a method of expressing the range of risk by drawing a line such as a solid line, dotted line, or broken line along the side edges (boundary of the adjacent lane) of the area where the risk should be displayed on the road surface of the adjacent lane is used. It has been. More specifically, this highlighted image is drawn as a parallel line segment along a white line that divides the lane drawn on the road surface. The highlighted images exemplified in FIG. 6A and FIG. 6B change the risk level by changing the color and thickness of the line, the pattern (solid line, dotted line, broken line), etc. according to the degree of risk. The degree can be determined. In addition, these highlighted images are not drawn in a portion overlapping the subsequent vehicle in the image.
FIG. 7 shows a fourth display example in which a highlighted image is superimposed on a captured image different from that in FIG. In this example, it is assumed that a succeeding vehicle is present in a blind spot that is on the adjacent lane immediately beside the host vehicle and is outside the imaging range of the camera 20. For example, a situation in which the first succeeding vehicle overtakes the host vehicle from the situation illustrated in FIG. In such a case, if a high-risk area derived from the following vehicle out of the captured image remains in the display range, a highlighted image representing a high-risk state is displayed superimposed on the captured image. The At this time, when displaying a highlight image derived from a subsequent vehicle existing outside the display range, a warning mark indicating that the subsequent vehicle exists outside the display range may be displayed.
Highlighting display superimposed on the captured image when it is determined in S108, S114 of the risk determination process (see FIG. 2) regarding the first succeeding vehicle that is the latest vehicle. You may make it change the display mode of an image. Specifically, it is conceivable that the display is emphasized more than usual by changing the color of the highlighted image or blinking during operation of the direction indicator. By doing in this way, when the driver intends to change lanes, the danger associated with changing lanes can be easily recognized.
In the display examples of FIGS. 5 and 6, the case has been described in which the highlighted image corresponding to the risk level of each stage is displayed from the high risk area to the low risk area. Alternatively, the highlighted image may be displayed for a high risk area and nothing may be displayed for a low risk area.
The in-vehicle system 1 according to the embodiment has the following effects.
Based on the degree of risk evaluated for a plurality of succeeding vehicles traveling in the adjacent lane, a highlighted image that can determine the degree of the risk associated with the lane change is displayed superimposed on the captured image acquired from the camera 20. it can. In addition, the highlighted image can be displayed in association with the adjacent areas before and after each succeeding vehicle and the area between the succeeding vehicles. By doing in this way, the driver | operator can grasp | ascertain the danger accompanying a lane change not only about the next one following vehicle but the subsequent vehicles after that.
Further, based on the operation of the direction indicator, a warning sound corresponding to the degree of danger can be generated and the display mode of the highlighted image can be changed. Thus, when the driver intends to change lanes, the driver can clearly understand the danger associated with the lane change.
DESCRIPTION OF SYMBOLS 1 ... Car-mounted system, 10 ... Exercise support apparatus, 11 ... Control part, 12 ... Display output part, 13 ... Warning sound output part, 20 ... Camera, 21 ... Back vehicle detection part, 22 ... Speed sensor, 23 ... Winker switch, 30 ... display, 31 ... speaker.
Acquisition means (20) for imaging an adjacent lane on the rear side of the own vehicle, information on presence / absence of a plurality of subsequent vehicles traveling on the adjacent lane on the rear side of the own vehicle, and information on the positions of the subsequent vehicles A driving support device (10) connected to be communicable with a status acquisition means (21) and a display means (30) for displaying an image,
Image acquisition means (11) for acquiring a picked-up image picked up by the image pickup means;
Calculation means (11) for calculating the distance and relative speed between the host vehicle and the following vehicle and the distance and relative speed between the following vehicles based on the information acquired by the situation acquisition means;
Evaluation means (11) for evaluating the risk associated with the own vehicle changing lanes to the adjacent lane for the plurality of subsequent vehicles based on the distance and relative speed calculated by the calculation means;
Based on the risk evaluation result by the evaluation means, support information related to the risk associated with lane change is created in association with a road section based on the position where the plurality of subsequent vehicles exist, and the created support information Display control means (11, 12) for displaying on the display means a support image superimposed at a corresponding position on the captured image;
The display control means creates the support information corresponding to the road section immediately before and immediately after the position where each subsequent vehicle exists, and the road immediately before and after each subsequent vehicle in which the created support information is reflected in the captured image. Displaying a support image superimposed on the section;
A driving assistance device characterized by the above.
In the driving assistance device according to claim 1 or 2,
The display control means creates the support information corresponding to an intermediate road section between the two successive vehicles, and displays the created assistance information between the two succeeding vehicles on the captured image. Displaying a support image superimposed on the position of the road section;
In the driving assistance device according to any one of claims 1 to 3,
The display control means displays, as the support information, a support image obtained by superimposing on the captured image a pattern in an aspect capable of determining the degree of risk associated with a lane change;
The display control means creates the support information in which the color, pattern, or transparency of the support information is changed according to the degree of risk associated with the lane change, and the following vehicle in the captured image Do not draw the support information in the overlapping area,
The display control means creates the support information obtained by drawing a line segment whose color, thickness, or pattern is changed along the road surface in the captured image in accordance with the degree of danger accompanying the lane change. And in the area overlapping with the following vehicle in the captured image, do not draw the line segment,
The display control means draws a line segment whose color, thickness, or pattern is changed along a white line that divides the lane on the road surface in the captured image according to the degree of danger accompanying the lane change. The support information is created, and the line segment is not drawn in a region overlapping the following vehicle in the captured image;
The driving support device according to any one of claims 1 to 7,
An operation discriminating means (10) for discriminating the operating status of the direction indicator (23) installed in the host vehicle;
Warning means for causing a predetermined sound output means (31) to output a warning sound corresponding to the degree of danger evaluated by the evaluation means when the operation determination means determines that the direction indicator is operating. 11, 13)
In the driving assistance device according to any one of claims 1 to 8,
The display control means highlights the display mode of the support information when it is determined by the operation determining means that the direction indicator is operating;
JP2013245089A 2013-11-27 2013-11-27 Driving assistance device Active JP6142784B2 (en)
JP2013245089A JP6142784B2 (en) 2013-11-27 2013-11-27 Driving assistance device
US15/038,490 US9852635B2 (en) 2013-11-27 2014-10-30 Driving support apparatus
DE112014005398.8T DE112014005398T5 (en) 2013-11-27 2014-10-30 Driving support device
CN201480064367.8A CN105765641A (en) 2013-11-27 2014-10-30 Driving support device
PCT/JP2014/005500 WO2015079623A1 (en) 2013-11-27 2014-10-30 Driving support device
JP2015101282A JP2015101282A (en) 2015-06-04
JP6142784B2 true JP6142784B2 (en) 2017-06-07
ID=53198601
JP2013245089A Active JP6142784B2 (en) 2013-11-27 2013-11-27 Driving assistance device
US (1) US9852635B2 (en)
JP (1) JP6142784B2 (en)
CN (1) CN105765641A (en)
DE (1) DE112014005398T5 (en)
WO (1) WO2015079623A1 (en)
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2013-11-27 JP JP2013245089A patent/JP6142784B2/en active Active
2014-10-30 WO PCT/JP2014/005500 patent/WO2015079623A1/en active Application Filing
2014-10-30 CN CN201480064367.8A patent/CN105765641A/en not_active Application Discontinuation
2014-10-30 US US15/038,490 patent/US9852635B2/en active Active
2014-10-30 DE DE112014005398.8T patent/DE112014005398T5/en active Pending
JP2015101282A (en) 2015-06-04
WO2015079623A1 (en) 2015-06-04
DE112014005398T5 (en) 2016-08-11
US20160300491A1 (en) 2016-10-13
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2017-05-19 R151 Written notification of patent or utility model registration
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