# US 11,908,199 B2 · In-vehicle electronic control device

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- Number: US 11,908,199 B2
- Document ID: US11908199B2
- Status: Granted
- Kind: B2
- Application number: 17/254,527
- Filed: 2019-06-03
- Published: 2021-08-12
- Granted: 2024-02-20
- Earliest claimed: 2018-06-29
- Assignees: Hitachi Astemo, Ltd.
- Applicants: Hitachi Automotive Systems, Ltd.
- Inventors: Tetsuya Yamada; Teppei Hirotsu; Tomohito Ebina; Kazuyoshi Serizawa; Shouji Muramatsu
- Web page: https://patentgrep.com/patent/US11908199B2

## CPC

- G01S 13/931: of land vehicles
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences}
- G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera}
- G01S 7/2955: {Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system (G01S7/24 takes precedence; sighting devices adapted for indirect laying of fire F41G3/16; inertial navigation G01C21/16)}
- G01S 13/867: {Combination of radar systems with cameras}
- H04N 7/183: {for receiving images from a single remote source}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- G01S 7/417: {involving the use of neural networks}
- G01S 2013/93271: {in the front of the vehicles}
- G08G 1/165: {for passive traffic, e.g. including static obstacles, trees}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- 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
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

Image data captured from a traveling vehicle is considered, and it is not possible to reduce the transmission band of the image data. It is assumed that a radar 4 mounted in a traveling vehicle 10 detects a certain distant three-dimensional object at a time T in a direction of a distance d1 [m] and an angle θ1. Since the vehicle 10 travels at a vehicle speed Y [km/h], it is predicted that a camera 3 is capable of capturing the distant three-dimensional object at a time (T+ΔT) and an angle ϕ1 or at a distance d2 [m]. Therefore, if a control unit 2 outputs a request to the camera 3 in advance, so as to cut out an image of the angle ϕ1 or the distance d2 [m] at the time (T+ΔT), when the time (T+ΔT) comes, the camera 3 transfers a whole image and a high-resolution image being a cutout image of only a partial image, to the control unit 2.

## Claims

### Claim 1

An in-vehicle electronic control device comprising:
a sensor that detects a three-dimensional object;
a control unit that obtains a position of the three-dimensional object at a predetermined time that has elapsed from a time when the sensor detects the three-dimensional object, when a vehicle travels; and
an image capturing device that outputs image data obtained by capturing an image of the three-dimensional object to the control unit at the position and the predetermined time, wherein the image capturing device generates a partial image obtained by capturing the image of the three-dimensional object and a whole image at the position and the predetermined time and outputs the image data based on the generated partial image and the whole image to the control unit, the whole image being obtained by capturing an image of a range wider than a range of the partial image and having a lower resolution or a lower frame rate than a resolution or a frame rate of the partial image.

### Claim 2 (depends on 1)

The in-vehicle electronic control device according to claim 1, wherein the control unit recognizes the three-dimensional object based on the image data output by the image capturing device.

### Claim 3 (depends on 1)

The in-vehicle electronic control device according to claim 1, wherein
the sensor is a radar, and outputs the time when the sensor detects the three-dimensional object and coordinates representing the position of the three-dimensional object,
the control unit obtains the coordinates of the three-dimensional object based on the time and the coordinates, which are input from the radar, after the vehicle has traveled and the predetermined time has elapsed, and
the image capturing device captures the image of the three-dimensional object by using the coordinates of the three-dimensional object after the predetermined time has elapsed.

### Claim 4

An in-vehicle electronic control device comprising:
a sensor that detects a three-dimensional object;
a control unit that obtains a position of the three-dimensional object at a predetermined time that has elapsed from a time when the sensor detects the three-dimensional object, when a vehicle travels, wherein the control unit compares a moving amount of the vehicle to determine whether the three-dimensional object detected by the sensor is a moving object; and
an image capturing device that outputs image data obtained by capturing an image of the three-dimensional object to the control unit at the position and the predetermined time, wherein the image capturing device sets a transmission interval for outputting the image data obtained by capturing the image of the three-dimensional object to the control unit in accordance with whether or not the three-dimensional object is the moving object.

### Claim 5 (depends on 4)

The in-vehicle electronic control device according to claim 4, wherein
the control unit compares the moving amount of the vehicle to determine whether the three-dimensional object detected by the sensor is the moving object or a stationary object,
the image capturing device reduces the transmission interval for outputting the image data obtained by capturing the image of the three-dimensional object to the control unit when the three-dimensional object is the moving object, and increases the transmission interval for outputting the image data to the control unit when the three-dimensional object is the stationary object.

### Claim 6

An in-vehicle electronic control device comprising:
an image capturing device that captures an image of a three-dimensional object; and
a control unit that performs recognition processing based on image data of the three-dimensional object captured by the image capturing device,
wherein the image capturing device recognizes the three-dimensional object while a vehicle travels, manages image data of the recognized three-dimensional object with a corresponding identification number, when the control unit performs a notification of the identification number, generates a partial image of the three-dimensional object, which corresponds to the identification number and has a high resolution, and outputs the generated image data and the identification number to the control unit, and
the control unit notifies the image capturing device of the identification number of the image data required for the recognition processing.

### Claim 7 (depends on 6)

The in-vehicle electronic control device according to claim 6, wherein
the image data output to the control unit by the image capturing device is raw data.

### Claim 8 (depends on 6)

The in-vehicle electronic control device according to claim 6, wherein the image capturing device generates a partial image obtained by capturing the image of the three-dimensional object and a whole image and outputs the image data based on the generated partial image and whole image, to the control unit, the whole image being obtained by capturing an image of a range wider than a range of the partial image and having a lower resolution or a lower frame rate than a resolution or a frame rate of the partial image.

### Claim 9 (depends on 1)

The in-vehicle electronic control device according to claim 1, wherein the image data output to the control unit by the image capturing device is raw data.