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    Vehicle behavior learning apparatuses, methods, and programs
    11.
    发明申请
    Vehicle behavior learning apparatuses, methods, and programs 审中-公开
    车辆行为学习装置，方法和程序

    公开(公告)号：US20090005929A1

    公开(公告)日：2009-01-01

    申请号：US12213076

    申请日：2008-06-13

    申请人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

    发明人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

    IPC分类号： G06F17/00

    CPC分类号： G01C21/36 ,  B60T7/22 ,  B60T2210/36 ,  B60T2220/02 ,  B60T2270/86 ,  B60W10/06 ,  B60W10/08 ,  B60W10/11 ,  B60W10/22 ,  B60W40/02 ,  B60W2530/14 ,  B60W2550/402 ,  B62D1/02 ,  B62D15/00 ,  G01C21/26 ,  G06N20/00

    摘要： Vehicle behavior learning apparatuses, methods, and programs acquire image information of an area around a vehicle and perform image recognition of a particular feature included in the image information. The apparatuses, methods, and programs detect a behavior of the vehicle and acquire relation information indicating the relationship between the detected behavior of the and the recognized particular feature before the recognition of the behavior. The apparatuses, methods, and programs store detected behavior information including behavior property information indicating a property of the detected behavior of the vehicle and the acquired relation information associated with the behavior in a memory and produce learned behavior information indicating a result of learning of the behavior related to the particular feature on the basis of the stored detected behavior information.

    摘要翻译： 车辆行为学习装置，方法和程序获取车辆周围区域的图像信息，并执行包含在图像信息中的特定特征的图像识别。 装置，方法和程序检测车辆的行为，并获取指示在识别行为之前检测到的特征和识别的特征之间的关系的关系信息。 装置，方法和程序存储检测到的行为信息，包括指示车辆的检测行为的特性的行为属性信息和与存储器中的行为相关联的获取的关系信息，并产生表示行为学习结果的学习行为信息 基于存储的检测到的行为信息与特定特征相关。

    Feature information collecting apparatuses, methods, and programs
    14.
    发明授权
    Feature information collecting apparatuses, methods, and programs 有权
    特征信息采集装置，方法和程序

    公开(公告)号：US08213682B2

    公开(公告)日：2012-07-03

    申请号：US12073867

    申请日：2008-03-11

    申请人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    发明人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    IPC分类号： G06K9/00

    CPC分类号： G01C21/26 ,  G01C21/32

    摘要： Apparatuses, methods, and programs acquire vehicle position information that represents a current position of a vehicle, acquire image information of a vicinity of the vehicle, and carry out image recognition processing of a target feature that is included in the image information to determine a position of the target feature. The apparatuses, methods, and programs store recognition position information that is based on the acquired vehicle position information and that represents the determined recognition position of the target feature. The apparatuses, methods, and programs determine an estimated position of the target feature based on a set of a plurality of stored recognition position information for the target feature, the plurality of stored recognition position information for the target feature being stored due to the target feature being subject to image recognition processing a plurality of times.

    摘要翻译： 装置，方法和程序获取表示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并对包含在图像信息中的目标特征进行图像识别处理，以确定位置 的目标特征。 设备，方法和程序存储基于获取的车辆位置信息并且表示确定的目标特征的识别位置的识别位置信息。 装置，方法和程序基于目标特征的多个存储的识别位置信息的集合来确定目标特征的估计位置，由于目标特征，存储了目标特征的多个存储的识别位置信息 进行图像识别处理多次。

    Feature information management apparatuses, methods, and programs
    15.
    发明授权
    Feature information management apparatuses, methods, and programs 有权
    特征信息管理装置，方法和程序

    公开(公告)号：US08184861B2

    公开(公告)日：2012-05-22

    申请号：US12073876

    申请日：2008-03-11

    申请人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    发明人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    IPC分类号： G06K9/00

    CPC分类号： G01C21/26 ,  G01C11/00 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/2054 ,  G06K9/3233 ,  G06K9/4671

    摘要： Apparatuses, methods and programs store a plurality of target types, each target type having recognition attribute information indicating the likelihood that the target type will be recognized based on a type of road or a type of area. The apparatuses, methods and programs acquire vehicle position information indicating a current position of a vehicle, acquire image information in the vicinity of the vehicle, and acquire road attribute information about a road on which the vehicle is traveling, the road attribute information acquired based on the vehicle position information. The apparatuses, methods and programs determine a target type defining a target for image recognition within the image information, the target type being determined based on the acquired road attribute information and the stored recognition attribute information, and perform image recognition of a target feature included in the image information, the target feature being of the determined target type.

    摘要翻译： 设备，方法和程序存储多个目标类型，每个目标类型具有指示基于道路类型或区域类型将识别目标类型的可能性的识别属性信息。 所述装置，方法和程序获取指示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并且获取关于车辆行驶的道路的道路属性信息，基于 车辆位置信息。 设备，方法和程序确定在图像信息内定义用于图像识别的目标的目标类型，基于所获取的道路属性信息和存储的识别属性信息确定目标类型，并执行包括在目标特征中的目标特征的图像识别 所述图像信息，所述目标特征是所确定的目标类型。

    Feature information management apparatuses, methods, and programs
    16.
    发明申请
    Feature information management apparatuses, methods, and programs 有权
    特征信息管理装置，方法和程序

    公开(公告)号：US20080240506A1

    公开(公告)日：2008-10-02

    申请号：US12073876

    申请日：2008-03-11

    申请人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    发明人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    IPC分类号： G06K9/00

    CPC分类号： G01C21/26 ,  G01C11/00 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/2054 ,  G06K9/3233 ,  G06K9/4671

    摘要： Apparatuses, methods and programs store a plurality of target types, each target type having recognition attribute information indicating the likelihood that the target type will be recognized based on a type of road or a type of area. The apparatuses, methods and programs acquire vehicle position information indicating a current position of a vehicle, acquire image information in the vicinity of the vehicle, and acquire road attribute information about a road on which the vehicle is traveling, the road attribute information acquired based on the vehicle position information. The apparatuses, methods and programs determine a target type defining a target for image recognition within the image information, the target type being determined based on the acquired road attribute information and the stored recognition attribute information, and perform image recognition of a target feature included in the image information, the target feature being of the determined target type.

    摘要翻译： 设备，方法和程序存储多个目标类型，每个目标类型具有指示基于道路类型或区域类型将识别目标类型的可能性的识别属性信息。 所述装置，方法和程序获取指示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并且获取关于车辆行驶的道路的道路属性信息，基于 车辆位置信息。 设备，方法和程序确定在图像信息内定义用于图像识别的目标的目标类型，基于所获取的道路属性信息和存储的识别属性信息确定目标类型，并执行包括在目标特征中的目标特征的图像识别 所述图像信息，所述目标特征是所确定的目标类型。

    Feature information collecting apparatuses, methods, and programs
    17.
    发明申请
    Feature information collecting apparatuses, methods, and programs 有权
    特征信息采集装置，方法和程序

    公开(公告)号：US20080240505A1

    公开(公告)日：2008-10-02

    申请号：US12073867

    申请日：2008-03-11

    申请人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    发明人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    IPC分类号： G06K9/00

    CPC分类号： G01C21/26 ,  G01C21/32

    摘要： Apparatuses, methods, and programs acquire vehicle position information that represents a current position of a vehicle, acquire image information of a vicinity of the vehicle, and carry out image recognition processing of a target feature that is included in the image information to determine a position of the target feature. The apparatuses, methods, and programs store recognition position information that is based on the acquired vehicle position information and that represents the determined recognition position of the target feature. The apparatuses, methods, and programs determine an estimated position of the target feature based on a set of a plurality of stored recognition position information for the target feature, the plurality of stored recognition position information for the target feature being stored due to the target feature being subject to image recognition processing a plurality of times.

    摘要翻译： 装置，方法和程序获取表示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并对包含在图像信息中的目标特征进行图像识别处理，以确定位置 的目标特征。 设备，方法和程序存储基于获取的车辆位置信息并且表示确定的目标特征的识别位置的识别位置信息。 装置，方法和程序基于目标特征的多个存储的识别位置信息的集合来确定目标特征的估计位置，由于目标特征，存储了目标特征的多个存储的识别位置信息 进行图像识别处理多次。

    Feature information collecting apparatus and feature information collecting method
    18.
    发明授权
    Feature information collecting apparatus and feature information collecting method 有权
    特征信息采集装置和特征信息采集方法

    公开(公告)号：US08229169B2

    公开(公告)日：2012-07-24

    申请号：US12076068

    申请日：2008-03-13

    申请人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    发明人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    IPC分类号： G06K9/46

    CPC分类号： G06K9/00798 ,  G01C21/26 ,  G06K9/00577

    摘要： Feature information collecting apparatuses, methods, and programs acquire vehicle position information that represents the current position of a vehicle, acquire image information for a vicinity of the vehicle, and carry out image recognition processing on recognition target objects that are included in the image information. The apparatuses, methods, and programs store recognition information in a memory that represents a result of the image recognition of the recognition target objects in association with information for the recognition position of the recognition target objects, the recognition position determined based on the vehicle position information. The apparatuses, methods, and programs extract, as learned features, recognition target objects that can be repeatedly recognized by image recognition based on a plurality of sets of recognition information related to the same position, the plurality of sets of recognition information being stored due to the image information for the same position being recognized a plurality of times by image recognition.

    摘要翻译： 特征信息收集装置，方法和程序获取表示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并对包含在图像信息中的识别目标对象进行图像识别处理。 设备，方法和程序将识别信息存储在与识别目标对象的识别位置的信息相关联的表示识别目标对象的图像识别结果的存储器中，基于车辆位置信息确定的识别位置 。 所述设备，方法和程序提取作为学习特征的识别目标对象，所述识别目标对象可以基于与相同位置相关的多组识别信息通过图像识别重复识别，所述多组识别信息由于 用于通过图像识别识别多个相同位置的图像信息。

    Feature information collecting apparatus and feature information collecting method
    19.
    发明申请
    Feature information collecting apparatus and feature information collecting method 有权
    特征信息采集装置和特征信息采集方法

    公开(公告)号：US20080240573A1

    公开(公告)日：2008-10-02

    申请号：US12076068

    申请日：2008-03-13

    申请人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    发明人： Masaki Nakamura ,  Koichi Nakao ,  Motoki Kanba

    IPC分类号： G06K9/46

    CPC分类号： G06K9/00798 ,  G01C21/26 ,  G06K9/00577

    摘要： Feature information collecting apparatuses, methods, and programs acquire vehicle position information that represents the current position of a vehicle, acquire image information for a vicinity of the vehicle, and carry out image recognition processing on recognition target objects that are included in the image information. The apparatuses, methods, and programs store recognition information in a memory that represents a result of the image recognition of the recognition target objects in association with information for the recognition position of the recognition target objects, the recognition position determined based on the vehicle position information. The apparatuses, methods, and programs extract, as learned features, recognition target objects that can be repeatedly recognized by image recognition based on a plurality of sets of recognition information related to the same position, the plurality of sets of recognition information being stored due to the image information for the same position being recognized a plurality of times by image recognition.

    摘要翻译： 特征信息收集装置，方法和程序获取表示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并对包含在图像信息中的识别目标对象进行图像识别处理。 设备，方法和程序将识别信息存储在与识别目标对象的识别位置的信息相关联的表示识别目标对象的图像识别结果的存储器中，基于车辆位置信息确定的识别位置 。 所述设备，方法和程序提取作为学习特征的识别目标对象，所述识别目标对象可以基于与相同位置相关的多组识别信息通过图像识别重复识别，所述多组识别信息由于 用于通过图像识别识别多个相同位置的图像信息。

    Lane determining device, method, and program
    20.
    发明授权
    Lane determining device, method, and program 有权
    车道确定装置，方法和程序

    公开(公告)号：US08112222B2

    公开(公告)日：2012-02-07

    申请号：US12068807

    申请日：2008-02-12

    申请人： Koichi Nakao ,  Masaki Nakamura ,  Motohiro Nakamura

    发明人： Koichi Nakao ,  Masaki Nakamura ,  Motohiro Nakamura

    IPC分类号： G05D1/02

    CPC分类号： G01C21/3658 ,  G01C21/3602

    摘要： Devices, methods, and programs obtain vehicle position information indicating a current position of a vehicle, and based on the vehicle position information, obtain road information including positions and forms of lane markings around the current position of the vehicle. Based on the road information, the devices, systems, and methods determine whether a branch point exists on the road in a forward direction of the vehicle. If a branch point exists, the devices, methods, and programs obtain image information of an area before the branch point, and determine whether no lane marking is imaged or is partly imaged in the image information of the area before the branch point. If there is no lane marking or only a partial lane marking imaged in the area before the branch point, the devices, methods, and programs obtain image information of the branch point including a captured image of a lane marking, and determine a lane in which the vehicle is traveling after the branch point based on an imaging order of the lane marking, a form of the lane marking, a position of the lane marking in the image information of the branch point, and the road information.

    摘要翻译： 装置，方法和程序获取指示车辆的当前位置的车辆位置信息，并且基于车辆位置信息，获得包括车辆当前位置周围的车道标记的位置和形式的道路信息。 基于道路信息，设备，系统和方法确定道路上是否存在分支点在车辆的前方。 如果存在分支点，则设备，方法和程序获得分支点之前的区域的图像信息，并且确定在分支点之前的区域的图像信息中是否对车道标记成像或部分成像。 如果在分支点之前的区域中没有车道标记或者仅仅局部车道标记成像，则设备，方法和程序获得包括车道标记的拍摄图像的分支点的图像信息，并且确定其中 基于车道标记的成像顺序，车道标记的形式，分支点的图像信息中的车道标记的位置和道路信息，车辆在分支点之后行驶。