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    PERIODIC STATIONARY OBJECT DETECTION SYSTEM AND PERIODIC STATIONARY OBJECT DETECTION METHOD
    11.
    发明申请
    PERIODIC STATIONARY OBJECT DETECTION SYSTEM AND PERIODIC STATIONARY OBJECT DETECTION METHOD 有权
    周期性静态对象检测系统和周期性静态对象检测方法

    公开(公告)号：US20130322688A1

    公开(公告)日：2013-12-05

    申请号：US13821918

    申请日：2012-02-17

    申请人： Chikao Tsuchiya ,  Yasuhisa Hayakawa ,  Shinya Tanaka ,  Hiroyuki Furushou ,  Osamu Fukata

    发明人： Chikao Tsuchiya ,  Yasuhisa Hayakawa ,  Shinya Tanaka ,  Hiroyuki Furushou ,  Osamu Fukata

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00791 ,  G06K9/00805 ,  G06K9/50 ,  G06T7/246 ,  G06T2207/30252 ,  G08G1/167

    摘要： A periodic stationary object detection system extracts a feature point of a three-dimensional object from image data on a predetermined region of a bird's eye view image for each of multiple sub regions included in the predetermined region, calculates waveform data corresponding to a distribution of the feature points in the predetermined region on the bird's eye view image, and judges whether or not the three-dimensional object having the extracted feature point is a periodic stationary object candidate on the basis of whether or not peak information of the waveform data is equal to or larger than a predetermined threshold value.

    摘要翻译： 周期性静止物体检测系统从包括在预定区域中的多个子区域中的每一个的鸟瞰图图像的预定区域上的图像数据中提取三维物体的特征点，计算对应于预定区域的分布的波形数据 特征点在鸟瞰图图像上的预定区域中，并且基于波形数据的峰值信息是否等于，判断具有提取的特征点的三维对象是否是周期性静止候选对象 或大于预定阈值。

    DRIVING ASSISTANCE DEVICE AND METHOD OF DETECTING VEHICLE ADJACENT THERETO
    12.
    发明申请
    DRIVING ASSISTANCE DEVICE AND METHOD OF DETECTING VEHICLE ADJACENT THERETO 审中-公开
    驾驶辅助装置和检测车辆相似性的方法

    公开(公告)号：US20130242102A1

    公开(公告)日：2013-09-19

    申请号：US13823414

    申请日：2012-04-11

    申请人： Chikao Tsuchiya ,  Yasuhisa Hayakawa ,  Shinya Tanaka ,  Osamu Fukata

    发明人： Chikao Tsuchiya ,  Yasuhisa Hayakawa ,  Shinya Tanaka ,  Osamu Fukata

    IPC分类号： H04N7/18

    CPC分类号： H04N7/18 ,  G06K9/00805 ,  G08G1/166 ,  G08G1/167

    摘要： A driving assistance device includes a camera, a moving object detector, a candidate reflection region detector, a predetermined position brightness detector and a cause determiner. The moving object detector and the candidate reflection region detector sets a detection region for detecting, from image data captured by the camera, existence of an adjacent vehicle in an adjacent lane. The predetermined position brightness detector detects a candidate light projecting object which projects light with brightness equal to or higher than a predetermined threshold value. The cause determiner determines whether or not there exists a candidate light projecting object which indicates existence of the adjacent vehicle in the detection region.

    摘要翻译： 驾驶辅助装置包括摄像机，移动物体检测器，候选反射区域检测器，预定位置亮度检测器和原因确定器。 移动物体检测器和候选反射区域检测器设置用于从相机拍摄的图像数据检测相邻车道中相邻车辆的存在的检测区域。 预定位置亮度检测器检测投影亮度等于或高于预定阈值的光的候选投光物体。 原因确定器确定在检测区域中是否存在指示相邻车辆的存在的候选投光对象。

    DRIVING ASSISTANCE SYSTEM AND RAINDROP DETECTION METHOD THEREOF
    15.
    发明申请
    DRIVING ASSISTANCE SYSTEM AND RAINDROP DETECTION METHOD THEREOF 审中-公开
    驾驶辅助系统及其RAINDROP检测方法

    公开(公告)号：US20140028849A1

    公开(公告)日：2014-01-30

    申请号：US14111409

    申请日：2012-03-08

    申请人： Chikao TSUCHIYA ,  Yasuhisa Hayakawa

    发明人： Chikao TSUCHIYA ,  Yasuhisa Hayakawa

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00791 ,  B60R1/00 ,  B60R2300/8053 ,  G06K9/00805 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30252 ,  H04N7/18

    摘要： A driving assistance system 1 is installed in a moving object and includes; image-capturing means 10 to capture a surrounding image I including a portion of the moving object, first edge line storing means 22 to store a first edge line E1 detected from a first surrounding image I captured in normal conditions by the image-capturing means 10, and calculating means 23 to calculate a matching degree between the first edge line E1 and a second edge line E2 detected from a second surrounding image I currently captured by the image-capturing means 10. A raindrop judging means 24 judges that a raindrop is attached to the lens unit of the image-capturing means 10 in response to a decrease in the matching degree between the first edge line E1 and the second edge line E2.

    摘要翻译： 驾驶辅助系统1安装在移动物体中，并且包括： 拍摄包含移动物体的一部分的周围图像I的图像拍摄单元10，第一边缘线存储单元22，存储由图像拍摄单元10在正常状态拍摄的第一周围图像I中检测出的第一边缘线E1 以及计算装置23，用于计算从由图像捕获装置10当前捕获的第二周围图像I检测到的第一边缘线E1和第二边缘线E2之间的匹配度。雨滴判断装置24判断雨滴附着 响应于第一边缘线E1和第二边缘线E2之间的匹配度的减小，到图像拍摄装置10的透镜单元。

    THREE-DIMENSIONAL OBJECT DETECTION DEVICE
    17.
    发明申请
    THREE-DIMENSIONAL OBJECT DETECTION DEVICE 有权
    三维物体检测装置

    公开(公告)号：US20140368656A1

    公开(公告)日：2014-12-18

    申请号：US14363882

    申请日：2012-07-27

    申请人： Yasuhisa Hayakawa ,  Osamu Fukata

    发明人： Yasuhisa Hayakawa ,  Osamu Fukata

    IPC分类号： B60R1/00 ,  G06K9/00 ,  G06T7/00

    CPC分类号： G06K9/00805 ,  B60R1/002 ,  B60R2300/607 ,  B60R2300/802 ,  B60R2300/804 ,  G06K9/00791 ,  G06K9/00798 ,  G06T7/13 ,  G06T2207/10004 ,  G06T2207/20048 ,  G06T2207/30252 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/166 ,  G08G1/167 ,  H04N7/18

    摘要： A three-dimensional object detection device can enhance the accuracy in detecting a three-dimensional object regardless of the brightness in the detection environment. The device has an image capture means that captures an image of a predetermined area and an image conversion means that converts the image through a viewpoint conversion into birds-eye view image. A first three-dimensional object detection means aligns positions of bird's-eye view images at different times obtained by the image conversion means, counts the number of pixels that exhibit a predetermined difference on a differential image of the aligned bird's-eye view images to generate a frequency distribution thereby creating differential waveform information, and detects a three-dimensional object on the basis of the differential waveform information. A second three-dimensional object detection means detects edge information from the bird's-eye view image obtained by the image conversion means and detects a three-dimensional object on the basis of the edge information.

    摘要翻译： 无论检测环境中的亮度如何，三维物体检测装置可以提高三维物体的检测精度。 该装置具有捕获预定区域的图像的图像捕获装置和通过视点转换将图像转换成鸟瞰图像的图像转换装置。 第一三维物体检测装置对由图像转换装置获得的不同时间的鸟瞰图图像的位置进行排列，对对准的鸟瞰图图像的差分图像计数出具有预定差异的像素数，以产生 频率分布，从而产生差分波形信息，并且基于差分波形信息来检测三维物体。 第二三维物体检测装置检测由图像转换装置获得的鸟瞰图的边缘信息，并根据边缘信息检测三维物体。

    Vehicle driving control apparatus and vehicle driving control method
    18.
    发明授权
    Vehicle driving control apparatus and vehicle driving control method 有权
    车辆驾驶控制装置和车辆驾驶控制方法

    公开(公告)号：US08655549B2

    公开(公告)日：2014-02-18

    申请号：US12497787

    申请日：2009-07-06

    申请人： Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato ,  Shuhei Nishimaki

    发明人： Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato ,  Shuhei Nishimaki

    IPC分类号： B62D6/00

    CPC分类号： B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/08

    摘要： A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.

    摘要翻译： 车辆行驶控制装置具备车道检测装置，未来位置估计装置和车辆控制装置。 车道检测装置检测车道的车道标记。 未来位置估计装置在规定的时间量之后估计本车辆的未来横向位置。 车辆控制装置执行车辆控制，使得向主车辆向车道的中心施加横摆力矩。 在确定未来横向位置比从预先使用车道标记作为参考确定的规定的宽度方向车道位置横向更远离车道中部的车道中间位置时，赋予偏航力矩。 当车道标记的识别度低于规定值时，车辆控制装置抑制偏航力矩装置的赋予。

    Vehicle driving assistant and vehicle driving assisting method
    19.
    发明授权
    Vehicle driving assistant and vehicle driving assisting method 有权
    车辆驾驶助理和车辆驾驶辅助方法

    公开(公告)号：US08577515B2

    公开(公告)日：2013-11-05

    申请号：US13384017

    申请日：2010-07-15

    申请人： Masahiro Kobayashi ,  Yasuhisa Hayakawa ,  Kou Sato

    发明人： Masahiro Kobayashi ,  Yasuhisa Hayakawa ,  Kou Sato

    IPC分类号： G05D1/00 ,  G05D3/00 ,  G06F7/00 ,  G06F17/00

    CPC分类号： B60T8/17558 ,  B60K2350/1084 ,  B60T7/22 ,  B60T2201/08 ,  B60T2210/32 ,  B60W30/08 ,  B60W2550/10 ,  G08G1/166 ,  G08G1/167

    摘要： A driving assisting system for a vehicle comprises a side obstacle detector configured to detect an obstacle present in an obstacle detection area; an obstacle approach prevention controller configured to implement an obstacle approach prevention control which assists an approach prevention for preventing the vehicle from approaching an obstacle detected by the side obstacle detector; an overtaking state detector configured to detect an overtaking state which is at least one of a first state where the vehicle is overtaking the obstacle detected by the side obstacle detector and a second state where the vehicle is estimated to overtake the obstacle. The overtaking state detector is configured to detect the overtaking state based at least on (i) a distance between the vehicle and the obstacle, (ii) a speed of the vehicle relative to the obstacle, and (iii) a detection angle of the obstacle relative to the vehicle.

    摘要翻译： 一种用于车辆的驾驶辅助系统，包括：侧障碍物检测器，被配置为检测障碍物检测区域中存在的障碍物; 障碍物进近防止控制器，被配置为实现障碍物进近防止控制，其辅助防止车辆接近由侧面障碍物检测器检测到的障碍物的防止接近; 超车状态检测器，被配置为检测超车状态，所述超车状态是车辆超越侧障碍物检测器检测到的障碍物的第一状态和估计车辆超过障碍物的第二状态中的至少一个。 超车状态检测器被配置为至少基于（i）车辆与障碍物之间的距离，（ii）车辆相对于障碍物的速度，以及（iii）障碍物的检测角度来检测超车状态 相对于车辆。

    RUNNING CONTROL DEVICE, AND RUNNING CONTROL METHOD
    20.
    发明申请
    RUNNING CONTROL DEVICE, AND RUNNING CONTROL METHOD 失效
    运行控制装置和运行控制方法

    公开(公告)号：US20110137487A1

    公开(公告)日：2011-06-09

    申请号：US13055979

    申请日：2009-06-12

    申请人： Shuhei Nishimaki ,  Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato

    发明人： Shuhei Nishimaki ,  Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato

    IPC分类号： G08G1/16 ,  G06F7/00

    CPC分类号： G01S13/931 ,  B60T7/22 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/0956 ,  B60W30/12 ,  B60W2720/14 ,  B62D6/002 ,  B62D15/025 ,  B62D15/0265 ,  G01S2013/9342 ,  G08G1/16 ,  G08G1/167

    摘要： [Object] An object of the present invention is to restrict an unnecessary control intervention at a scene where a vehicle avoids an obstacle etc. ahead of the vehicle by steering.[Means to Solve] A lateral object that exists on a side of the vehicle is detected (step S3), a later-arriving lateral position Xf at which the vehicle arrives after a lapse of a headway time Tt, with respect to a traffic lane, is estimated, and when the later-arriving lateral position Xf reaches a predetermined threshold value XL under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1 (step S6). Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1 (step S7). When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time Tm elapses, then the suppression of the lateral movement is forbidden (step S9).

    摘要翻译： 本发明的目的是通过转向来限制车辆在车辆前方的障碍物等的场合的不必要的控制干预。 [解决方法]检测存在于车辆一侧的横向物体（步骤S3），相对于行车道，车辆到达后的车辆到达的后方侧向位置Xf ，并且当在检测到侧面物体的条件下后来到达的横向位置Xf达到预定阈值XL时，车辆沿横向物体侧的方向的车道改变被抑制。 当检测到车辆在与侧车辆的侧面相反的方向上横向移动时，将回避标志设置为Fa = 1（步骤S6）。 随后，当车辆沿着侧车辆侧面的方向开始横向移动时，将返回标志设定为Fr = 1（步骤S7）。 当以这种方式将返回标志设置为Fr = 1时，抑制标志被设置为F = 0，直到经过设定时间Tm，则禁止横向移动的抑制（步骤S9）。