公开(公告)号：US20150049908A1

公开(公告)日：2015-02-19

申请号：US14346062

申请日：2011-09-20

申请人： Masahiro Ogawa ,  Toshiki Kindo ,  Ryuji Funayama ,  Akio Fukamachi

发明人： Masahiro Ogawa ,  Toshiki Kindo ,  Ryuji Funayama ,  Akio Fukamachi

IPC分类号： G06K9/00 ,  G06K9/46

CPC分类号： G06K9/00791 ,  B60W2420/40 ,  B60W2550/10 ,  G06K9/00335 ,  G06K9/00348 ,  G06K9/00805 ,  G06K9/4604 ,  G06K9/4671 ,  G08G1/166

摘要： The invention detects a change in a subject by detecting the subject from an image, acquiring a feature quantity distribution that indicates shape information of the detected subject, accumulating the shape information that is indicated by the acquired feature quantity distribution and comparing the shape information a predetermined period of time before with the current shape information by using the accumulated shape information. Here, the invention acquires the feature quantity distribution of the subject from a processing target area extracted from an image area that includes the subject. The invention detects a change in the subject by using accumulated shape change information acquired from the shape information. The invention detects a change in the subject by using averaged shape change information obtained by averaging the shape change information.

摘要翻译： 本发明通过从图像中检测对象来检测被摄体的变化，获取表示被检测对象的形状信息的特征量分布，累积由获取的特征量分布指示的形状信息，并将形状信息与规定的 通过使用累积的形状信息与当前形状信息之间的时间段。 这里，本发明从从包括被摄体的图像区域提取的处理目标区域中获取被摄体的特征量分布。 本发明通过使用从形状信息获取的累积形状变化信息来检测被摄体的变化。 本发明通过使用通过对形状变化信息进行平均而获得的平均形状变化信息来检测被摄体的变化。

公开(公告)号：US20140112538A1

公开(公告)日：2014-04-24

申请号：US14125862

申请日：2011-06-13

申请人： Masahiro Ogawa ,  Toshiki Kindo ,  Ryuji Funayama ,  Tadaaki Sakamoto

发明人： Masahiro Ogawa ,  Toshiki Kindo ,  Ryuji Funayama ,  Tadaaki Sakamoto

IPC分类号： G06K9/00 ,  G06T7/20

CPC分类号： G06K9/00348 ,  G06T7/20 ,  G08G1/166

摘要： A subject is to provide a pedestrian motion predicting device capable of accurately predicting a possibility of a rush out before a pedestrian actually begins to rush out. According to the embodiments, the pedestrian is detected from input image data, a portion in which the detected pedestrian is imaged is cut out from the image data, a shape of the pedestrian imaged in the cut-out partial image data is classified by collating the shape with a learning-finished identifier group or a pedestrian recognition template group, and the rush out of the pedestrian is predicted based on a result of the acquired classification.

摘要翻译： 主题是提供一种行人运动预测装置，其能够在行人实际开始冲出之前准确地预测冲出的可能性。 根据实施例，从输入图像数据中检测步行者，从图像数据切出检测到的行人被拍摄的部分，通过将切出的部分图像数据中成像的行人的形状进行分类， 形状与学习完成的标识符组或行人识别模板组，并且基于获取的分类的结果来预测行人的冲出。

公开(公告)号：US20130261952A1

公开(公告)日：2013-10-03

申请号：US13877337

申请日：2010-10-05

申请人： Kazuaki Aso ,  Toshiki Kindo ,  Katsuhiro Sakai ,  Masahiro Harada

发明人： Kazuaki Aso ,  Toshiki Kindo ,  Katsuhiro Sakai ,  Masahiro Harada

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  B60W30/0953 ,  B60W30/0956 ,  G08G1/161

摘要： A collision determination device determines the possibility of collision between a host vehicle and the other object on the basis of a shortest arrival time calculated by a shortest arrival time calculation unit and a passage time at each point of the host vehicle acquired by a vehicle route candidate acquisition unit. In this way, even if a locus to be taken by the other object is not generated, the shortest arrival time at which the other object can arrive at each point of the route candidate of the host vehicle with a predetermined first displacement is calculated, thereby determining the possibility of collision between the host vehicle and the other object. Therefore, it is possible to reduce a computational load for determining collision and to accurately determine collision between the host vehicle and the other object.

摘要翻译： 碰撞确定装置基于由最短到达时间计算单元计算的最短到达时间和由车辆路线候选者获取的本车辆的每个点处的通过时间来确定主车辆与另一物体之间的碰撞的可能性 采购单位。 以这种方式，即使不产生由另一物体拍摄的轨迹，也可以计算其他物体能够以预定的第一位移到达本车辆的路线候补的各点的最短到达时间，由此 确定本车和另一物体之间的碰撞的可能性。 因此，可以减少用于确定碰撞的计算负荷并且准确地确定主车辆与另一物体之间的碰撞。

公开(公告)号：US08515659B2

公开(公告)日：2013-08-20

申请号：US12514539

申请日：2008-03-26

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： G05D23/00

CPC分类号： G08G1/166 ,  G08G1/167

摘要： An own vehicle risk acquiring ECU 1 acquires a predicted track of an own vehicle and calculates and acquires a plurality of tracks of the other vehicle about the own vehicle. According to the predicted track of the own vehicle and the plurality of tracks of the other vehicle, a collision probability of the own vehicle is calculated as a collision possibility.

摘要翻译： 本车辆风险获取ECU1获取本车辆的预测轨道，并计算并获取其他车辆的关于本车辆的多条轨迹。 根据本车辆和其他车辆的多个轨道的预测轨迹，计算出本车辆的碰撞概率为碰撞可能性。

公开(公告)号：US20120113412A1

公开(公告)日：2012-05-10

申请号：US13322056

申请日：2009-05-29

申请人： Shinya Kawamata ,  Ryuji Funayama ,  Yasuhiro Yoshida ,  Yasukata Yokochi ,  Masato Endo ,  Toshiki Kindo ,  Kenichi Kitahama

发明人： Shinya Kawamata ,  Ryuji Funayama ,  Yasuhiro Yoshida ,  Yasukata Yokochi ,  Masato Endo ,  Toshiki Kindo ,  Kenichi Kitahama

IPC分类号： G01J3/28

CPC分类号： G01J3/2803 ,  G01J1/4204 ,  G01J3/02 ,  G01J3/0289

摘要： Provided is a moveable spectrum measuring apparatus capable of improving discrimination precision of a measuring object on the basis of observation data from a spectrum sensor mounted on a movable apparatus such as a vehicle. A measuring object and a reference body are irradiated with ambient light. A spectrum acquiring device acquires measuring object data indicating the spectrum of the measuring object, and reference body data indicating the spectrum of the reference body to become a reference at the time when the spectrum of the measuring object is corrected. A spectrum converting device has reference body reflectivity data indicating the surface reflectivity of the reference body, and creates ambient light data indicating the spectrum of the ambient light, on the basis of the reference body reflectivity data and the reference body data. By using the ambient light data, the measuring object data is converted into measuring object reflectivity data indicating the surface reflectivity of the measuring object. On the basis of the measuring object reflectivity data, a discrimination device discriminates the measuring object.

摘要翻译： 提供了一种可移动的频谱测量装置，其能够基于来自安装在诸如车辆的可移动装置的频谱传感器的观察数据来改善测量对象的辨别精度。 用环境光照射测量对象和参考体。 频谱获取装置获取指示测量对象的频谱的测量对象数据和指示在校正测量对象的频谱时参考的参考体的频谱的参考主体数据。 频谱转换装置具有指示参考体的表面反射率的参考体反射率数据，并且基于参考体反射率数据和参考体数据创建指示环境光的光谱的环境光数据。 通过使用环境光数据，将测量对象数据转换为指示测量对象的表面反射率的测量对象反射率数据。 基于测量对象反射率数据，判别装置鉴别测量对象。

公开(公告)号：US20120072104A1

公开(公告)日：2012-03-22

申请号：US13321159

申请日：2010-06-08

申请人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： G01C21/00

CPC分类号： B60W30/09 ,  B60W30/095 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/10 ,  B60W30/18 ,  B60W30/20 ,  B60W2550/10 ,  B60W2550/20 ,  G01C21/26 ,  G08G1/096725 ,  G08G1/09675 ,  G08G1/096791 ,  G08G1/162 ,  G08G1/163 ,  G08G1/166 ,  G08G1/167

摘要： Disclosed is a route evaluation device that enables traveling along a route in consideration of an operation of the driver of another vehicle, and can realize a safer traffic environment. A route evaluation device includes a route candidate generation section that generates route candidates of a host-vehicle, a route prediction section that predicts routes of another vehicle, a classification section that classifies the interference states of the route candidates of the host-vehicle and the predicted routes of another vehicle into a plurality of interference forms, and a route evaluation section that evaluates the routes of the host-vehicle on the basis of the interference forms classified by the classification section.

摘要翻译： 公开了一种能够考虑到另一车辆的驾驶员的操作而沿着路线行驶的路线评价装置，能够实现更安全的交通环境。 路线评价装置包括：生成主车辆的路线候补的路线候补生成部，预测其他车辆的路线的路线预测部;对本车辆的路线候补的干扰状态进行分类的分类部; 将另一车辆的路线预测为多个干扰形式，以及路线评估部，其基于由分类部分分类的干扰形式来评估主机车辆的路线。

公开(公告)号：US20120059789A1

公开(公告)日：2012-03-08

申请号：US13320706

申请日：2010-04-26

申请人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Toshiki Kindo

IPC分类号： G06N5/02

CPC分类号： G08G1/161

摘要： Disclosed is a vehicular environment estimation device capable of accurately estimating a travel environment around own vehicle on the basis of a predicted route of a mobile object or the like, which is moving in a blind area. A vehicular environment estimation device that is mounted in the own vehicle detects a behavior of another vehicle in the vicinity of the own vehicle, and estimates a travel environment, which affects the traveling of another vehicle, on the basis of the behavior of another vehicle. For example, the presence of another vehicle, which is traveling in a blind area, is estimated on the basis of the behavior of another vehicle. Therefore, it is possible to estimate a vehicle travel environment that cannot be recognized by the own vehicle but can be recognized by another vehicle in the vicinity of the own vehicle.

摘要翻译： 公开了一种车辆环境估计装置，其能够基于在盲区移动的移动体等的预测路线来精确地估计本车辆周围的行驶环境。 安装在本车辆中的车辆环境估计装置检测本车辆附近的其他车辆的行为，并且根据其他车辆的行为来估计影响另一车辆的行驶的行驶环境。 例如，基于另一车辆的行为来估计在盲区行驶的另一车辆的存在。 因此，可以估计本车辆不能识别的车辆行驶环境，但是可以在本车辆附近的其他车辆识别车辆行驶环境。

公开(公告)号：US20100235099A1

公开(公告)日：2010-09-16

申请号：US12714728

申请日：2010-03-01

申请人： Katsuhiro Sakai ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Toshiki Kindo

IPC分类号： G08G1/16

CPC分类号： G08G1/16 ,  G08G1/166 ,  G08G1/167

摘要： There is a driving assisting apparatus capable of reducing a feeling of discomfort of a driver by respecting the driver's operation as much as possible in a range where an obstacle can be reliably avoided by intervention control. An ECU 2 of a driving assisting apparatus 1 includes an obstacle detecting section 22, a control course calculating section 23, a determination section 24, and an intervention control executing section 25. The obstacle detecting section 22 detects an obstacle region around a vehicle. The control course calculating section 23 calculates an intervention control course, which can be taken by the vehicle, when the intervention control is executed after the driver's operation is allowed for a predetermined time. The determination section 24 determines whether the number of intervention control courses, which do not overlap the obstacle region, is equal to or smaller than a predetermined number from the obstacle region transmitted from the obstacle detecting section 22 and the intervention control course transmitted from the control course calculating section 23. The intervention control executing section 25 executes intervention control along the intervention control course when the number of intervention control courses is the predetermined number.

摘要翻译： 在通过介入控制可以可靠地避免障碍物的范围内，可以通过尊重驾驶员的操作尽可能地减轻驾驶者的不适感的驾驶辅助装置。 驾驶辅助装置1的ECU2包括障碍物检测部22，控制路线计算部23，判定部24以及介入控制执行部25.障碍物检测部22检测车辆周围的障碍物区域。 控制路线计算部23在驾驶员的操作允许了规定时间之后执行干预控制时，计算车辆可以进行的介入控制路线。 确定部分24确定与障碍物区域不重叠的干预控制进程的数量是否等于或小于从障碍物检测部分22发送的障碍物区域的预定数量和从控制器发送的干预控制进程 课程计算部23.当干预控制课程的数量是预定数量时，干预控制执行部分25执行沿着干预控制过程的干预控制。

公开(公告)号：US20100217476A1

公开(公告)日：2010-08-26

申请号：US12738644

申请日：2008-10-14

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： B60R21/00 ,  G08G1/16

CPC分类号： B60W30/09 ,  B60W10/18 ,  B60W10/20 ,  B60W30/095 ,  B60W30/18172 ,  B60W50/08 ,  B60W2040/0818 ,  B60W2540/00 ,  B60W2550/20 ,  B60W2710/18 ,  B60W2710/20 ,  B62D15/0265 ,  G05D1/0088 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： A vehicle traveling controller performs emergency evacuation traveling in the case of an emergency. The vehicle traveling controller determines whether a vehicle traveling in accordance with a normal traveling rule is not dangerous and becomes proper traveling or not based on environmental information around the vehicle, when it is determined that the vehicle traveling in accordance with the normal traveling rule becomes proper traveling, executes normal traveling control for instructing the vehicle to travel in accordance with the normal traveling rule, and when the vehicle traveling in accordance with the normal traveling rule does not become proper traveling, executes emergency evacuation traveling control for instructing the vehicle to perform emergency evacuation traveling not in accordance with the normal traveling rule. Therefore, emergency evacuation traveling with high safety can be performed, compared with vehicle traveling in accordance with the normal traveling rule, so safety of vehicle traveling can be improved.

摘要翻译： 车辆行驶控制器在紧急情况下执行紧急疏散行驶。 车辆行驶控制装置根据正常行驶规则，根据正常行驶规则行驶的车辆是否合适，判定根据正常行驶规则行驶的车辆是否不危险，并且基于车辆周围的环境信息变为适当行驶 执行正常行驶控制，指示车辆按照正常行驶规则行驶，当根据正常行驶规则行驶的车辆不适当行驶时，执行用于指示车辆执行紧急事故的紧急撤离行驶控制 撤离行驶不符合正常行驶规则。 因此，与根据正常行驶规则行驶的车辆相比，可以进行高安全性的紧急撤离行驶，可以提高车辆行驶的安全性。

公开(公告)号：US20100121576A1

公开(公告)日：2010-05-13

申请号：US12452395

申请日：2008-07-10

申请人： Kazuaki Aso ,  Toshiki Kindo ,  Masahiro Harada

发明人： Kazuaki Aso ,  Toshiki Kindo ,  Masahiro Harada

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  G01S13/726 ,  G01S2013/9353 ,  G08G1/16

摘要： A host-vehicle risk acquisition device includes a host-vehicle path acquisition portion that acquires a path of a host-vehicle, and an obstacle path acquisition portion that acquires a plurality of paths of an obstacle existing around the host-vehicle. A collision risk acquisition portion acquires an actual collision risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle is in a travel state based on the path of the host-vehicle and the plurality of paths of the obstacle. An offset risk acquisition portion acquires an offset risk, which is a collision risk between the host-vehicle and the obstacle in an offset travel state, which is offset from the travel state of the host-vehicle.

摘要翻译： 主机车辆风险获取装置包括获取主车辆的路径的主车辆路径获取部分和获取主机周围存在的障碍物的多条路径的障碍物路径获取部分。 碰撞风险获取部分基于主机车辆的路径和主车辆的路径，当主车辆处于行驶状态时，获取作为主机与障碍物之间的碰撞风险的实际碰撞风险 障碍。 偏移风险获取部获取偏移风险，该偏移风险是偏移行驶状态下的主车辆与障碍物之间的碰撞风险，该偏移风险偏离主车辆的行驶状态。