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公开(公告)号：US5220508A
公开(公告)日：1993-06-15
申请号：US634613
申请日：1990-12-27
申请人： Yoshiki Ninomiya , Yuzo Yamamoto , Gunji Sugimoto , Koichi Tange
发明人： Yoshiki Ninomiya , Yuzo Yamamoto , Gunji Sugimoto , Koichi Tange
CPC分类号： G05D1/0246 , G01S3/7864 , G05D1/0272
摘要： An outer environment of the vehicle is inputted as an image. Image processing is performed to the input image, and many edge segments are extracted. The edge segments which are colinear are clustered in order to perform a matching operation. Matching is performed in a respective set of plural longer edge segments representing plural clusters in correspondence with a set of plural guide signs as standards of guide of the vehicle mapped on the image input surface, and a set of longer edge segments being most matched each other is extracted. From position and headings of the extracted longer edge segments on the image input surface, the position and heading in the outer environment are calculated. The position and heading of the vehicle are detected from these values. The position and heading of the vehicle obtained in the above-mentioned image processing and the position and heading of the vehicle measured by other techniques and are evaluated synthetically. When the guide signs are mapped on the image input surface, the forecast values of position and heading of the vehicle at the image input time are used. In this manner, the detecting accuracy of the position and heading of the vehicle is improved.
摘要翻译： 作为图像输入车辆的外部环境。 对输入图像执行图像处理，并提取许多边缘段。 将共线的边缘段聚类以便执行匹配操作。 在与多个引导符号的集合对应的多个多个长边段的多个长边段中进行匹配，作为映射在图像输入面上的车辆的引导标准，并且一组较长边缘段彼此最匹配 被提取。 从图像输入表面上提取的较长边缘段的位置和标题中，计算外部环境中的位置和方向。 从这些值检测车辆的位置和方位。 在上述图像处理中获得的车辆的位置和方位以及通过其他技术测量的车辆的位置和方位并综合评估。 当引导符号被映射在图像输入表面上时，使用在图像输入时刻的车辆的位置和航向的预测值。 以这种方式，提高了车辆的位置和航向的检测精度。
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公开(公告)号：US08892296B2
公开(公告)日：2014-11-18
申请号：US13264912
申请日：2011-09-06
申请人： Hirokazu Abe , Yoshiki Ninomiya , Toru Sakaguchi
发明人： Hirokazu Abe , Yoshiki Ninomiya , Toru Sakaguchi
CPC分类号： B62D5/0481 , B60R16/03
摘要： [Problem]An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that pass and increase not only a d-axis current but also a q-axis current to a current value that a steering behavior does not occur to perform a diagnosis in the vector control of a motor, and determine that a power supply degraded, that the power supply is normal and that the diagnosis is not completed without giving an uncomfortable feeling to a driver, detecting a timing that there is not a driver, and needing to comprise a plurality of actuators.[Means for solving the problem]The present invention is a power state diagnosis method that diagnoses a power state of a vehicle which comprises an electrical control system supplied from a power supply and a motor controlled by a vector control method, comprising: gradually increasing a d-axis current to a current value that a steering behavior does not occur and applying the d-axis current, concurrently gradually increasing a q-axis current that is a rectangular-wave with positive and negative directions to the current value and applying the q-axis current, and determining degradation of the power supply when a voltage value of the power supply is equal to or less than a power supply threshold and a given period of time T1 elapses.
摘要翻译： 发明内容本发明的目的在于提供一种功率状态诊断方法和电力状态诊断装置，其不仅将d轴电流，而且将q轴电流增加到转向行为的当前值 在电动机的矢量控制中不进行诊断，并且判定电源劣化，电源正常，诊断未完成，而不给驾驶员带来不适感，检测到有时 而不是驱动器，并且需要构成多个致动器。 解决问题的手段本发明是一种电力状态诊断方法，其对由电源供给的电气控制系统和由矢量控制方法控制的电动机进行诊断的车辆的电力状态包括：逐渐增加 d轴电流转换为不发生转向行为的电流值并施加d轴电流，同时将正方向和正方向的矩形波的q轴电流同时逐渐增加到当前值，并施加q轴电流 并且当所述电源的电压值等于或小于电源阈值并且经过给定时间段T1时，确定所述电源的劣化。
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公开(公告)号：US08331630B2
公开(公告)日：2012-12-11
申请号：US13259065
申请日：2010-03-26
申请人： Satoru Nakanishi , Yoshiki Ninomiya , Takashi Naito , Shinichi Kojima , Yoshinao Takemae , Takuhiro Omi , Jun Adachi , Takashi Hiramaki
发明人： Satoru Nakanishi , Yoshiki Ninomiya , Takashi Naito , Shinichi Kojima , Yoshinao Takemae , Takuhiro Omi , Jun Adachi , Takashi Hiramaki
CPC分类号： G06K9/00281 , G06T7/73
摘要： Detecting with good precision an eye inside corner position and an eye outside corner position as face feature points even when the eye inside corner and/or the eye outside corner portions are obscured by noise. First eyelid profile modeling is performed with a Bezier curve expressed by a fixed control point P3 indicating an eye inside corner first position detected in an image, a fixed control point P4 indicating an eye outside corner first position, a control point P1 corresponding to an upper eyelid position candidate (first parameter), and a control point P2 corresponding to a lower eyelid position candidate (second parameter). Then in a second eyelid profile model with fixed P1 and P2 of the first eyelid profile model having the highest fitting evaluation value λ to the eyelid profile in the image, the values of a control point P3 indicating an eye inside corner position candidate (third parameter) and a control point P4 indicating an eye outside corner candidate (fourth parameter) at a maximum of a fitting evaluation value λ when changing the values of the control point P3 and control point P4 are determined as an eye inside corner second position and an eye outside corner second position, respectively.
摘要翻译： 即使当角落内部的眼睛和/或眼睛的外角部被噪声遮蔽时，以高精度检测眼内角位置和眼外角位置作为面部特征点。 用固定控制点P3表示的Bezier曲线进行第一次眼皮轮廓建模，所述固定控制点P3表示在图像中检测到的角内第一位置内的眼睛，指示眼睛外角角位置的眼睛的固定控制点P4，对应于上部 眼睑位置候选（第一参数）和对应于下眼睑位置候选的控制点P2（第二参数）。 然后，在具有对图像中的眼睑轮廓具有最高拟合评估值λ的第一眼睑轮廓模型的具有固定的P1和P2的第二眼睑轮廓模型中，指示角内位置候选中的眼睛的控制点P3的值（第三参数 ）和将控制点P3和控制点P4的值改变时，以拟合评估值λ的最大值指示眼睛外角候选（第四参数）的控制点P4被确定为眼角内第二位置和眼睛 外角第二位。
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公开(公告)号：US07966127B2
公开(公告)日：2011-06-21
申请号：US11813037
申请日：2005-12-28
申请人： Eiichi Ono , Yoshiki Ninomiya , Yoshikatsu Kisanuki , Takero Hongo , Kiyokazu Sunami , Yuichi Tanaka , Kazunori Furukawa , Yoshikazu Hattori , Yuji Muragishi , Arata Takahashi , Yojiro Koike
发明人： Eiichi Ono , Yoshiki Ninomiya , Yoshikatsu Kisanuki , Takero Hongo , Kiyokazu Sunami , Yuichi Tanaka , Kazunori Furukawa , Yoshikazu Hattori , Yuji Muragishi , Arata Takahashi , Yojiro Koike
IPC分类号： G06F17/10
CPC分类号： B60R21/0134 , B60R21/36 , B60R2021/346 , B60T7/22 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W40/04 , B60W2420/52 , B62D15/0265
摘要： The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver's vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver's vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage. The control device controls a vehicle such that the selected avoidance action is carried out.
摘要翻译： 本发明提供一种能够在紧急情况下实现最佳回避控制的车辆运动控制装置。 车辆运动控制装置包括用于检测外部环境的外部环境检测单元和用于检测驾驶员车辆的行驶状态的行驶状态检测单元。 基于由外部环境检测单元检测到的外部环境来检测障碍物，并且创建指示障碍物的环境地图。 控制装置基于由行驶状态检测单元检测到的驾驶员车辆的环境映射和行驶状态来估计用于避免障碍物的多个可能的回避动作。 控制装置根据由回避动作估计部估计出的每个回避动作来估计碰撞破坏，并且基于所估计的碰撞破坏选择合适的回避动作。 控制装置控制车辆，使得执行所选择的回避动作。
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公开(公告)号：US20100207958A1
公开(公告)日：2010-08-19
申请号：US12705095
申请日：2010-02-12
IPC分类号： G09G5/02
摘要： A color image creating apparatus includes an acquisition unit and a creation unit. The acquisition unit acquires a color visible image from an imaging unit which images the color visible image which includes plural pixels which each include color information and intensity information based on light in a visible light range. The creation unit uses the intensity information and the color information which are acquired by the imaging for a pixel which has intensity equal to or higher than a predetermined value so as to effect display in color, and uses the intensity information acquired by the imaging for a pixel which has intensity lower than the predetermined value so as to effect display in grayscale, and create a color image.
摘要翻译： 彩色图像产生装置包括获取单元和创建单元。 获取单元从成像单元获取彩色可见图像，该成像单元对包括多个像素的彩色可见图像进行成像，每个像素包括基于可见光范围内的光的颜色信息和强度信息。 创建单元使用通过成像获得的强度信息和颜色信息，其具有等于或高于预定值的像素，以便实现彩色显示，并且使用通过成像获取的强度信息 具有强度低于预定值的像素，以便以灰度显示，并创建彩色图像。
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公开(公告)号：US20090120714A1
公开(公告)日：2009-05-14
申请号：US12293255
申请日：2007-03-13
IPC分类号： B62D5/04
摘要： A electric power steering apparatus having a steering torque detecting unit for detecting a steering torque transmitted to the steering system; an electric motor for generating a steering assist force to give to the steering system; a motor control unit for controlling the electric motor based on at least the steering torque. The apparatus comprises a motor stop condition detecting unit for detecting a condition to stop the electric motor while the electric motor is under control by the motor control unit; and an electromagnetic brake control unit over the electric motor in order to suppress a kick-back based on at least either one of a steering condition of the steering system and a running condition of the vehicle when a detection result by the motor stop condition detecting unit shows that a condition occurs to stop the electric motor.
摘要翻译： 一种电动助力转向装置，具有转向转矩检测单元，用于检测传递给转向系统的转向转矩; 用于产生转向辅助力以给予转向系统的电动机; 至少基于转向转矩来控制电动机的电动机控制单元。 该装置包括：电动机停止状态检测单元，用于在电动机由电动机控制单元控制的同时检测停止电动机的状态; 以及电动机停止条件检测单元的检测结果之后的电动制动控制单元，以便基于转向系统的转向状态和车辆的行驶状态中的至少一方来抑制倒转。 表示发生停止电动机的情况。
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公开(公告)号：US20060193511A1
公开(公告)日：2006-08-31
申请号：US11356976
申请日：2006-02-21
IPC分类号： G06K9/00
CPC分类号： G06K9/00805
摘要： An object determining apparatus is disclosed which is structured such that right and left disparity images are acquired from different view points, disparity of corresponding points in the right and left images is computed, information relating to the points for which disparity is computed is voted to respective blocks of a disparity map that arranges blocks with one side corresponding to disparity, other side corresponding to image lateral position, and these sides being elongated with increasing disparity. An attribute of three dimensional object is applied to first blocks in which distribution of voted disparity points in disparity direction is small and image vertical direction is large. An attribute of road surface is applied to second blocks in which distribution in disparity direction is large and image vertical direction small, thereby determining an object as a three dimensional object or road surface.
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公开(公告)号：US4809178A
公开(公告)日：1989-02-28
申请号：US051831
申请日：1987-05-20
IPC分类号： G05D1/02
CPC分类号： G05D1/0272 , G05D1/0255 , G05D1/0274
摘要： An obstacle data processing system for an unmanned self-controlled vehicle, capable of enabling the vehicle to automatically avert any obstacle which lies in the course of running of the vehicle. The system has obstacle position memory device capable of accumulating position data concerning specific obstacles and, hence, forming data concerning the distribution of the obstacles. The vehicle therefore can conduct appropriate averting operation in accordance with the distribution of a plurality of obstacles.
摘要翻译： 一种用于无人驾驶的自控车辆的障碍物数据处理系统，其能够使车辆自动避开车辆行驶过程中的任何障碍物。 该系统具有能够累积关于特定障碍物的位置数据的障碍物位置存储装置，并且因此形成关于障碍物分布的数据。 因此，车辆可以根据多个障碍物的分布进行适当的避免操作。
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公开(公告)号：US20130218403A1
公开(公告)日：2013-08-22
申请号：US13264912
申请日：2011-09-06
申请人： Hirokazu Abe , Yoshiki Ninomiya , Toru Sakaguchi
发明人： Hirokazu Abe , Yoshiki Ninomiya , Toru Sakaguchi
IPC分类号： B62D5/04
CPC分类号： B62D5/0481 , B60R16/03
摘要： [Problem]An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that pass and increase not only a d-axis current but also a q-axis current to a current value that a steering behavior does not occur to perform a diagnosis in the vector control of a motor, and determine that a power supply degraded, that the power supply is normal and that the diagnosis is not completed without giving an uncomfortable feeling to a driver, detecting a timing that there is not a driver, and needing to comprise a plurality of actuators.[Means for solving the problem]The present invention is a power state diagnosis method that diagnoses a power state of a vehicle which comprises an electrical control system supplied from a power supply and a motor controlled by a vector control method, comprising: gradually increasing a d-axis current to a current value that a steering behavior does not occur and applying the d-axis current, concurrently gradually increasing a q-axis current that is a rectangular-wave with positive and negative directions to the current value and applying the q-axis current, and determining degradation of the power supply when a voltage value of the power supply is equal to or less than a power supply threshold and a given period of time T1 elapses.
摘要翻译： 发明内容本发明的目的在于提供一种功率状态诊断方法和电力状态诊断装置，其不仅将d轴电流，而且将q轴电流增加到转向行为的当前值 在电动机的矢量控制中不进行诊断，并且判定电源劣化，电源正常，诊断未完成，而不给驾驶员带来不适感，检测到有时 而不是驱动器，并且需要构成多个致动器。 解决问题的手段本发明是一种电力状态诊断方法，其对由电源供给的电气控制系统和由矢量控制方法控制的电动机进行诊断的车辆的电力状态包括：逐渐增加 d轴电流转换为不发生转向行为的电流值并施加d轴电流，同时将正方向和正方向的矩形波的q轴电流同时逐渐增加到当前值，并施加q轴电流 并且当所述电源的电压值等于或小于电源阈值并且经过给定时间段T1时，确定所述电源的劣化。
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公开(公告)号：US20120014610A1
公开(公告)日：2012-01-19
申请号：US13259065
申请日：2010-03-26
申请人： Satoru Nakashi , Yoshiki Ninomiya , Takashi Naito , Shinichi Kojima , Yoshinao Takemae , Takuhiro Omi , Jun Adachi , Takashi Hiramaki
发明人： Satoru Nakashi , Yoshiki Ninomiya , Takashi Naito , Shinichi Kojima , Yoshinao Takemae , Takuhiro Omi , Jun Adachi , Takashi Hiramaki
IPC分类号： G06K9/46
CPC分类号： G06K9/00281 , G06T7/73
摘要： Detecting with good precision an eye inside corner position and an eye outside corner position as face feature points even when the eye inside corner and/or the eye outside corner portions are obscured by noise. First eyelid profile modeling is performed with a Bezier curve expressed by a fixed control point P3 indicating an eye inside corner first position detected in an image, a fixed control point P4 indicating an eye outside corner first position, a control point P1 corresponding to an upper eyelid position candidate (first parameter), and a control point P2 corresponding to a lower eyelid position candidate (second parameter). Then in a second eyelid profile model with fixed P1 and P2 of the first eyelid profile model having the highest fitting evaluation value λ to the eyelid profile in the image, the values of a control point P3 indicating an eye inside corner position candidate (third parameter) and a control point P4 indicating an eye outside corner candidate (fourth parameter) at a maximum of a fitting evaluation value λ when changing the values of the control point P3 and control point P4 are determined as an eye inside corner second position and an eye outside corner second position, respectively.
摘要翻译： 即使当角落内部的眼睛和/或眼睛的外角部被噪声遮蔽时，以高精度检测眼内角位置和眼外角位置作为面部特征点。 用固定控制点P3表示的Bezier曲线进行第一次眼皮轮廓建模，所述固定控制点P3表示在图像中检测到的角内第一位置内的眼睛，指示眼睛外角角位置的眼睛的固定控制点P4，对应于上部 眼睑位置候选（第一参数）和对应于下眼睑位置候选的控制点P2（第二参数）。 然后，在具有对图像中的眼睑轮廓具有最高拟合评估值λ的第一眼睑轮廓模型的具有固定的P1和P2的第二眼睑轮廓模型中，指示角内位置候选中的眼睛的控制点P3的值（第三参数 ）和将控制点P3和控制点P4的值改变时，以拟合评估值λ的最大值指示眼睛外角候选（第四参数）的控制点P4被确定为眼角内第二位置和眼睛 外角第二位。
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