公开(公告)号：US08170752B2

公开(公告)日：2012-05-01

申请号：US12670713

申请日：2008-07-04

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka ,  Hideo Yanagisawa

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka ,  Hideo Yanagisawa

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D12/00 ,  G05D1/02

CPC分类号： G08G1/168 ,  B60R1/00 ,  B60R2300/108 ,  B60R2300/302 ,  B60R2300/50 ,  B60R2300/70 ,  B60R2300/8026 ,  B60R2300/806 ,  B60W30/095 ,  B60W40/02 ,  B60W2420/403 ,  B62D15/028

摘要： A parking assistance apparatus makes it easy for a driver to grasp a relative positional relation between a vehicle and a target parking position and makes it possible to park the vehicle at the target parking position in a parking space with accuracy.An image of a mark M in a parking space S is taken by a vehicle-side camera 7. A relative position calculation portion 8 calculates a relative positional relation between the vehicle and a target parking position T based on the taken image of the mark M. A backward locus calculation portion 9 calculates an expected locus when the vehicle moves based on the relative positional relation and based on a steering angle detected by a steering angle sensor 15. An image of the parking space S is taken by a parking-space-side camera 3 and transmitted to a vehicle-side apparatus 1. An image composition portion 12 composes the image of the parking space S from the parking-space-side camera 3 and the expected locus calculated by the backward locus calculation portion 9. The composed image is displayed on the monitor 14 located in the vicinity of a drivers seat of the vehicle.

摘要翻译： 停车辅助装置使驾驶员容易掌握车辆与目标停车位置之间的相对位置关系，并且能够准确地将车辆停放在停车位置的目标停车位置。 停车空间S中的标记M的图像由车辆侧照相机7拍摄。相对位置计算部8基于拍摄到的标记M的图像计算车辆与目标停车位置T之间的相对位置关系 反向轨迹计算部9基于相对位置关系，基于由转向角传感器15检测到的转向角来计算车辆移动时的预期轨迹。停车位S的图像由停车位 - 图像合成部12从停车位侧摄像机3构成停车空间S的图像，由向后轨迹计算部9计算出的预期轨迹构成。 图像显示在位于车辆驾驶员座位附近的监视器14上。

公开(公告)号：US20100211267A1

公开(公告)日：2010-08-19

申请号：US12670713

申请日：2008-07-04

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka ,  Hideo Yanagisawa

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka ,  Hideo Yanagisawa

IPC分类号： B62D6/00 ,  B62D15/02 ,  B60Q1/48

CPC分类号： G08G1/168 ,  B60R1/00 ,  B60R2300/108 ,  B60R2300/302 ,  B60R2300/50 ,  B60R2300/70 ,  B60R2300/8026 ,  B60R2300/806 ,  B60W30/095 ,  B60W40/02 ,  B60W2420/403 ,  B62D15/028

摘要： A parking assistance apparatus makes it easy for a driver to grasp a relative positional relation between a vehicle and a target parking position and makes it possible to park the vehicle at the target parking position in a parking space with accuracy.An image of a mark M in a parking space S is taken by a vehicle-side camera 7. A relative position calculation portion 8 calculates a relative positional relation between the vehicle and a target parking position T based on the taken image of the mark M. A backward locus calculation portion 9 calculates an expected locus when the vehicle moves based on the relative positional relation and based on a steering angle detected by a steering angle sensor 15. An image of the parking space S is taken by a parking-space-side camera 3 and transmitted to a vehicle-side apparatus 1. An image composition portion 12 composes the image of the parking space S from the parking-space-side camera 3 and the expected locus calculated by the backward locus calculation portion 9. The composed image is displayed on the monitor 14 located in the vicinity of a drivers seat of the vehicle.

摘要翻译： 停车辅助装置使驾驶员容易掌握车辆与目标停车位置之间的相对位置关系，并且能够准确地将车辆停放在停车位置的目标停车位置。 停车空间S中的标记M的图像由车辆侧照相机7拍摄。相对位置计算部8基于拍摄到的标记M的图像计算车辆与目标停车位置T之间的相对位置关系 反向轨迹计算部9基于相对位置关系，基于由转向角传感器15检测到的转向角来计算车辆移动时的预期轨迹。停车位S的图像由停车位 - 图像合成部12从停车位侧摄像机3构成停车空间S的图像，由向后轨迹计算部9计算出的预期轨迹构成。 图像显示在位于车辆驾驶员座位附近的监视器14上。

公开(公告)号：US20100066515A1

公开(公告)日：2010-03-18

申请号：US12521101

申请日：2007-11-19

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Masami Tomioka ,  Yutaka Nakashima ,  Hideo Yanagisawa

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Masami Tomioka ,  Yutaka Nakashima ,  Hideo Yanagisawa

IPC分类号： B60Q1/00 ,  B62D6/00

CPC分类号： B62D15/028 ,  B60W50/14 ,  G06T7/73 ,  G06T2207/30204 ,  G06T2207/30244 ,  G06T2207/30248 ,  H04N7/18

摘要： An image of a mark M is taken by a camera (1) with positioning a vehicle at a location in the vicinity of a parking space, an image processing unit (2) extracts a characteristic point from the image of the mark M and recognizes two-dimensional coordinates on the image, a positional parameter calculation unit (3) calculates positional parameters including six parameters of the camera (1) with reference to the mark M, and a relative position identification unit (4) identifies a relative positional relation between the vehicle and the parking space. A parking locus calculation unit (5) calculates a parking locus for leading the vehicle to the parking space based on the relative positional relation between the vehicle and the parking space identified by the relative position identification unit (4), and a guide apparatus (6) outputs drive operation guide information for causing the vehicle to travel along the calculated parking locus to a driver of the vehicle.

摘要翻译： 图像处理单元（2）从标记M的图像中提取特征点，并识别两个 图像上的三维坐标，位置参数计算单元（3）参照标记M计算包括照相机（1）的六个参数的位置参数，相对位置识别单元（4）识别相机 车辆和停车位。 停车轨迹计算单元（5）基于由相对位置识别单元（4）识别的车辆与停车空间之间的相对位置关系，计算用于将车辆引导到停车位的停车轨迹，以及引导装置（6） ）输出用于使车辆沿着计算出的停车轨迹行进到车辆驾驶员的驾驶操作指导信息。

公开(公告)号：US20100201810A1

公开(公告)日：2010-08-12

申请号：US12676063

申请日：2008-10-06

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka

IPC分类号： H04N7/18

CPC分类号： B60R1/00 ,  B60R11/04 ,  B60R2300/30 ,  B60R2300/301 ,  B60R2300/303 ,  B60R2300/607 ,  B60R2300/806 ,  G06T7/73 ,  G06T2207/30204 ,  G06T2207/30264

摘要： Images are taken by a fixed camera and a moving camera, and a relative position calculation unit recognizes a current position and orientation of the moving object based on a detection signal that is input from a sensor for obtaining positional information of a moving object and calculates a relative positional relationship of the moving camera with respect to the fixed camera by comparing the current position and orientation of the moving object with a given position at which the fixed camera is installed. Based on the relative positional relationship, the image taken by the fixed camera and the image taken by the moving camera are synthesized into one image by an image composition unit, and a composite image viewed from a virtual viewpoint is displayed on a monitor.

摘要翻译： 图像由固定摄像机和移动摄像机拍摄，相对位置计算单元基于从用于获取移动物体的位置信息的传感器输入的检测信号来识别移动物体的当前位置和姿态，并且计算出 通过将移动物体的当前位置和姿态与安装固定照相机的给定位置进行比较，移动摄像机相对于固定照相机的相对位置关系。 基于相对位置关系，通过图像合成单元将由固定摄像机拍摄的图像和由移动摄像机拍摄的图像合成为一个图像，并且将从虚拟视点观看的合成图像显示在监视器上。