公开(公告)号：US20050219057A1

公开(公告)日：2005-10-06

申请号：US11091230

申请日：2005-03-28

申请人： Toru Ihara ,  Keiichi Yamamoto

发明人： Toru Ihara ,  Keiichi Yamamoto

IPC分类号： B60R21/00 ,  B60K28/06 ,  B60R1/00 ,  G01C11/04 ,  G06T1/00 ,  G06T7/20 ,  G06T7/60 ,  G08B21/02 ,  G08B21/06 ,  G08B23/00 ,  G08G1/16

CPC分类号： G08B21/06 ,  B60K28/06 ,  B60W2540/14 ,  B60W2540/20

摘要： A consciousness judging apparatus, which detects a vehicle driving state and judges consciousness of a driver, comprising a monotonousness detection section to obtain monotonousness, a camera which captures an image of a road surface in the vehicle running direction, a meander quantity detection section which detects the meander quantity based on the road surface image taken by the camera, a correction section which corrects and increases the monotonousness when the meander quantity detected this time by the meander quantity detection section is larger than the meander quantity detected last time by the meander quantity detection section by the value greater than a predetermined value α, and a fuzzy inference section which infers a driver's consciousness based on the monotonousness corrected by the correction section and meander quantity.

摘要翻译： 一种意识判断装置，其检测车辆驾驶状态并判断驾驶员的意识，包括单调性检测部，以获得单调性;摄像机，其捕获车辆行驶方向上的路面的图像;弯道量检测部，其检测 基于由照相机拍摄的路面图像的弯曲量，当通过曲折量检测部检测到的弯曲量被校正并增加单调时的校正部分大于通过曲折量检测最后检测的曲折量 截面乘以大于预定值α的值，以及模糊推理部分，其基于由校正部分校正的单调和曲折量来推测驾驶员的意识。

公开(公告)号：US20050203706A1

公开(公告)日：2005-09-15

申请号：US11076435

申请日：2005-03-09

申请人： Toru Ihara ,  Keiichi Yamamoto

发明人： Toru Ihara ,  Keiichi Yamamoto

IPC分类号： B60R21/00 ,  B60K28/06 ,  B60R1/00 ,  B60T7/14 ,  G01S1/00 ,  G06T1/00 ,  G06T7/20 ,  G08G1/01 ,  G08G1/16 ,  H04N7/18

CPC分类号： G08G1/163 ,  B60T7/22 ,  B60W2550/14 ,  B60Y2400/3015 ,  G06K9/00798 ,  G06T7/269 ,  G06T2207/10016 ,  G06T2207/30252

摘要： The present invention provides a vehicle traveling state determining apparatus including a camera which picks up an image of a road surface in a direction in which a vehicle is traveling, and zigzag state detecting section for determining a zigzag amount on the basis of the road surface image picked up using the camera, wherein the zigzag state detecting section is comprised of speed vector calculating section for calculating a speed vector of the road surface image by comparing a last road surface image picked up using the camera with a current road surface image picked up using the camera, and determining section for determining whether or not the vehicle is traveling in a zigzag line on the basis of the speed vector of the road surface image calculated by the speed vector detecting section.

摘要翻译： 本发明提供了一种车辆行驶状态判定装置，其具备拍摄车辆行驶方向上的路面图像的照相机，以及基于路面图像确定Z字形量的Z字形状态检测部 使用相机拾取，其中之字形状态检测部分包括速度矢量计算部分，用于通过将使用照相机拾取的最后路面图像与使用摄像机拾取的当前路面图像进行比较来计算路面图像的速度矢量 摄像机和确定部分，用于基于由速度矢量检测部分计算的路面图像的速度矢量来确定车辆是否以锯齿形行进行行驶。

公开(公告)号：US07965871B2

公开(公告)日：2011-06-21

申请号：US11826265

申请日：2007-07-13

申请人： Toru Ihara ,  Keiichi Yamamoto ,  Tomoaki Teshima ,  Hideo Saito ,  Shinji Ozawa

发明人： Toru Ihara ,  Keiichi Yamamoto ,  Tomoaki Teshima ,  Hideo Saito ,  Shinji Ozawa

IPC分类号： G06K9/00

CPC分类号： G06K9/00791 ,  B60W40/109 ,  G06K9/32 ,  G06K2009/363

摘要： A moving-state determining device acquires a first overhead image from a bird's-eye image obtained at first image pickup timing and acquires a second overhead image, which can be regarded as the same road surface area as that of the first overhead image, for each of moving directions assumed for the moving body from a bird's-eye image obtained at second image pickup timing different from the first image pickup timing by a predetermined time period. The device compares a degree of similarity between the first overhead image and each of a plurality of second overhead images to acquire the second overhead image with the largest similarity degree as the same road surface area as that of the first overhead image. The device acquires the moving direction and a lateral displacement amount in the moving from a coordinate conversion condition based on which the second overhead image has been obtained.

摘要翻译： 移动状态决定装置从在第一图像拍摄定时获得的鸟瞰图像中取得第一俯瞰图像，并获取与第一俯仰图像相同的道路面积的第二俯瞰图像 从与第一图像拾取定时不同的第二图像拾取定时获得的鸟瞰图像预测移动体的移动方向预定的时间段。 该装置比较第一开销图像与多个第二开销图像中的每一个之间的相似度，以获得具有最大相似度的第二开销图像作为与第一俯瞰图像相同的路面积。 该装置从获得第二俯瞰图像的坐标转换条件获取移动中的移动方向和横向位移量。

公开(公告)号：US20090177359A1

公开(公告)日：2009-07-09

申请号：US12314741

申请日：2008-12-16

申请人： Toru Ihara ,  Keiichi Yamamoto

发明人： Toru Ihara ,  Keiichi Yamamoto

IPC分类号： G06F7/00

CPC分类号： G01S13/931 ,  B60R21/0134 ,  B60R2021/01259 ,  B60W30/16 ,  B60W2050/143 ,  B60W2540/22 ,  B60W2550/20 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2710/18 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9375 ,  G08G1/166

摘要： A collision damage reducing apparatus for lessening vehicle collision damage, includes: designated obstacle detecting means detecting an object having a collision possibility to be a obstacle; calculating means obtaining a continuous detecting period, for which the object is detected as the obstacle; monitoring target acknowledging means, according to the continuous detecting period, deciding whether or not the obstacle is regarded as a monitoring target, and deciding whether or not the obstacle is regarded as an activation cause; reliability determining means judging a collision possibility if the continuous detecting period is longer than a threshold value, and defining a reliability level coefficient indicating obstacle's reliability if a result of the judging of the collision possibility is positive; attentiveness determining means defining attentiveness coefficient decreased according to attentiveness deterioration; and detecting period threshold value adjusting means decreasing the threshold value according to decrease in the attentiveness coefficient.

摘要翻译： 一种用于减轻车辆碰撞损害的碰撞破坏减少装置，包括：检测具有作为障碍物的碰撞可能性的物体的指定障碍物检测装置; 计算装置获得被检测为障碍物的连续检测周期; 监视目标确认装置，根据连续检测周期，判定障碍物是否被视为监视对象，判断障碍物是否被认为是激活原因; 如果连续检测周期大于阈值，则判断碰撞可能性;以及如果所述碰撞可能性的判断结果为正，则确定指示障碍物的可靠性的可靠性水平系数; 定义注意力系数的注意力确定装置根据注意力下降而减小; 以及检测周期阈值调整装置，根据注意力系数的降低来降低阈值。

公开(公告)号：US07190274B2

公开(公告)日：2007-03-13

申请号：US11091230

申请日：2005-03-28

申请人： Toru Ihara ,  Keiichi Yamamoto

发明人： Toru Ihara ,  Keiichi Yamamoto

IPC分类号： G08B23/00 ,  B60Q1/00 ,  H04N7/18 ,  G06K9/00 ,  G06K9/34 ,  G05D1/02

CPC分类号： G08B21/06 ,  B60K28/06 ,  B60W2540/14 ,  B60W2540/20

摘要： A consciousness judging apparatus, which detects a vehicle driving state and judges consciousness of a driver, comprising a monotonousness detection section to obtain monotonousness, a camera which captures an image of a road surface in the vehicle running direction, a meander quantity detection section which detects the meander quantity based on the road surface image taken by the camera, a correction section which corrects and increases the monotonousness when the meander quantity detected this time by the meander quantity detection section is larger than the meander quantity detected last time by the meander quantity detection section by the value greater than a predetermined value α, and a fuzzy inference section which infers a driver's consciousness based on the monotonousness corrected by the correction section and meander quantity.

摘要翻译： 一种意识判断装置，其检测车辆驾驶状态并判断驾驶员的意识，包括单调性检测部，以获得单调性;摄像机，其拍摄车辆行驶方向上的路面的图像;弯曲量检测部，其检测 基于由照相机拍摄的路面图像的弯曲量，当通过曲折量检测部检测到的弯曲量被校正并增加单调时的校正部分大于通过曲折量检测最后检测的曲折量 截面乘以大于预定值α的值，以及模糊推理部分，其基于由校正部分校正的单调和曲折量来推测驾驶员的意识。

公开(公告)号：US20060217861A1

公开(公告)日：2006-09-28

申请号：US11388779

申请日：2006-03-24

申请人： Toru Ihara ,  Keiichi Yamamoto ,  Andreas Wingert

发明人： Toru Ihara ,  Keiichi Yamamoto ,  Andreas Wingert

IPC分类号： B62D6/00

CPC分类号： B62D15/029 ,  B60W30/12 ,  B60W2040/0818

摘要： A lane keeping assistant apparatus alerts the driver when the vehicle deviates from the lane center, and aims at the driver's sure recognition of lateral deviation of the vehicle from the lane and concurrently at the avoidance of driver's overreliance on the apparatus. As a solution, the apparatus generates, on a steering wheel 1 of a vehicle, a pulse-like torque in a shape and, or frequency that does not affect the vehicle dynamics. Since such a frequency input can be haptically perceived by a human with ease, it is possible to make the driver notice the operation carried out by the apparatus without generating a yaw moment on the vehicle.

摘要翻译： 车道保养助理设备在车辆偏离车道中心时向驾驶员发出警报，目的在于确保驾驶员确定车辆与车道的横向偏差，同时避免驾驶员对设备的过度依赖。 作为解决方案，该装置在车辆的方向盘1上产生形状和/或不影响车辆动力学的频率的脉冲状扭矩。 由于这样的频率输入可以容易地被人轻易感知，所以可以使驾驶员注意到由该装置进行的操作，而不会在车辆上产生横摆力矩。

公开(公告)号：US07388967B2

公开(公告)日：2008-06-17

申请号：US11091358

申请日：2005-03-28

申请人： Toru Ihara ,  Keiichi Yamamoto

发明人： Toru Ihara ,  Keiichi Yamamoto

IPC分类号： G06K9/00 ,  G08B23/00 ,  G06F17/00 ,  G06F17/10 ,  G01C21/00 ,  G06G7/78

CPC分类号： G08B21/06 ,  G06K9/00335

摘要： A vehicle running state judging apparatus calculates the edge detecting position of the first pixel group detected by the first gray value detection section, the edge detecting position of the second pixel group based on the gray value at that position, and the gray value at that position and judges meandering of a vehicle by comparing the edge detecting position of the second pixel group detected by the second gray value detection section and the gray value at that position, with the edge detecting position of the second pixel group calculated by the calculation section and the gray value at that position.

摘要翻译： 车辆行驶状态判断装置基于该位置的灰度值，计算由第一灰度值检测部检测出的第一像素组的边缘检测位置，第二像素组的边缘检测位置，以及该位置处的灰度值 并且通过将由第二灰度值检测部检测到的第二像素组的边缘检测位置和该位置处的灰度值与由计算部分计算出的第二像素组的边缘检测位置进行比较来判断车辆曲折， 该位置的灰色值。

公开(公告)号：US07369942B2

公开(公告)日：2008-05-06

申请号：US11076435

申请日：2005-03-09

申请人： Toru Ihara ,  Keiichi Yamamoto

发明人： Toru Ihara ,  Keiichi Yamamoto

IPC分类号： G06F17/10 ,  G06K9/00

CPC分类号： G08G1/163 ,  B60T7/22 ,  B60W2550/14 ,  B60Y2400/3015 ,  G06K9/00798 ,  G06T7/269 ,  G06T2207/10016 ,  G06T2207/30252

摘要： The present invention provides a vehicle traveling state determining apparatus including a camera which picks up an image of a road surface in a direction in which a vehicle is traveling, and zigzag state detecting section for determining a zigzag amount on the basis of the road surface image picked up using the camera, wherein the zigzag state detecting section is comprised of speed vector calculating section for calculating a speed vector of the road surface image by comparing a last road surface image picked up using the camera with a current road surface image picked up using the camera, and determining section for determining whether or not the vehicle is traveling in a zigzag line on the basis of the speed vector of the road surface image calculated by the speed vector detecting section.

摘要翻译： 本发明提供了一种车辆行驶状态判定装置，其具备拍摄车辆行驶方向上的路面图像的照相机，以及基于路面图像确定Z字形量的Z字形状态检测部 使用相机拾取，其中之字形状态检测部分包括速度矢量计算部分，用于通过将使用照相机拾取的最后路面图像与使用摄像机拾取的当前路面图像进行比较来计算路面图像的速度矢量 摄像机和确定部分，用于基于由速度矢量检测部分计算的路面图像的速度矢量来确定车辆是否以锯齿形行进行行驶。

公开(公告)号：US20050232464A1

公开(公告)日：2005-10-20

申请号：US11091358

申请日：2005-03-28

申请人： Toru Ihara ,  Keiichi Yamamoto

发明人： Toru Ihara ,  Keiichi Yamamoto

IPC分类号： B60R21/00 ,  G01C11/04 ,  G01C21/26 ,  G06K9/00 ,  G06T7/20 ,  G08B21/06 ,  G08G1/16

CPC分类号： G08B21/06 ,  G06K9/00335

摘要： A vehicle running state judging apparatus calculates the edge detecting position of the first pixel group detected by the first gray value detection section, the edge detecting position of the second pixel group based on the gray value at that position, and the gray value at that position and judges meandering of a vehicle by comparing the edge detecting position of the second pixel group detected by the second gray value detection section and the gray value at that position, with the edge detecting position of the second pixel group calculated by the calculation section and the gray value at that position.

摘要翻译： 车辆行驶状态判断装置基于该位置的灰度值，计算由第一灰度值检测部检测出的第一像素组的边缘检测位置，第二像素组的边缘检测位置，以及该位置处的灰度值 并且通过将由第二灰度值检测部检测到的第二像素组的边缘检测位置和该位置处的灰度值与由计算部分计算出的第二像素组的边缘检测位置进行比较来判断车辆曲折， 该位置的灰色值。

公开(公告)号：US20090125237A1

公开(公告)日：2009-05-14

申请号：US12289536

申请日：2008-10-29

申请人： Tetsuya Kitagawa ,  Keiichi Yamamoto ,  Toru Ihara

发明人： Tetsuya Kitagawa ,  Keiichi Yamamoto ,  Toru Ihara

IPC分类号： G08G1/16

CPC分类号： B60R21/0134 ,  B60R2021/01259

摘要： A monitoring target detecting apparatus, which is associated with a collision damage reducing apparatus, includes designated obstacle detecting means, which is equipped with the vehicle, detecting an object being positioned in the moving direction and having a possibility of a collision with the vehicle to be a designated obstacle; detecting period calculating means obtaining a continuous detecting period, for which the object has been uninterruptedly detected as the designated obstacle; and monitoring target acknowledging means, according to the continuous detecting period obtained by the detecting period calculating means, deciding whether or not the designated obstacle is regarded as a monitoring target that is to be monitored by the damage reducing apparatus, and deciding whether or not the designated obstacle is regarded as an activation cause to activate the equipment activated under control by the damage reducing apparatus.

摘要翻译： 与碰撞损害减少装置相关联的监视对象检测装置包括指定的障碍物检测装置，其配备有车辆，检测位于移动方向上的物体并且具有与车辆碰撞的可能性 指定障碍物 检测周期计算装置获得连续检测周期，对于该连续检测周期，对象被不间断地检测为指定的障碍物; 以及监视目标确认装置，根据由检测周期计算装置获得的连续检测周期，判定指定的障碍物是否被视为由损害减少装置监视的监视目标，并且判定是否 指定的障碍物被认为是激活原因以激活由损坏减少装置控制的设备。