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    Lane determining device, method, and program
    21.
    发明申请
    Lane determining device, method, and program 有权
    车道确定装置，方法和程序

    公开(公告)号：US20080208460A1

    公开(公告)日：2008-08-28

    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： G01C21/26

    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，系统和方法确定在道路上是否在车辆的前方存在分支点。 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。

    Road-map-data configuration and navigation apparatus
    22.
    发明申请
    Road-map-data configuration and navigation apparatus 审中-公开
    路线图 - 数据配置和导航设备

    公开(公告)号：US20080208459A1

    公开(公告)日：2008-08-28

    申请号：US12068479

    申请日：2008-02-07

    申请人： Seiji Takahata ,  Motohiro Nakamura

    发明人： Seiji Takahata ,  Motohiro Nakamura

    IPC分类号： G01C21/26

    CPC分类号： G01C21/32

    摘要： A computer readable medium having stored thereon road-map-data including pieces of link information having different accuracy levels based on the accuracies of sources of the link information, whereby a computer is able to appropriately configure road-network data, on the basis of an accuracy level given in each of the pieces of link information. The road-map-data includes the road-network data representing roads as links and including connection relationships among the links, and the pieces of link information used to configure the road network data. Each piece of link information for a given link includes accuracy level information based on the accuracy of the source of that piece of link information.

    摘要翻译： 一种计算机可读介质，其基于所述链接信息的来源的准确性，在其上存储有包括具有不同准确度级别的链接信息的道路地图数据，由此计算机能够基于以下方式适当地配置道路网络数据： 每个链接信息中给出的精度水平。 路线图数据包括表示道路作为链路并且包括链路之间的连接关系的路网数据和用于配置道路网数据的链接信息。 给定链接的每条链接信息包括基于该段链接信息的源的准确性的准确度级别信息。

    Object recognition device
    25.
    发明授权
    Object recognition device 有权
    物体识别装置

    公开(公告)号：US07898437B2

    公开(公告)日：2011-03-01

    申请号：US12067100

    申请日：2007-05-15

    申请人： Kiyokazu Okada ,  Motohiro Nakamura ,  Masaki Nakamura ,  Makoto Hasunuma

    发明人： Kiyokazu Okada ,  Motohiro Nakamura ,  Masaki Nakamura ,  Makoto Hasunuma

    IPC分类号： G08G1/123

    CPC分类号： G01C7/04 ,  G01C21/30 ,  G01C21/3602 ,  G06K9/00798 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

    摘要： An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases. Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.

    摘要翻译： 物体识别装置基于通过GPS获得的行驶路径，车速，转向角等来检测车辆的位置，并且还基于使用拍摄图像获得的对象的识别结果来检测车辆的位置 的相机。 该装置在检测车辆位置时计算定位精度，随着车辆的移动距离增加，该精度大部分劣化。 要识别的道路上的对象的位置数据预先存储在地图数据库中。 基于检测到的车辆的位置，存储在地图数据库中的对象的位置和计算出的定位精度来设定待识别对象的道路的识别范围。 通过处理摄像机的拍摄图像，可以识别出设定的识别范围。

    Navigation apparatus
    26.
    发明授权
    Navigation apparatus 有权
    导航仪

    公开(公告)号：US07809503B2

    公开(公告)日：2010-10-05

    申请号：US11794301

    申请日：2005-12-27

    申请人： Masaki Nakamura ,  Takayuki Miyajima ,  Motohiro Nakamura

    发明人： Masaki Nakamura ,  Takayuki Miyajima ,  Motohiro Nakamura

    IPC分类号： G01C21/30

    CPC分类号： G08G1/096827 ,  G01C21/3415 ,  G01C21/3691 ,  G08G1/096844

    摘要： A navigation apparatus is obtained that can reduce as much as possible to blank interval during the navigation even when a route deviation has occurred. In order to structure a navigation apparatus that includes a guided vehicle position determining portion 3c that finds the position of a guided vehicle and a recommended route searching portion 3i that searches for a recommended route to a destination point, a problem condition identifying portion 3f is provided that identifies the presence or absence of a problem condition that makes the travel along the recommended route Ro difficult when viewed in terms of the current condition of the guided vehicle with respect to the recommended route Ro forward travel side of the position of the guided vehicle, and a route deviation plan portion 3h is provided that sets a point that the guided vehicle is anticipated to reach under the presence of the problem condition to the starting point, activates the recommended route searching portion 3i, and searches for a new recommended route Rn from the starting point to a destination point in the case in which the problem condition identifying portion 3f has identified that a problem condition is present.

    摘要翻译： 获得导航装置，尽管即使发生了路线偏差，也可以尽可能地减少导航期间的空白间隔。 为了构造导航装置，其包括找到导向车辆的位置的引导车辆位置确定部分3c和搜索到目的地点的推荐路线的推荐路线搜索部分3i，提供了问题状况识别部分3f 其识别存在或不存在问题状况的存在或不存在，当沿着被引导车辆的当前状态相对于被引导车辆的位置的推荐路线Ro向前行驶侧观察时，沿着推荐路线Ro的行驶困难， 并且提供了一个路线偏离平面部分3h，其将存在有问题状况的导向车辆预期到达的点设置到起点，激活推荐路线搜索部分3i，并且搜索新的推荐路线Rn， 在问题条件识别部分3的情况下到目的地点的起始点 f已经确定存在问题条件。

    OBJECT RECOGNITION DEVICE
    28.
    发明申请
    OBJECT RECOGNITION DEVICE 有权
    对象识别装置

    公开(公告)号：US20100061591A1

    公开(公告)日：2010-03-11

    申请号：US12067100

    申请日：2007-05-15

    申请人： Kiyokazu Okada ,  Motohiro Nakamura ,  Masaki Nakamura ,  Makoto Hasunuma

    发明人： Kiyokazu Okada ,  Motohiro Nakamura ,  Masaki Nakamura ,  Makoto Hasunuma

    IPC分类号： G06K9/00

    CPC分类号： G01C7/04 ,  G01C21/30 ,  G01C21/3602 ,  G06K9/00798 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

    摘要： An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases.Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.

    摘要翻译： 物体识别装置基于通过GPS获得的行驶路径，车速，转向角等来检测车辆的位置，并且还基于使用拍摄图像获得的对象的识别结果来检测车辆的位置 的相机。 该装置在检测车辆位置时计算定位精度，随着车辆的移动距离增加，该精度大部分劣化。 要识别的道路上的对象的位置数据预先存储在地图数据库中。 基于检测到的车辆的位置，存储在地图数据库中的对象的位置和计算出的定位精度来设定待识别对象的道路的识别范围。 通过处理摄像机的拍摄图像，可以识别出设定的识别范围。

    Driving Support Apparatus and Method
    29.
    发明申请
    Driving Support Apparatus and Method 有权
    驾驶支援装置及方法

    公开(公告)号：US20090326814A1

    公开(公告)日：2009-12-31

    申请号：US11793772

    申请日：2005-12-26

    申请人： Satoshi Harumoto ,  Yuusaku Matsuda ,  Kazuyuki Matsumura ,  Teruomi Kuwano ,  Shuuji Yamada ,  Taiichiro Sakoda ,  Ryouhei Kanemaru ,  Hidenobu Suzuki ,  Motohiro Nakamura ,  Masato Kobayashi

    发明人： Satoshi Harumoto ,  Yuusaku Matsuda ,  Kazuyuki Matsumura ,  Teruomi Kuwano ,  Shuuji Yamada ,  Taiichiro Sakoda ,  Ryouhei Kanemaru ,  Hidenobu Suzuki ,  Motohiro Nakamura ,  Masato Kobayashi

    IPC分类号： G01C21/36

    CPC分类号： G09B29/102 ,  G01C21/3655 ,  G01C21/3658 ,  G08G1/0969

    摘要： To provide a driving support apparatus that performs guidance with suitable contents at suitable timing based on a situation. A GPS 11 obtains positional information, a lane recognizing section 12 recognizes a current driving lane that is a lane on the road in which the vehicle is currently running, a driver recognizing section 13 recognizes the driver, and a driving-history data 23 stores therein driving course along which the vehicle have been driven. A lane-course setting unit 22 sets a driving schedule lane that is a lane in which the vehicle is to be driven based on the driving schedule course set by an overall-course setting section 21 and the current driving lane, and a guiding process unit 30 controls a timing of performing course guidance and contents of the course guidance based on shapes of the road, difficulty in driving, skill of the driver, driving history, and traffic information.

    摘要翻译： 提供一种基于情况在适当的时间以合适的内容进行引导的驾驶辅助装置。 GPS11获取位置信息，车道识别部12识别作为车辆当前行驶的道路上的车道的当前行驶车道，驾驶员识别部13识别驾驶员，驾驶历史数据23存储在车内 车辆被驱动的驾驶过程。 车道路线设定单元22基于由整体路线设定部21和当前行驶车道设定的驾驶时间表进度来设定作为车辆的行驶路线的行驶时间表，以及引导处理单元 30根据道路的形状，驾驶难题，驾驶者的驾驶记录，行驶历史以及交通信息来控制课程指导和课程指导的内容的时间。

    Systems, methods, and programs for determining whether a vehicle is on-road or off-road
    30.
    发明授权
    Systems, methods, and programs for determining whether a vehicle is on-road or off-road 失效
    用于确定车辆是否在道路或越野的系统，方法和程序

    公开(公告)号：US07463974B2

    公开(公告)日：2008-12-09

    申请号：US11313625

    申请日：2005-12-22

    申请人： Hideaki Morita ,  Makoto Hasunuma ,  Yusuke Ohashi ,  Motohiro Nakamura

    发明人： Hideaki Morita ,  Makoto Hasunuma ,  Yusuke Ohashi ,  Motohiro Nakamura

    IPC分类号： G01C21/00 ,  G06F19/00

    CPC分类号： G01C21/30

    摘要： Systems, methods, and programs for determining whether a vehicle is off-road or on-road, store map data, determine the vehicle's current position; and obtain information about an area around the current position of the vehicle from the stored map data. The systems, methods, and programs obtain information related to a road-side zone of a road from the obtained information about the area around the current position of the vehicle, and determine that the road-side zone is crossed. The systems, methods, and programs may make an off-road determination if the determined current position of the vehicle was on-road before the crossing of the road-side zone and make an on-road determination if the current position of the vehicle was off-road before the crossing of the road-side zone.

    摘要翻译： 用于确定车辆是否越野或在路上的系统，方法和程序，存储地图数据，确定车辆的当前位置; 并从存储的地图数据中获取关于车辆的当前位置的区域的信息。 系统，方法和程序从获得的关于车辆当前位置周围的区域的信息获取与道路侧区域有关的信息，并且确定道路侧区域是交叉的。 系统，方法和程序可以进行越野的确定，如果车辆的确定的当前位置在道路侧区域的过境之前在道路上，并进行道路确定，如果车辆的当前位置是 路边越过越野路边。