公开(公告)号：US20080232198A1

公开(公告)日：2008-09-25

申请号：US12063961

申请日：2006-08-29

申请人： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

发明人： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

IPC分类号： G01S15/93

CPC分类号： G01S15/025 ,  G01S7/52004 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2015/934 ,  G01S2015/935 ,  G01S2015/936

摘要： A reflection-point estimation section constituting an object detection apparatus first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angleφ=atan{(dn+1−dn)/In} in which n is a natural number. Subsequently, the reflection-point estimation section obtains estimated reflection points Pn′ after correction, by rotating each estimated reflection point Pn based on the calculation result.

摘要翻译： 构成物体检测装置的反射点估计部分首先利用以下事实来计算每个估计反射点P N n N的旋转校正角，使用以下事实： 检测到的声纳的距离d N n N以及相对于与物体表面垂直的方向的切线几乎相等：＆lt;θin＆ line-formula description =“In-line Formulas”end =“lead”？>旋转校正anglephi = atan {（d）n + 1 n <？in-line-formula description =“In-line Formulas”end =“tail”？>其中n是自然数。 随后，反射点估计部通过基于计算结果旋转每个估计反射点P＆lt; N＆lt; N＆gt;获得校正后的估计反射点P＆lt; N＆gt;'。

公开(公告)号：US09708003B2

公开(公告)日：2017-07-18

申请号：US14392177

申请日：2013-06-26

申请人： Hironobu Ishijima ,  Eriko Yamazaki ,  Keisuke Oyama ,  Hisashi Satonaka ,  Hidehiko Miyoshi ,  Keisuke Hata

发明人： Hironobu Ishijima ,  Eriko Yamazaki ,  Keisuke Oyama ,  Hisashi Satonaka ,  Hidehiko Miyoshi ,  Keisuke Hata

IPC分类号： B62D15/02

CPC分类号： B62D15/0285

摘要： When performing automatic control of a steering device that assists a host vehicle to be pulled into or out of a parking space, an electronic control unit performs the following procedure. When there is, as a path for pulling the vehicle into or out of the parking space, a path in which a predicted temperature of the steering device for when the automatic control is performed to move the vehicle along the path would be lower than an allowable upper limit value, the electronic control unit starts the automatic control to move the vehicle along the path. In contrast, when there is no path in which the predicted temperature is lower than the allowable upper limit value, the electronic control unit prohibits the automatic control.

公开(公告)号：US20140136096A1

公开(公告)日：2014-05-15

申请号：US14111377

申请日：2012-04-13

申请人： Ryuji Funayama ,  Jun Sato ,  Hisashi Satonaka ,  Keiichi Yamada ,  Hideki Banno ,  Osami Yamamoto ,  Kensaku Asahi ,  Akira Ogawa

发明人： Ryuji Funayama ,  Jun Sato ,  Hisashi Satonaka ,  Keiichi Yamada ,  Hideki Banno ,  Osami Yamamoto ,  Kensaku Asahi ,  Akira Ogawa

IPC分类号： G01S3/808

CPC分类号： G01S3/808 ,  G01S3/8083 ,  G01S11/14

摘要： An approaching vehicle detecting system that detects an approaching vehicle on the basis of sounds collected by a plurality of sound collectors mounted on a host vehicle determines whether a transverse moving direction of a sound source detected by the plurality of sound collectors is a direction approaching the host vehicle, determines whether a vertical position of the sound source detected using the plurality of sound collectors is in the same plane as that of the host vehicle, and detects that sound source as the approaching vehicle when it is determined that the transverse moving direction of the sound source is the direction approaching the host vehicle and the vertical position of the sound source is in the same plane as that of the host vehicle.

摘要翻译： 基于由安装在主车辆上的多个收集器收集的声音来检测接近的车辆的接近车辆检测系统确定由多个收集器检测到的声源的横向移动方向是否是接近主机的方向 确定使用多个收集器检测到的声源的垂直位置是否处于与本车辆相同的平面中，并且当确定该声源的横向移动方向时，检测该声源作为接近车辆 声源是接近主车辆的方向，声源的垂直位置在与本车辆相同的平面上。

公开(公告)号：US07843767B2

公开(公告)日：2010-11-30

申请号：US12063961

申请日：2006-08-29

申请人： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

发明人： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

IPC分类号： G01S15/93

CPC分类号： G01S15/025 ,  G01S7/52004 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2015/934 ,  G01S2015/935 ,  G01S2015/936

摘要： A reflection-point estimation section constituting an object detection apparatus first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angleφ=a tan {(dn+1−dn)/In} in which n is a natural number. Subsequently, the reflection-point estimation section obtains estimated reflection points Pn′ after correction, by rotating each estimated reflection point Pn based on the calculation result.

摘要翻译： 构成物体检测装置的反射点估计部分首先利用以下事实来计算每个估计反射点Pn的旋转校正角，使用以下事实：检测距离dn的变化量与移动量In 的声纳几乎等于相对于垂直于物体表面的方向的切线：旋转校正角＆phgr = = tan（（dn + 1-dn）/ In}其中n是自然数。 随后，反射点估计部通过基于计算结果旋转每个估计反射点Pn来获得校正后的估计反射点Pn'。

公开(公告)号：US07739046B2

公开(公告)日：2010-06-15

申请号：US11324583

申请日：2006-01-04

申请人： Hisashi Satonaka ,  Masato Okuda ,  Hiroshi Toyoda

发明人： Hisashi Satonaka ,  Masato Okuda ,  Hiroshi Toyoda

IPC分类号： G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G01M15/00 ,  G01M17/04 ,  B60Q1/00 ,  B60Q1/48 ,  G08G1/16 ,  G08G1/14

CPC分类号： B62D15/0285 ,  G01S2013/9314 ,  G01S2015/935 ,  G01S2015/936

摘要： In a parking support device, a distance measuring unit measures a quantity equivalent to a distance from an automotive vehicle to an object existing in a predetermined direction. A storage unit stores a sequence of points indicating results of the measurement performed multiple times. A first object specifying unit generates first object information based on the sequence of points when a length of the sequence of points has exceeded a first reference length. A second object specifying unit generates second object information based on the sequence of points when a length of the sequence of points has exceeded a second, larger reference length. A target parking position is determined based on the first object information in a stage where the first object information is generated.

摘要翻译： 在停车辅助装置中，距离测量单元测量相当于从机动车辆到存在于预定方向的物体的距离的量。 存储单元存储指示多次执行测量结果的点的顺序。 第一对象指定单元，当点序列的长度超过第一参考长度时，基于点的序列生成第一对象信息。 第二对象指定单元，当点序列的长度超过第二较大参考长度时，基于点序列生成第二对象信息。 基于在生成第一对象信息的阶段中的第一对象信息来确定目标停车位置。

公开(公告)号：US20090121899A1

公开(公告)日：2009-05-14

申请号：US11996571

申请日：2006-07-26

申请人： Toshiaki Kakinami ,  Hisashi Satonaka

发明人： Toshiaki Kakinami ,  Hisashi Satonaka

IPC分类号： G08G1/16

CPC分类号： B62D15/027 ,  B60W30/06 ,  B60W40/04 ,  G06K9/00805 ,  G06K9/00812

摘要： To provide a parking assistance device for accurately detecting obstacles in the periphery of a parking zone; for detecting a parking space in which a vehicle can be parked without coming into contact with the obstacles; and for satisfactorily assisting a driving operation. The parking assistance device detects a stationary object present in the periphery of a vehicle, and assists in parking the vehicle. The parking assistance device comprises surface shape detection means (1) for detecting the surface shape information of the stationary object; shape recognition means (2) for recognizing the outline shape of the stationary object on the basis of the surface shape information; movement status detection means (6) for detecting the movement status of the vehicle; relative placement calculation means (3) for calculating the relative placement relationship of the vehicle and the stationary object on the basis of the surface shape information, the outline shape, and the movement status; and parking space detection means (4) for detecting a parking space in which the vehicle can be parked on the basis of the placement relationship.

摘要翻译： 提供一种用于准确地检测停车区周围的障碍物的停车辅助装置; 用于检测车辆可以停放而不与障碍物接触的停车空间; 并且令人满意地协助驾驶操作。 停车辅助装置检测存在于车辆周边的静止物体，并辅助停车。 所述停车辅助装置包括用于检测所述静止物体的表面形状信息的表面形状检测装置（1） 形状识别装置（2），用于基于表面形状信息识别静止物体的轮廓形状; 用于检测车辆的运动状态的运动状态检测装置（6） 相对位置计算装置（3），用于根据表面形状信息，轮廓形状和运动状态计算车辆和静止物体的相对位置关系; 以及停车位检测单元（4），用于基于所述配置关系来检测能够停放所述车辆的停车空间。

公开(公告)号：US20060167633A1

公开(公告)日：2006-07-27

申请号：US11322353

申请日：2006-01-03

申请人： Hisashi Satonaka ,  Masato Okuda ,  Takao Yamaga

发明人： Hisashi Satonaka ,  Masato Okuda ,  Takao Yamaga

IPC分类号： G06G7/78

CPC分类号： G01S13/931 ,  B60W10/20 ,  B62D15/027 ,  G01S2013/9314 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9385 ,  G01S2015/935 ,  G01S2015/936 ,  G06K9/00805 ,  G06K9/00812 ,  G08G1/165 ,  G08G1/166 ,  G08G1/168

摘要： A neighboring object information acquisition device comprises a distance measuring unit measuring a quantity equivalent to a distance to a neighboring object in a predetermined direction. A storage unit stores a sequence of points indicating results of the measurement performed multiple times. An object detection unit detects existence of the object based on the sequence of points. An approximation unit outputs an approximation of the sequence of points by applying a curve or a straight line, so that an approximate curve or an approximate straight line is derived. An evaluation unit outputs a result of evaluation of a reliability of the sequence of points. A determination unit determines object information by selecting one of information derived from the sequence of points and information derived from the result of approximation in accordance with the result of evaluation.

摘要翻译： 相邻对象信息获取装置包括距离测量单元，该距离测量单元在预定方向上测量与相邻对象的距离相当的量。 存储单元存储指示多次执行测量结果的点的顺序。 对象检测单元基于点的顺序来检测对象的存在。 近似单元通过应用曲线或直线输出点序列的近似值，从而导出近似曲线或近似直线。 评估单元输出点序列的可靠性的评价结果​​。 确定单元根据评估结果从点序列导出的信息和从近似结果得到的信息中选择一个来确定对象信息。

公开(公告)号：US5892855A

公开(公告)日：1999-04-06

申请号：US720031

申请日：1996-09-27

申请人： Toshiaki Kakinami ,  Mitsuyoshi Saiki ,  Kunihiko Soshi ,  Hisashi Satonaka

发明人： Toshiaki Kakinami ,  Mitsuyoshi Saiki ,  Kunihiko Soshi ,  Hisashi Satonaka

IPC分类号： G01C3/06 ,  B60R21/00 ,  B60W30/00 ,  G01S11/12 ,  G01V8/10 ,  G05D1/02 ,  G06K9/46 ,  G06T1/00 ,  G08G1/16 ,  G06K9/36

CPC分类号： G06K9/4633 ,  G01S11/12 ,  G05D1/0246 ,  B60T2201/08 ,  B60T2201/089 ,  G05D2201/0213

摘要： An onboard forward monitoring system is disclosed in which three television cameras, each supported by a steering mechanism, take picture of a road surface located forward of a vehicle at near distance, a medium distance and a far distance zone to detect white lines which partition a lane on the road surface, thus detecting a vehicle running ahead on the lane which is defined by the white lines. To enable a reliable detection and tracking of the vehicle running ahead in any zone of the road surface even when the road is curved, the individual television cameras are steered so that a vehicle running ahead is positioned at the center of the screen whenever such vehicle is present and so that a center across the width of the lane is positioned at the center of screen when a vehicle running ahead is not detected.

摘要翻译： 公开了一种车载前进监视系统，其中每个由转向机构支撑的三台电视摄像机拍摄位于近距离，中距离和远距离区域的车辆前方的路面，以检测分隔一个 车道，从而检测在由白线限定的车道上向前行驶的车辆。 为了能够可靠地检测和跟踪在路面的任何区域中向前行驶的车辆，即使在道路弯曲的情况下，单独的电视摄像机被转向，使得在车辆的中心处前方的车辆位于屏幕的中心， 并且使得当没有检测到前方行驶的车辆时，跨过车道的宽度的中心位于屏幕的中心。

公开(公告)号：US20140129091A1

公开(公告)日：2014-05-08

申请号：US14089349

申请日：2013-11-25

申请人： Eriko YAMAZAKI ,  Hisashi Satonaka ,  Michihito Shimada ,  Hironobu Ishijima ,  Hidehiko Miyoshi ,  Keisuke Hata

发明人： Eriko YAMAZAKI ,  Hisashi Satonaka ,  Michihito Shimada ,  Hironobu Ishijima ,  Hidehiko Miyoshi ,  Keisuke Hata

IPC分类号： B62D15/02

CPC分类号： B62D15/0285 ,  B60W30/06 ,  B62D5/0481 ,  B62D5/0496

摘要： A parking assist device assists entry or exit of a vehicle with respect to a parking space through an automatic control of a steering device. The parking assist device includes: a calculator that obtains, to perform the automatic control of the steering device, a path for allowing the vehicle to enter or exit the parking space based on the parking space, calculates an amount of temperature rise of the steering device at the execution of the automatic control for allowing the vehicle to move along the obtained path, and calculates a predicted temperature of the steering device at the execution of the automatic control by adding the calculated amount of temperature rise to a current value of the temperature of the steering device; and a controller that inhibits the execution of the automatic control when the predicted temperature is equal to or higher than a determination value.

摘要翻译： 停车辅助装置通过自动控制转向装置来辅助车辆相对于停车位的进出。 停车辅助装置包括：计算器，其根据停车空间获取执行转向装置的自动控制的路径，计算出车辆进入或离开停车空间的路径，计算转向装置的升温量 在执行用于允许车辆沿所获得的路径移动的自动控制的过程中，并且通过将计算出的升温量相加到当前温度的当前值，计算出执行自动控制时的转向装置的预测温度 转向装置; 以及当预测温度等于或高于确定值时禁止执行自动控制的控制器。

公开(公告)号：US07903842B2

公开(公告)日：2011-03-08

申请号：US11663065

申请日：2006-04-19

申请人： Hisashi Satonaka

发明人： Hisashi Satonaka

IPC分类号： G06K9/00

CPC分类号： G05D1/0246 ,  B60T2201/10 ,  B60W10/20 ,  B60W30/09 ,  B60W40/072 ,  B60W40/076 ,  B60W2420/42 ,  B60W2550/20 ,  B62D15/027 ,  B62D15/0285 ,  G01S13/867 ,  G01S13/931 ,  G01S15/025 ,  G01S2013/9314 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9364 ,  G01S2015/936 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0272 ,  G05D2201/0213 ,  G06K9/00798 ,  G06K9/00812 ,  G06T7/74 ,  G06T2207/10016 ,  G06T2207/30264

摘要： A target position setting device includes a distance meter, an imager, first and second calculating portions, a determination portion, and a setting portion. The distance meter measures a distance to an object around a vehicle. The imager takes an image of an environment around the vehicle. The first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter. The second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager. The determination portion determines whether a relationship between the first candidate and the second candidate meets a given condition. The setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate and the second candidate meets the given condition.

摘要翻译： 目标位置设定装置包括距离计，成像器，第一和第二计算部，确定部和设定部。 距离计测量与车辆周围物体的距离。 成像仪拍摄车辆周围的环境。 第一计算部根据距离计的测量结果来计算车辆的目标位置的第一候选。 第二计算部根据成像器的成像结果计算车辆的目标位置的第二候选。 确定部分确定第一候选者和第二候选人之间的关系是否满足给定条件。 当确定部分确定第一候选者和第二候选人之间的关系满足给定条件时，设置部分根据目标位置的第二候选项设置目标位置。