公开(公告)号：US20100079307A1

公开(公告)日：2010-04-01

申请号：US12631480

申请日：2009-12-04

Applicant: Yu Tanaka ,  Toshiaki Kakinami

Inventor： Yu Tanaka ,  Toshiaki Kakinami

IPC: B60Q1/48

CPC classification number: B62D15/028 ,  B60T2201/10 ,  B60W10/20 ,  B60W40/04 ,  B62D15/0275

Abstract: A parking assist device detecting a parking stall line from an image, which is captured by a capturing portion; setting a parking target position on the basis of the parking stall line; and assisting the vehicle to travel to the parking target position; the parking assist device includes a vehicle detecting portion for detecting a movement of the vehicle, a memorizing portion for memorizing the movement detected by the vehicle detecting portion, as a vehicle moving trajectory, a temporary parking target position estimating portion for assuming a temporary parking target position on the basis of variations of the vehicle moving trajectory, which has been memorized by the memorizing portion, and a parking stall line searching area setting portion for setting a parking stall line searching area, within which a parking stall line is searched on the basis of the temporary parking target position.

Abstract translation: 一种停车辅助装置，其从拍摄部分拍摄的图像中检测停车停车线; 基于停车线设定停车目标位置; 并协助车辆前往停车目标位置; 停车辅助装置包括用于检测车辆的移动的车辆检测部分，用于存储由车辆检测部分检测到的运动的存储部分作为车辆移动轨迹，用于假设临时停车目标的临时停车目标位置估计部分 基于由记忆部分记忆的车辆移动轨迹的变化的位置，以及停车停车线搜索区域设定部分，用于设置停车停车线搜索区域，停车停车线路搜索区域基于 的临时停车目标位置。

公开(公告)号：US07379564B2

公开(公告)日：2008-05-27

申请号：US10738097

申请日：2003-12-18

Applicant: Toshiaki Kakinami ,  Shuji Yamamoto

Inventor： Toshiaki Kakinami ,  Shuji Yamamoto

IPC: G06K9/00 ,  G01C22/00

CPC classification number: G06T7/20 ,  G06K9/00812 ,  G06T7/73 ,  H04N7/18

Abstract: A movable body circumstance monitoring apparatus includes element for capturing an image of a surrounding of a movable body depending upon movement of the movable body, deriving at least four feature points in a specified flat at the image, tracking the feature points in response to movement of the movable body from a first state to a second state, and specifying relative position and posture of the element for capturing the image at the first and second states in response to first flat coordinates of the feature points at the first state and second flat coordinates of the feature points at the second state based upon a tracking result.

Abstract translation: 可移动体环境监测装置包括用于根据可移动体的移动捕获可移动体的周围的图像的元件，导出图像中指定平面中的至少四个特征点，响应于图像的移动跟踪特征点 可移动体从第一状态到第二状态，并且响应于在第一状态下的特征点的第一平面坐标和第二平面坐标来指定用于在第一状态和第二状态下拍摄图像的元素的相对位置和姿态 基于跟踪结果在第二状态下的特征点。

公开(公告)号：US20070107965A1

公开(公告)日：2007-05-17

申请号：US10572957

申请日：2004-09-22

Applicant: Toshiaki Kakinami ,  Takashi Hirakami ,  Takihiko Akita

Inventor： Toshiaki Kakinami ,  Takashi Hirakami ,  Takihiko Akita

IPC: B60T7/16

CPC classification number: G08G1/167 ,  G06K9/00798 ,  G06K9/3241 ,  G06K9/4647 ,  G06T7/12 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30256

Abstract: A device for detecting a road traveling lane, which is capable of stably defining a position of a boundary of a traveling lane. The device has edge point detection means (ED) for detecting a plurality of edge points in a contour on an image, edge histogram producing means (HD) for producing a vertical edge histogram for horizontal elements of the plurality of edge points, block marking line determination means (BD) for determining presence and absence of a block-like marking line on the basis of periodicity of distribution and a combination of distributions of plus edges and minus edges in the vertical edge histogram, and lane boundary edge detection means (MD) for detecting vertical edge points present outside (relative to the center of the traveling lane) of a region where the block-like marking line is present. And, according to lane boundary position defining means (LD), it is so constituted to define a position of a curve fitted to the vertical edge points, as the position of the boundary of the traveling lane.

Abstract translation: 一种用于检测道路行驶车道的装置，其能够稳定地限定行驶车道的边界的位置。 该装置具有用于检测图像中的轮廓中的多个边缘点的边缘点检测装置（ED），用于产生多个边缘点的水平元素的垂直边缘直方图的边缘直方图产生装置（HD），块标记线 确定装置（BD），用于基于分布的周期性和垂直边缘直方图中的正边和负边​​的分布的组合以及车道边界边缘检测装置（MD）确定块状标记线的存在和不存在， 用于检测存在块状标记线的区域外侧（相对于行进车道的中心）的垂直边缘点。 并且，根据车道边界位置限定装置（LD），将其作为行驶车道的边界的位置来定义安装在垂直边缘点上的曲线的位置。

公开(公告)号：US20060093239A1

公开(公告)日：2006-05-04

申请号：US11259079

申请日：2005-10-27

Applicant: Toshiaki Kakinami

Inventor： Toshiaki Kakinami

IPC: G06K9/40

CPC classification number: G06T3/0018

Abstract: An image processing method processes a captured image, which is captured by a capturing means includes an image processing method for generating a corrected captured image by correcting a distortion appearing within the captured image by use of a MMF model.

Abstract translation: 处理由捕捉装置拍摄的拍摄图像的图像处理方法包括：图像处理方法，用于通过使用MMF模型校正出现在拍摄图像内的失真来生成校正的拍摄图像。

公开(公告)号：US06487481B2

公开(公告)日：2002-11-26

申请号：US09866757

申请日：2001-05-30

Applicant: Yuu Tanaka ,  Toshiaki Kakinami ,  Yoshifumi Iwata ,  Kazushi Konno ,  Toshiyasu Katsuno ,  Yuichi Kubota ,  Osamu Okazaki

Inventor： Yuu Tanaka ,  Toshiaki Kakinami ,  Yoshifumi Iwata ,  Kazushi Konno ,  Toshiyasu Katsuno ,  Yuichi Kubota ,  Osamu Okazaki

IPC: G06F700

CPC classification number: B62D15/0275 ,  B60T2201/10 ,  B62D15/028

Abstract: A parking assisting apparatus displays an image of a rear view from a vehicle, which is acquired by a camera, on a display located in a passenger compartment, thus assisting in a parking procedure. The parking procedure assisted by the parking assisting apparatus is, for example, a parallel parking procedure in which the rotating direction of the steering wheel must be switched. An assumed path along which the vehicle is moved during the parking procedure is determined in accordance with the steering angle of the steering wheel when the parking procedure is started. In the parking procedure, the display indicates a steering information that informs the driver of a timing at which the rotating direction of the steering wheel must be switched, in accordance with the assumed path.

公开(公告)号：US06476730B2

公开(公告)日：2002-11-05

申请号：US09794322

申请日：2001-02-28

Applicant: Toshiaki Kakinami ,  Shoji Kawata

Inventor： Toshiaki Kakinami ,  Shoji Kawata

IPC: B60Q148

CPC classification number: B60R1/00 ,  B60Q9/005 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60R2300/8086 ,  B60T2201/10 ,  B62D15/0275 ,  B62D15/028 ,  H04N7/183

Abstract: A parking assist apparatus which enables even an inexperienced driver to park with no difficulty or anxiety assists the parking operation by taking an image rearwardly of a vehicle during the parking operation by a camera, indicating an estimated locus of the vehicle overlapping with the rearward images on a display, indicating a first estimated locus in accordance with a steering angle of the vehicle at an initial stage of the parking operation on the display, fixing the first estimated locus at a predetermined condition to have the locus as an target locus, indicating the second estimated locus varied in accordance with the change of the steering angle during the parking operation on the display, and guiding the second estimated locus to be in accord with a fixed target locus.

Abstract translation: 一种停车辅助装置，即使没有经验的驾驶员也能够在没有困难或焦虑的情况下停放，通过摄像机在驻车操作期间通过拍摄车辆后方的图像来辅助驻车操作，指示与后方图像重叠的车辆的估计轨迹 显示器，其在显示器上的停车操作的初始阶段指示根据车辆的转向角的第一估计轨迹，将第一估计轨迹固定在预定条件下，使轨迹作为目标轨迹，指示第二 估计轨迹根据在显示器上的停车操作期间的转向角的变化而变化，并且引导第二估计轨迹与固定目标轨迹相一致。

公开(公告)号：US5321255A

公开(公告)日：1994-06-14

申请号：US951823

申请日：1992-09-28

Applicant: Toshiaki Kakinami ,  Kunihiko Soshi

Inventor： Toshiaki Kakinami ,  Kunihiko Soshi

IPC: G01S7/48 ,  G01S13/93 ,  G01S17/93 ,  G01B11/24

CPC classification number: G01S17/936 ,  G01S7/4814

Abstract: An obstacle detecting system comprises an optical unit having a plurality of spaced laser diodes each of which emits a laser beam, a convex lens spaced from the optical unit in the frontward direction thereof and establishing a combined beam after each the laser beam passes through the convex lens, and a driving device for adjusting the relationship between each the laser beam and the convex lens. Such structure enabling the detection of the obstacle such as a vehicle in such manner that the obstacle is fallen within the width of the combined beam by adjusting the relationship between each the laser beam and the convex lens.

Abstract translation: 障碍物检测系统包括具有多个间隔开的激光二极管的光学单元，每个激光二极管发射激光束，在光学单元的向前方向与光学单元间隔开的凸透镜，并且在每个激光束穿过凸起之后建立组合光束 透镜和用于调节每个激光束和凸透镜之间的关系的驱动装置。 这种结构使得能够通过调节每个激光束和凸透镜之间的关系，以障碍物落在组合光束的宽度内的方式检测诸如车辆的障碍物。

公开(公告)号：US5197562A

公开(公告)日：1993-03-30

申请号：US693261

申请日：1991-04-29

Applicant: Toshiaki Kakinami ,  Takashi Hida ,  Jun Sato ,  Mitsuyoshi Saiki

Inventor： Toshiaki Kakinami ,  Takashi Hida ,  Jun Sato ,  Mitsuyoshi Saiki

IPC: B60K31/02 ,  B60K31/00 ,  B60W30/00 ,  F02D29/02 ,  F02D45/00 ,  F16H61/21 ,  G01S11/12 ,  G05D1/02 ,  G08B21/00

CPC classification number: B60K31/0008 ,  B60W2540/12 ,  F16H61/21 ,  G01S11/12

Abstract: A vehicle cruising control device includes a detecting device for detecting the current speed of the vehicle, a constant speed control device for maintaining the speed of the vehicle at a selected speed, a measuring device for measuring the current inter-vehicle distance between the vehicle and an advance vehicle and an inter-vehicle distance control device for maintaining the inter-vehicle distance between the vehicle and the advance vehicle at a predetermined distance based on the degree of danger determined by the relationship of the current distance between vehicles and the relative speed between the vehicles. A switching device is provided for turning on either of the constant speed control device and the inter-vehicle distance control device.

Abstract translation: 车辆巡航控制装置包括用于检测车辆的当前速度的检测装置，用于将车辆的速度保持在选定速度的恒速控制装置，用于测量车辆与车辆之间当前车辆间距离的测量装置， 提前车辆和车辆间距离控制装置，用于基于由车辆之间的当前距离的关系确定的危险程度和车辆之间的相对速度之间的相对速度，将车辆与前进车辆之间的车辆间距离保持在预定距离 车辆。 提供了一种开关装置，用于接通恒速控制装置和车辆间距离控制装置中的任一个。

公开(公告)号：US5096287A

公开(公告)日：1992-03-17

申请号：US670105

申请日：1991-03-15

Applicant: Toshiaki Kakinami ,  Mitsuyoshi Saiki

Inventor： Toshiaki Kakinami ,  Mitsuyoshi Saiki

IPC: G03B11/04 ,  B60H1/34 ,  B60R1/00 ,  B60R1/12 ,  B60R11/04 ,  B60R21/00 ,  B60S1/54 ,  H04N5/225 ,  H04N7/18

CPC classification number: B60R11/04 ,  B60R1/12 ,  B60R2001/1253

Abstract: A video camera for an automobile is mounted on the arm which carries a rear view mirror. The camera is directed forwardly to take pictures through the front windshield of an automobile and a boot is connected between the camera and the windshield to isolate the camera lens from moisture and dust. An air duct may be connected between the boot and the air conditioner to provide a flow of air through the boot.

Abstract translation: 用于汽车的摄像机安装在携带后视镜的臂上。 摄像机向前指示，通过汽车的前挡风玻璃拍摄照片，并将照相机和挡风玻璃之间连接起来，以将相机镜头与湿气和灰尘隔离开来。 空气管道可以连接在引导件和空调器之间以提供通过引导件的空气流。

公开(公告)号：US08872920B2

公开(公告)日：2014-10-28

申请号：US13256593

申请日：2009-12-18

Applicant: Toshiaki Kakinami

Inventor： Toshiaki Kakinami

IPC: H04N17/00 ,  G06T7/00

CPC classification number: G06T7/002 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/10048 ,  G06T2207/20016 ,  G06T2207/30208 ,  G06T2207/30256

Abstract: A captured image including a preferential calibration index arranged in an exclusive region in a first plane and a non-preferential calibration index arranged in a common region is obtained. First, the coordinate position of the preferential calibration index is detected, and then the coordinate position of the non-preferential calibration index is calculated based on the positional relationship with the detected preferential calibration index. A homography between a captured-image surface of the image surface and the first plane is calculated based on the actual coordinate positions and the calculated coordinate positions representing the coordinates of at least four points, and camera calibration is performed using the homography.

Abstract translation: 获得包括布置在第一平面中的专有区域中的优先校准索引和布置在公共区域中的非优先校准索引的捕获图像。 首先，检测优先校准指标的坐标位置，然后基于与检测到的优先校准指数的位置关系来计算非优先校准指标的坐标位置。 基于实际的坐标位置和表示至少四点的坐标的计算的坐标位置来计算图像表面的拍摄图像表面与第一平面之间的单应性，并且使用单应性来执行相机校准。