公开(公告)号：US20060293843A1

公开(公告)日：2006-12-28

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

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。

公开(公告)号：US20060233424A1

公开(公告)日：2006-10-19

申请号：US11339681

申请日：2006-01-26

申请人： Takayuki Miyajima ,  Masaki Nakamura ,  Motohiro Nakamura

发明人： Takayuki Miyajima ,  Masaki Nakamura ,  Motohiro Nakamura

IPC分类号： G06K9/00

CPC分类号： G06T17/05 ,  G06K9/00798 ,  G06T7/73

摘要： A vehicle position recognition apparatus includes an image information capturing unit for capturing image information for at least the surface of a road picked up by an imaging device mounted on the vehicle; a feature-of-road information acquiring unit for acquiring information identifying ground objects around the imaged position from stored map information; an image information recognizing unit for recognition of images corresponding to the ground objects included in the image information; and a vehicle position pinpointing unit for pinpointing the position of the vehicle transverse of the road based on the acquired feature-of-road information and the position of the image of the ground object in the image formation which has been recognized by the image information recognizing unit.

摘要翻译： 车辆位置识别装置包括图像信息捕获单元，用于至少捕获由安装在车辆上的摄像装置拾取的道路的表面的图像信息; 道路信息获取单元，用于从存储的地图信息中获取识别拍摄位置周围的地面物体的信息; 图像信息识别单元，用于识别对应于包括在图像信息中的地面物体的图像; 以及车辆位置精确定位单元，用于基于所获取的道路特征信息和图像形成中的地面物体的图像的位置来精确地确定道路横向的车辆的位置，所述图像形成已被识别的图像信息识别 单元。

公开(公告)号：US08140266B2

公开(公告)日：2012-03-20

申请号：US12066907

申请日：2007-05-15

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

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

IPC分类号： G01C21/30

CPC分类号： G01C21/32 ,  B60W10/18 ,  B60W2050/0077 ,  B60W2550/00 ,  B60W2550/141 ,  B60W2550/22 ,  B60W2550/402 ,  G08G1/096716 ,  G08G1/09675 ,  G08G1/096791

摘要： Based on positioning accuracy of an own vehicle required for appropriately carrying out assistance control carried out according to a position of the own vehicle, an execution condition for map matching correcting the position of the own vehicle is set. Specifically, setting is made in such a manner that, as the positioning accuracy is higher and an error thereof is smaller, an execution frequency of map matching becomes higher. Then, map matching is carried out according to the thus-set execution condition.

摘要翻译： 基于根据本车辆的位置进行适当地执行辅助控制所需的本车辆的定位精度，设定校正本车位置的地图匹配的执行条件。 具体地说，以定位精度高，误差小的方式进行设定，地图匹配的执行频率变高。 然后，根据这样设定的执行条件进行地图匹配。

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。

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。

公开(公告)号：US07720586B2

公开(公告)日：2010-05-18

申请号：US11445229

申请日：2006-06-02

申请人： Satoshi Harumoto ,  Yuusaku Matsuda ,  Toshitaka Yamato ,  Kazuhiro Sakiyama ,  Tsuyoshi Takatori ,  Tomohiro Matsuo ,  Kouichi Tomiyama ,  Motohiro Nakamura

发明人： Satoshi Harumoto ,  Yuusaku Matsuda ,  Toshitaka Yamato ,  Kazuhiro Sakiyama ,  Tsuyoshi Takatori ,  Tomohiro Matsuo ,  Kouichi Tomiyama ,  Motohiro Nakamura

IPC分类号： G05D1/02

CPC分类号： B60W40/12 ,  B60W30/18145

摘要： A driving support apparatus supports a driver in driving a vehicle. The driving support apparatus determines a state of the vehicle by collecting information concerning an operating condition of the vehicle, determines a plurality of optimum operations of the vehicle to achieve a corresponding objective based on the determined state, and arbitrates the determined optimum operations.

摘要翻译： 驾驶支持装置支持驾驶员驾驶车辆。 驾驶辅助装置通过收集关于车辆的运行状况的信息来决定车辆的状态，根据所确定的状态确定车辆的多个最佳运行，以实现相应的目标，并对所确定的最佳运行进行仲裁。

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。

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。

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。

公开(公告)号：US20080273757A1

公开(公告)日：2008-11-06

申请号：US11793008

申请日：2006-01-25

申请人： Masaki Nakamura ,  Takayuki Miyajima ,  Motohiro Nakamura

发明人： Masaki Nakamura ,  Takayuki Miyajima ,  Motohiro Nakamura

IPC分类号： G06F15/18

CPC分类号： G06K9/00791 ,  G01C21/26 ,  G08G1/167

摘要： There is provided e.g. an image recognizing apparatus which can increase the recognition rate of the image of a recognition target even when the recognition rate in the image recognition operation would deteriorate otherwise due to inability of obtaining good image information on the recognition target, if the operation relied solely on picked up image information.The apparatus includes an image information obtaining section 3, an imaging position obtaining section 7, a land object information storing section 8, a land object information obtaining section 9 for obtaining, from the land object information storing section 8, the land object information on one or more land objects included within an imaging area of the image information, a determining section 15 for determining whether or not a plurality of recognition target land objects to be recognized are included within the imaging area of the image information, based on the obtained land object information and an image recognizing section 10 for recognizing an image of one recognition target land object, based on result of image recognition of another recognition target land object and on position relationship between the one recognition target land object and another recognition target land object based on the position information included in the land object information, if the determining section has determined that a plurality of recognition target land objects are included.

摘要翻译： 例如， 即使在图像识别操作中的识别率由于不能获得对识别目标的良好图像信息而不能恶化的情况下，也能够增加识别对象的图像的识别率的图像识别装置，如果该操作完全依赖于拾取 up图像信息。 该装置包括图像信息获取部分3，成像位置获取部分7，地面物体信息存储部分8，地面物体信息获取部分9，用于从地面物体信息存储部分8获得一个地面物体信息 或更多的地物，包括在图像信息的成像区域内的判定部15，基于所获得的陆地对象，确定是否在图像信息的摄像区域内包含多个识别目标地面物体 信息和图像识别部分10，用于基于另一识别目标地面物体的图像识别结果和基于该识别目标地面物体的另一识别目标地面物体之间的位置关系来识别一个识别目标地面物体的图像 包括在地面物体信息中的位置信息，如果确定 ng部分已经确定包括多个识别目标地面物体。