公开(公告)号：US08600655B2

公开(公告)日：2013-12-03

申请号：US11922779

申请日：2006-08-04

申请人： Tomoaki Ishikawa ,  Masaki Nakamura ,  Osamu Aisaka ,  Motoki Kanba ,  Motohiro Nakamura

发明人： Tomoaki Ishikawa ,  Masaki Nakamura ,  Osamu Aisaka ,  Motoki Kanba ,  Motohiro Nakamura

IPC分类号： G06F17/10 ,  G06K9/00

CPC分类号： G08G1/096716 ,  G01C21/26 ,  G05D1/0244 ,  G05D2201/0213 ,  G06K9/00798 ,  G06K9/00818 ,  G08G1/096725 ,  G08G1/09675 ,  G08G1/096783 ,  G08G1/167

摘要： Systems, methods, and programs capture an image of a periphery of a vehicle. The systems, methods, and programs, store predetermined patterns representing conditions of road markings formed on a road surface, detect a road marking on the basis of the captured image, and compare the detected road marking to the predetermined patterns. If the detected road marking matches one of the predetermined patterns, the systems, methods, and programs execute a predetermined action associated with the matching predetermined pattern.

摘要翻译： 系统，方法和程序捕获车辆周边的图像。 系统，方法和程序存储表示在路面上形成的路标的条件的预定模式，基于所捕获的图像检测道路标记，并将检测到的道路标记与预定模式进行比较。 如果检测到的道路标记符合预定模式之一，则系统，方法和程序执行与匹配的预定模式相关联的预定动作。

公开(公告)号：US08112222B2

公开(公告)日：2012-02-07

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： G05D1/02

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，系统和方法确定道路上是否存在分支点在车辆的前方。 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。

公开(公告)号：US08073618B2

公开(公告)日：2011-12-06

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： A driving support apparatus supports a driver in driving a vehicle on a road by giving instructions. The driving support apparatus includes a recognizing unit that recognizes a current driving lane that is a lane on the road in which the vehicle is currently running; a lane setting unit that sets a driving schedule lane that is a lane in which the vehicle is to be driven; and a guiding unit that determines content of lane guidance based on the driving schedule lane and the current driving lane, and guides the driver to a lane based on the lane guidance when the road is substantially straight.

摘要翻译： 驾驶辅助装置通过给予指示来支持驾驶员驾驶道路上的车辆。 驾驶辅助装置包括：识别作为车辆当前行驶的道路上的车道的当前行驶车道的识别单元; 车道设定单元，其设定作为所述车辆要被驱动的车道的行驶安排车道; 以及引导单元，其基于驾驶时间表车道和当前行驶车道来确定车道引导的内容，并且当道路基本上直线时，基于车道引导将驾驶员引导到车道。

公开(公告)号：US20100121886A1

公开(公告)日：2010-05-13

申请号：US11992748

申请日：2006-09-29

申请人： Sadahiro Koshiba ,  Masahiro Tsujiko ,  Kazuteru Maekawa ,  Hironobu Sugimoto ,  Motohiro Nakamura ,  Kenji Yano ,  Yuichi Ochi ,  Shoji Iwata ,  Kenji Shono ,  Yoshikatsu Matsumoto

发明人： Sadahiro Koshiba ,  Masahiro Tsujiko ,  Kazuteru Maekawa ,  Hironobu Sugimoto ,  Motohiro Nakamura ,  Kenji Yano ,  Yuichi Ochi ,  Shoji Iwata ,  Kenji Shono ,  Yoshikatsu Matsumoto

IPC分类号： G06F17/30 ,  G01C21/26

CPC分类号： G09B29/00 ,  G01C21/32 ,  G06T17/05

摘要： Systems, methods, and programs store feature information relating to features existing on a road and on the periphery of the road, each piece of feature information being associated with a unique identification symbol, each piece of feature information including disposition information expressing a spatial disposition of each feature independently of the road network, form information expressing a form of each feature, accuracy information expressing an accuracy of the information, and acquisition timing information expressing an acquisition timing of the information. The systems, methods, and programs (1) output the feature information stored in the feature database and input map information constituting the map database, the map information being generated based on the output feature information, or (2) generate map information constituting the map database on the basis of the feature information stored in the feature database.

摘要翻译： 系统，方法和程序存储与道路上和道路周围存在的特征有关的特征信息，每条特征信息与唯一的识别符号相关联，每条特征信息包括表示空间布置的处置信息 每个特征独立于道路网络，形成表示每个特征的形式的信息，表示信息的精度的精度信息，以及表示信息的获取定时的获取定时信息。 系统，方法和程序（1）输出存储在特征数据库中的特征信息和输入构成地图数据库的地图信息，基于输出特征信息生成地图信息，或（2）生成构成地图的地图信息 数据库基于存储在特征数据库中的特征信息。

公开(公告)号：US07668341B2

公开(公告)日：2010-02-23

申请号：US11338712

申请日：2006-01-25

申请人： Takayuki Miyajima ,  Masaki Nakamura ,  Motohiro Nakamura

发明人： Takayuki Miyajima ,  Masaki Nakamura ,  Motohiro Nakamura

IPC分类号： G06K9/00 ,  G06K9/46

CPC分类号： G06T17/05 ,  B60W30/12 ,  B60W2420/403 ,  B60W2550/14 ,  B60W2550/402 ,  G06K9/00798

摘要： An image recognition apparatus is capable of recognizing an image of an object of interest with high recognition accuracy even when the object is difficult to recognize only from image information acquired by an image pickup apparatus. The image recognition apparatus includes image information acquisition means for capturing image information of an image taken on a road, road feature information acquisition means for acquiring, from map information, road feature information C associated with a feature in the neighborhood of a position where the image information is taken, and image information recognition means for recognizing the image information using the road feature information C to recognize an image of an object to be recognized corresponding to the feature included in the image information.

摘要翻译： 即使当仅由图像拾取装置获取的图像信息难以识别对象时，图像识别装置能够以高识别精度识别感兴趣对象的图像。 图像识别装置包括用于拍摄在道路上拍摄的图像的图像信息的图像信息获取装置，道路特征信息获取装置，用于从地图信息获取与图像相邻的位置附近的特征相关联的道路特征信息C 拍摄信息，以及图像信息识别装置，用于使用道路特征信息C来识别图像信息，以识别与包括在图像信息中的特征对应的要识别的对象的图像。

公开(公告)号：US20090024320A1

公开(公告)日：2009-01-22

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： G01C21/34

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 means 3c that finds the position of a guided vehicle and a recommended route searching means 3i that searches for a recommended route to a destination point, a problem condition identifying means 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 means 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 means 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 means 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导向车位置确定装置3c和搜索到目的地点的推荐路线的推荐路线搜索装置3i，提供了问题状况识别装置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计划装置3h，其将存在有问题状况的被引导车辆预期到达的点设置到起点，激活推荐路线搜索装置3i，并且搜索新的推荐路线Rn， 在问题条件识别装置3f已经识别的情况下到目的地点的起始点 认为存在问题条件。

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：US20100292895A1

公开(公告)日：2010-11-18

申请号：US12597853

申请日：2007-04-27

申请人： Masaki Nakamura ,  Tomoaki Ishikawa ,  Osamu Aisaka ,  Motoki Kanba ,  Motohiro Nakamura

发明人： Masaki Nakamura ,  Tomoaki Ishikawa ,  Osamu Aisaka ,  Motoki Kanba ,  Motohiro Nakamura

IPC分类号： B62D6/00

CPC分类号： G08G1/09623 ,  G06K9/00798 ,  G06K9/00818 ,  G08G1/166

摘要： In a case where it is determined that a road surface marking exists within a specified range from a vehicle 2 (YES at S2), the road surface marking is recognized based on an image that has been acquired by a rear camera 3 (S3), an on-road distance from the vehicle 2 to a control object that is associated with the recognized road surface marking is computed (S5 to S7), and in a case where it has been determined that the on-road distance to the control object has become a specified distance (YES at S8), driving guidance and the vehicle control are performed in accordance with the type of the associated control object (S11).

摘要翻译： 在确定在车辆2的规定范围内存在路面标记的情况下（S2中为“是”），基于由后置照相机3获取的图像（S3）来识别路面标记， 计算从车辆2到与识别的路面标记相关联的控制对象的路上距离（S5至S7），并且在确定到控制对象的道路距离具有 成为指定距离（S8中为“是”），根据关联的控制对象的种类进行驾驶引导和车辆控制（S11）。

公开(公告)号：US20100235083A1

公开(公告)日：2010-09-16

申请号：US12449168

申请日：2008-03-18

申请人： Seiji Takahata ,  Kimiyoshi Sawai ,  Motohiro Nakamura

发明人： Seiji Takahata ,  Kimiyoshi Sawai ,  Motohiro Nakamura

IPC分类号： G01C21/36 ,  G06F17/30

CPC分类号： G01C21/32

摘要： A road map data structure includes road network data Rn, representing roads by a connection relation of a plurality of links L, in a hierarchical structure of a plurality of levels, in which, as a link ID for each link L at a lowest level, consecutive serial IDs, according to a connection order of the links within a link line ML formed of a plurality of the consecutive links having a common attribute, are assigned to first links L1 which have a corresponding link existing at a higher level, and a permanent ID, irrelevant with the connection order of the links, is assigned to a second link L2 which does not have a corresponding link existing at a higher level.

摘要翻译： 道路地图数据结构包括道路网络数据Rn，其以多层次的层次结构中的多条链路L的连接关系表示道路，其中，作为最低层的每个链路L的链路ID， 连续的串行ID根据由具有公共属性的多个连续链路形成的链路线ML内的链路的连接顺序被分配给具有存在于较高级别的相应链路的第一链路L1和永久 与链路的连接顺序无关的ID被分配给没有存在于较高级别的对应链路的第二链路L2。