公开(公告)号：US5155426A

公开(公告)日：1992-10-13

申请号：US790402

申请日：1991-11-12

申请人： Kunihiko Kurami

发明人： Kunihiko Kurami

IPC分类号： G05D1/02

CPC分类号： G05D1/0246 ,  G05D2201/0213

摘要： To smoothly switching the steering direction of the vehicle automatically driven along a road, leftward and rightward steering angles (.theta..sub.L, .theta..sub.R) are obtained on the basis of leftward and rightward white lines and by means of leftward and rightward cameras (7, 8) and image processors (9, 10) and a calculator (12), respectively. The obtained leftward and rightward steering angles are compared by a switching section (3). The steering angle output (.theta..sub.out) is switched to the leftward or rightward steering angle (.theta..sub.L, .theta..sub.R) only when both steering angles first roughly match each other, after the steering angle direction signal has been inputted to the switching section from another travel control unit.

摘要翻译： 为了平滑地切换沿着道路自动驱动的车辆的转向方向，基于左右白线并借助于左右摄像机（7,8）获得左右转向角（θL，θR） ）和图像处理器（9,10）和计算器（12）。 所获得的左右转向角由切换部（3）进行比较。 只有当转向角方向信号已从另一个输入到切换部分之后，转向角输出（θout）才会转向左右转向角（θL，θR） 旅行控制单元。

公开(公告)号：US4771389A

公开(公告)日：1988-09-13

申请号：US853900

申请日：1986-04-21

申请人： Tohru Takahashi ,  Kunihiko Kurami

发明人： Tohru Takahashi ,  Kunihiko Kurami

IPC分类号： B25J9/16 ,  B25J9/10 ,  B25J9/18 ,  G05B13/00 ,  G05B13/02 ,  G05B19/23

CPC分类号： G05B19/232 ,  G05B2219/33074

摘要： A control method and unit for controlling an industrial robot or a manipulator in which a parameter a of a transfer function of a reference model is determined in accordance with the positioning time and a moving angle of the manipulator from the starting point to the end point of control and each of control gains are determined in accordance with the parameter thus determined so as to average or make the positioning time uniform among arm shafts of the manipulator. With this construction, the dispersion of the positioning time among the arm shafts are removed and a high speed positioning control of the manipulator is realized.

摘要翻译： 一种用于控制工业机器人或机械手的控制方法和单元，其中根据定位时间和操纵器从起点到终点的移动角确定参考模型的传递函数的参数a 控制和每个控制增益根据如此确定的参数来确定，以平均或使机器人的臂轴之间的定位时间一致。 通过这种结构，能够消除臂轴之间的定位时间的分散，实现机械手的高速定位控制。

公开(公告)号：US5278764A

公开(公告)日：1994-01-11

申请号：US646543

申请日：1991-01-28

申请人： Haruhiko Iizuka ,  Kunihiko Kurami

发明人： Haruhiko Iizuka ,  Kunihiko Kurami

IPC分类号： B60T7/12 ,  B60T7/22 ,  B60T8/174 ,  B60T13/66 ,  B60W30/00 ,  B60T8/32

CPC分类号： B60T7/22 ,  B60T13/662

摘要： An automatic braking system for a vehicle is provided. This system includes generally a speed sensor for monitoring speed of the vehicle and a distance sensor for monitoring a distance between the vehicle and the preceding vehicle. The system determines a marginal time required for the vehicle to collide with the preceding vehicle based on speed relative to the preceding vehicle and the distance to the preceding vehicle to automatically actuate a brake when the marginal time is shorter than a preselected marginal time.

摘要翻译： 提供一种用于车辆的自动制动系统。 该系统通常包括用于监测车辆速度的速度传感器和用于监测车辆与前一车辆之间的距离的距离传感器。 该系统基于相对于前一车辆的速度和与前一车辆的距离来确定车辆与前一车辆碰撞所需的边际时间，以在边际时间短于预选边缘时间时自动启动制动器。

公开(公告)号：US5163002A

公开(公告)日：1992-11-10

申请号：US700707

申请日：1991-05-16

申请人： Kunihiko Kurami

发明人： Kunihiko Kurami

IPC分类号： G01B11/00 ,  G01C15/00 ,  G05D1/02 ,  G06T1/00 ,  G06T7/60

CPC分类号： G05D1/0246 ,  G05D2201/0213

摘要： A method and an apparatus for automatic steering control of an automobile, which can be carried out efficiently by using only one regression equation for calculating a steering angle. In the apparatus, a white line drawn on a road is detected by camera; a distance of the detected white line with respect to a view axis of the camera is determined; the determined distance is transformed into a corresponding distance of the white line with respect to a prescribed point on a central axis of the automobile; a steering angle is calculated according to the obtained corresponding distance; and a steering of the automobile is controlled according to the calculated steering angle such that the automobile follows the white line.

摘要翻译： 一种用于汽车的自动转向控制的方法和装置，其可以通过仅使用一个用于计算转向角的回归方程来有效地执行。 在该装置中，通过照相机检测在道路上绘制的白线; 确定检测到的白线相对于照相机的视轴的距离; 所确定的距离被转换为白线相对于汽车的中心轴上的规定点的相应距离; 根据获得的相应距离计算转向角; 并且根据计算出的转向角来控制汽车的转向，使得汽车遵循白线。

公开(公告)号：US5081585A

公开(公告)日：1992-01-14

申请号：US208313

申请日：1988-06-15

申请人： Kunihiko Kurami ,  Norimasa Kishi ,  Kazunori Noso ,  Akira Hattori

发明人： Kunihiko Kurami ,  Norimasa Kishi ,  Kazunori Noso ,  Akira Hattori

IPC分类号： G05D1/02

CPC分类号： G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274

摘要： An image processing section receives data from cameras mounted on the vehicle and produces an image or images from which a first set of so called "local" data is derived and compiled. A sensor section senses the rotational characteristics of two vehicle wheels and the conditions prevailing on either side of the vehicle and complies a second set of so called "global" data. The local and global data are compared and data is only accepted in the event that the differences between the two sets of data fall within predetermined limits and data which falls outside of the ranges deemed erroneous and rejected.

摘要翻译： 图像处理部分从安装在车辆上的摄像机接收数据，并产生一个图像或图像，从中导出和编译第一组所谓的“本地”数据。 传感器部分感测两个车轮的旋转特性以及车辆两侧的条件，并符合第二组所谓的“全局”数据。 对本地和全球数据进行比较，只有在两组数据之间的差异落在预定限度内且数据超出被认为是错误和被拒绝的范围的情况下，数据才被接受。

公开(公告)号：US20060055565A1

公开(公告)日：2006-03-16

申请号：US10938813

申请日：2004-09-10

申请人： Yukihiro Kawamata ,  Deepak Ramaswamy ,  Kunihiko Kurami

发明人： Yukihiro Kawamata ,  Deepak Ramaswamy ,  Kunihiko Kurami

IPC分类号： G08G1/123 ,  G08G1/09 ,  G08G1/00

CPC分类号： B60R11/04 ,  G08G1/0962

摘要： A system and method for displaying traffic information in an automotive navigation system having a display, memory and a data receiver. The method includes the first step of storing in a traffic speed table in memory at least two speed threshold limits wherein each speed threshold limit represents a different traffic flow category. The receiver receives data representative of the vehicle speed on at least one road segment and compares that received vehicle speed data with the traffic speed table to determine the traffic flow category corresponding to the received speed data for the road segment. A visual indicator is then displayed on the display which corresponds to the traffic flow category for the road segment. The user is able to customize the speed threshold limits through a GUI. These speed threshold limits are further user modifiable as a function of weather, day of the week, road conditions, type of road, as well as other factors.

摘要翻译： 一种用于在具有显示器，存储器和数据接收器的汽车导航系统中显示交通信息的系统和方法。 该方法包括在存储器中的业务速度表中存储至少两个速度阈值限制的第一步骤，其中每个速度阈值限制表示不同的业务流类别。 接收器接收代表至少一个路段的车辆速度的数据，并将接收到的车辆速度数据与业务速度表进行比较，以确定与路段的接收到的速度数据相对应的业务流量类别。 然后在显示器上显示对应于道路段的交通流类别的视觉指示符。 用户能够通过GUI自定义速度阈值限制。 这些速度阈值限制可以进一步用户修改，作为天气，星期几，路况，道路类型以及其他因素的函数。

公开(公告)号：US5289181A

公开(公告)日：1994-02-22

申请号：US792178

申请日：1991-11-14

申请人： Hiroshi Watanabe ,  Junichi Kasai ,  Kunihiko Kurami ,  Hiroyuki Kamishima

发明人： Hiroshi Watanabe ,  Junichi Kasai ,  Kunihiko Kurami ,  Hiroyuki Kamishima

IPC分类号： G08G1/16 ,  B60W30/00 ,  G08G1/0965 ,  G08G1/00

CPC分类号： G08G1/0965

摘要： To activate an alarm generator mounted on each of other vehicles except opposing vehicles running on an opposing lane, the alarm system for an automotive vehicle which informs other vehicles of the presence of its own vehicle comprises a timing detector for detecting a timing when the alarm system is activated or deactivated; two transmitters for transmitting wide- and narrow-area alarm signals, respectively to other vehicles; two receivers for receiving wide- and narrow-area alarm signals transmitted from another vehicle, respectively; an alarm generator; and a controller for activating the alarm generator when only the wide-area alarm signal transmitted from another vehicle is received.

摘要翻译： 为了激活安装在每个其他车辆上的报警发生器，除了在相对车道上行驶的对方车辆之外，用于向其他车辆通知其自身车辆的存在的机动车辆的报警系统包括定时检测器，用于检测报警系统 被激活或停用; 两个发射机，分别发送宽窄区域报警信号到其他车辆; 两个接收器分别用于接收从另一车辆传输的宽和窄区域报警信号; 报警发生器; 以及仅接收从另一车辆发送的广域报警信号时启动报警发生器的控制器。

公开(公告)号：US5208750A

公开(公告)日：1993-05-04

申请号：US206667

申请日：1988-06-15

申请人： Kunihiko Kurami ,  Norimasa Kishi ,  Kazunori Noso ,  Akira Hattori

发明人： Kunihiko Kurami ,  Norimasa Kishi ,  Kazunori Noso ,  Akira Hattori

IPC分类号： G05D1/02 ,  H04N13/00

CPC分类号： H04N13/0239 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D2201/0213 ,  H04N13/0003 ,  H04N13/0296 ,  H04N2013/0081

摘要： Stereo image data depicting the lane on which the vehicle is running is rectified into a planar image on which one or more level lines can be generated in a manner to intersect one or both of the edges of the lane. Angles are measured between lines which extend from these the points if intersection in directions normal to the level line or lines and lines which extend tangentially to any curvature which occurs in the road edges at the point of intersection. These angles are recorded, the difference therebetween determined and compared in a manner which determines the attitude of the vehicle on the road. The curvature of the road and the vehicle speed are determined and the best steering angle for the road wheels determined in accordance With a schedule which is recorded in terms of attitude and a parameter variable with the vehicle speed and road curvature.

摘要翻译： 描绘车辆行驶的车道的立体图像数据被整流为可以以与车道的一个或两个边缘相交的方式产生一个或多个电平线的平面图像。 如果在垂直于水平线或线的方向上的交点以及在交叉点处的道路边缘中发生的任何曲率的切线延伸的线，则从这些点延伸的线之间测量角度。 记录这些角度，以确定车辆在道路上的姿态的方式确定和比较差异。 确定道路的曲率和车速，并且根据以姿态记录的调度确定车轮的最佳转向角，并且根据具有车速和道路曲率的参数变化来确定。

公开(公告)号：US07176813B2

公开(公告)日：2007-02-13

申请号：US10938813

申请日：2004-09-10

申请人： Yukihiro Kawamata ,  Deepak Ramaswamy ,  Kunihiko Kurami

发明人： Yukihiro Kawamata ,  Deepak Ramaswamy ,  Kunihiko Kurami

IPC分类号： G08G1/123

CPC分类号： B60R11/04 ,  G08G1/0962

摘要： A system and method for displaying traffic information in an automotive navigation system having a display, memory and a data receiver. The method includes the first step of storing in a traffic speed table in memory at least two speed threshold limits wherein each speed threshold limit represents a different traffic flow category. The receiver receives data representative of the vehicle speed on at least one road segment and compares that received vehicle speed data with the traffic speed table to determine the traffic flow category corresponding to the received speed data for the road segment. A visual indicator is then displayed on the display which corresponds to the traffic flow category for the road segment. The user is able to customize the speed threshold limits through a GUI. These speed threshold limits are further user modifiable as a function of weather, day of the week, road conditions, type of road, as well as other factors.

摘要翻译： 一种用于在具有显示器，存储器和数据接收器的汽车导航系统中显示交通信息的系统和方法。 该方法包括在存储器中的业务速度表中存储至少两个速度阈值限制的第一步骤，其中每个速度阈值限制表示不同的业务流类别。 接收器接收表示至少一个路段上的车速的数据，并将接收的车速数据与交通速度表进行比较，以确定与道路段的接收到的速度数据对应的交通流量类别。 然后在显示器上显示对应于道路段的交通流类别的视觉指示符。 用户能够通过GUI自定义速度阈值限制。 这些速度阈值限制可以进一步用户修改，作为天气，星期几，路况，道路类型以及其他因素的函数。

公开(公告)号：US4819169A

公开(公告)日：1989-04-04

申请号：US100581

申请日：1987-09-24

申请人： Hiroshi Saitoh ,  Kazunori Noso ,  Kunihiko Kurami ,  Norimasa Kishi

发明人： Hiroshi Saitoh ,  Kazunori Noso ,  Kunihiko Kurami ,  Norimasa Kishi

IPC分类号： G05D1/02 ,  G06T7/00 ,  G06F15/50

CPC分类号： G06T7/0042 ,  G05D1/0246

摘要： A system for calculating a movement direction and position of a movable object such as an unmanned vehicle running within a factory and a method therefor are disclosed in which an image pick up camera such as a video camera photographs a background of the movable object to generate a background two-dimensional image. Positions of vanishing point and side ends of a passage on which the movable object is to move are derived from the background photographed two-dimensional image. The movement direction of the movable object is derived from the detected vanishing point. Distances of the movable object from both sides ends of the passage are derived on the basis of the detected vanishing point and positions of side ends of the passage. the movement direction and position of the movable object thus detected are used to control movement of the movable object. The vanishing point is detected on the basis of edge directions at all points constituting and edge on the background two-dimensional image.

摘要翻译： 公开了一种用于计算诸如在工厂内运行的无人驾驶车辆的可移动物体的运动方向和位置的方法及其方法，其中诸如摄像机的摄像摄像机拍摄可移动物体的背景以产生 背景二维图像。 可移动物体要移动的通道的消失点和侧端的位置是从背景拍摄的二维图像中导出的。 可移动物体的移动方向来自检测到的消失点。 根据检测到的消失点和通道的侧端的位置，导出可动物体从通道的两侧端部的距离。 这样检测出的可移动物体的移动方向和位置用于控制可移动物体的移动。 基于在背景二维图像上构成和边缘的所有点的边缘方向检测消失点。