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。

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：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：US20110298926A1

公开(公告)日：2011-12-08

申请号：US13202004

申请日：2010-02-25

申请人： Hiroshi Katsunaga ,  Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Koji Hika ,  Keisuke Inoue

发明人： Hiroshi Katsunaga ,  Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Koji Hika ,  Keisuke Inoue

IPC分类号： H04N7/18

CPC分类号： B62D15/027 ,  G06K9/00798 ,  G06K9/00912 ,  G06T7/73 ,  G06T2207/30208 ,  G06T2207/30264 ,  G08G1/16 ,  G08G1/168

摘要： Provided is a parking assistance apparatus utilizing a fixed target by taking an image thereof, the parking assistance apparatus being capable of recognizing the fixed target with high recognition accuracy while using simple image recognition processing. A mark (M) includes a plurality of illuminators (1). Sets of the plurality of illuminators (1) form characteristic points C1 to C4. Turn-ON request generation means (36) of a vehicle-side device (20) sequentially generates turn-ON requests for each characteristic point and transmits the generated turn-ON requests to a parking-lot-side device (10). A display control unit (11) of the parking-lot-side device (10) turns ON the characteristic points based on the turn-ON requests. An image recognition unit (31) of the vehicle-side device (20) performs image recognition for the characteristic points sequentially. Using the recognition result, positional parameter calculation means (34) of the vehicle-side device (20) calculates positional parameters of a camera with respect to the mark (M).

摘要翻译： 提供一种通过拍摄图像来利用固定目标的停车辅助装置，在使用简单的图像识别处理的同时，能够以高识别精度识别固定目标的停车辅助装置。 标记（M）包括多个照明器（1）。 多个照明器（1）的组合形成特征点C1〜C4。 车辆侧设备（20）的接通请求产生装置（36）顺序地产生每个特征点的接通请求，并将生成的接通请求发送到停车场侧设备（10）。 停车场侧装置（10）的显示控制单元（11）基于接通请求接通特征点。 车辆侧装置（20）的图像识别单元（31）依次对特征点进行图像识别。 使用识别结果，车辆侧装置（20）的位置参数计算装置（34）计算相机相对于标记（M）的位置参数。

公开(公告)号：US07295227B1

公开(公告)日：2007-11-13

申请号：US09484316

申请日：2000-01-18

申请人： Goro Asahi ,  Hisashi Kuriya ,  Masashi Ushino ,  Tomio Kimura ,  Kousuke Teramura ,  Kazunori Shimazaki ,  Kanji Hattori ,  Satoshi Yamada

发明人： Goro Asahi ,  Hisashi Kuriya ,  Masashi Ushino ,  Tomio Kimura ,  Kousuke Teramura ,  Kazunori Shimazaki ,  Kanji Hattori ,  Satoshi Yamada

IPC分类号： H04N7/00 ,  H04N7/18

CPC分类号： G01S15/931 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60R2300/8093 ,  B62D15/0275 ,  B62D15/028 ,  G01S15/025 ,  G01S2015/935 ,  H04N7/183

摘要： A steering assist apparatus that assists a driver when backing a vehicle in an S-shaped path or parallel parking. The apparatus displays guidance marking on a monitor screen and the driver refers to the guidance marking, which permits the driver to easily back the vehicle to a desired position. The apparatus includes a camera, a monitor, an angle sensor, obstacle sensors, an image processing unit, a controller and a monitor controller. The image processing unit computes the predicted path of the vehicle at the current wheel angle. The monitor shows an image captured by the camera. The image processing unit generates data representing a guidance marking based on the predicted path and superimposes the marking on the monitor screen. The location of the marking on the screen is determined based on the current wheel angle. The marking represents part of the predicted path. Specifically, the marking matches the width of the vehicle. In the monitor screen, a marking is separated from the rear bumper of the vehicle by a distance corresponding to the wheelbase of the vehicle.

摘要翻译： 一种辅助驾驶员在将车辆背置在S形路径或平行停车场时的转向辅助装置。 该装置在监视器屏幕上显示引导标记，并且驾驶员参考引导标记，其允许驾驶员容易地将车辆返回到期望的位置。 该装置包括照相机，监视器，角度传感器，障碍传感器，图像处理单元，控制器和监视器控制器。 图像处理单元以当前车轮角度计算车辆的预测路径。 显示器显示相机拍摄的图像。 图像处理单元基于预测路径产生表示引导标记的数据，并将标记叠加在监视器屏幕上。 基于当前车轮角度确定屏幕上的标记位置。 标记代表预测路径的一部分。 具体地，该标记与车辆的宽度相匹配。 在监视器屏幕中，标记与车辆的后保险杠分开与车辆的轴距相对应的距离。

公开(公告)号：US06711473B2

公开(公告)日：2004-03-23

申请号：US10176459

申请日：2002-06-21

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamada

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamada

IPC分类号： G06F700

CPC分类号： B62D15/028 ,  B60T2201/10

摘要： A parking assisting device is provided with: a yaw rate sensor for detecting a yaw angle of a vehicle; a controller having a navigation function control unit and a parking assisting function control unit; a function selecting switch for determining switching to a parking assisting mode from a navigation mode; a monitor for providing navigation information, as well as for setting the reference position of the yaw angle and selecting a parking mode; and a speaker for providing parking assisting information to a driver in accordance with a vehicle position specified on the basis of the yaw angle.

摘要翻译： 一种停车辅助装置设置有用于检测车辆的偏航角的偏航率传感器; 控制器，具有导航功能控制单元和停车辅助功能控制单元; 功能选择开关，用于确定从导航模式切换到驻车辅助模式; 用于提供导航信息的监视器，以及用于设置偏航角的参考位置并选择停车模式; 以及扬声器，用于根据基于偏航角指定的车辆位置向驾驶员提供停车辅助信息。

公开(公告)号：US07375651B2

公开(公告)日：2008-05-20

申请号：US10558061

申请日：2005-04-12

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamamoto

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamamoto

IPC分类号： B60Q1/48 ,  G05D1/00 ,  B60S9/205

CPC分类号： B62D15/0275 ,  B60T2201/10 ,  B62D15/028

摘要： In a parking assistance apparatus disclosed herein, when a lateral parking mode switch is set at an initial stop position A, a controller calculates a backward movement start position B for parking based on a yaw angle and a steering angle of a vehicle, and issues guiding information to stop the vehicle upon having determined that the vehicle has reached the calculated backward movement start position B. After having sensed that a shift lever was shifted to a reverse position, the controller displays on a display an image captured by a camera as to an area behind the vehicle, and also displays on the display in a superimposed manner an estimated vehicle space in the case where the vehicle moves backwards while maintaining a steering angle at the time of the shift of the shift lever. The driver operates a steering wheel so as to establish a suitable positional relation between the estimated vehicle space and a target parking space on the display, whereby an appropriate steering angle is obtained in moving the vehicle backwards.

摘要翻译： 在本文公开的停车辅助装置中，当侧向停车模式切换被设定在初始停止位置A时，控制器基于车辆的偏航角和转向角计算停车的后退开始位置B，并且发出引导 在确定车辆已经达到计算出的向后移动开始位置B之后停止车辆的信息。在感测到变速杆被转移到倒退位置之后，控制器在显示器上显示由摄像机拍摄的图像，关于 并且在车辆向后移动的情况下以叠加的方式在显示器上显示估计的车辆空间，同时保持换档杆移动时的转向角。 驾驶员操作方向盘，以便在估计的车辆空间与显示器上的目标停车位之间建立合适的位置关系，从而在向后移动车辆时获得适当的转向角。

公开(公告)号：US06898527B2

公开(公告)日：2005-05-24

申请号：US10183734

申请日：2002-06-27

申请人： Tomio Kimura ,  Kazunori Shimazaki ,  Satoshi Yamada

发明人： Tomio Kimura ,  Kazunori Shimazaki ,  Satoshi Yamada

IPC分类号： B60R21/00 ,  B60T8/172 ,  B62D15/02 ,  G08G1/00 ,  G06F19/00 ,  B60Q1/48

CPC分类号： B60T8/172 ,  B60T2201/10 ,  B62D15/028

摘要： When a vehicle advances in parallel with a parking frame to reach an initial stop position, measurement of a distance to a parked vehicle is continuously performed by means of an ultrasonic sensor and a moving distance of the vehicle is simultaneously calculated using a signal from a wheel speed sensor. When actuating an in-line mode switch under a state where the vehicle stops in the initial stop position, a turning angle is calculated so as to enable appropriate in-line parking to the parking frame from an actual initial stop position, based on a deviation of the vehicle from a reference position for the initial stop measured by the ultrasonic sensor. Information on a driving operation that is necessary for back parking is provided to a driver via a speaker based on this turning angle and output from a yaw rate sensor.

摘要翻译： 当车辆与停车架平行前进以达到初始停止位置时，通过超声波传感器连续地进行对停放车辆的距离的测量，并且使用来自车轮的信号同时计算车辆的移动距离 速度传感器 当在初始停止位置的车辆停止的状态下致动在线模式开关时，计算转向角度，以便能够从实际的初始停止位置基于偏差进行对驻车框架的适当的在线停车 从用于由超声波传感器测量的初始停止的参考位置的车辆。 通过基于该转向角的扬声器向偏航速度传感器输出关于驾驶操作的关于后退停车所必需的信息。

公开(公告)号：US06701226B2

公开(公告)日：2004-03-02

申请号：US10178461

申请日：2002-06-24

申请人： Satoshi Yamada ,  Kazunori Shimazaki ,  Tomio Kimura

发明人： Satoshi Yamada ,  Kazunori Shimazaki ,  Tomio Kimura

IPC分类号： G05D300

CPC分类号： B62D15/028 ,  B60T8/172 ,  B60T2201/10

摘要： A controller is provided with a CPU, an EEPROM for storing data that is unique to a vehicle and which is rewritable, and a control ROM for performing parking assistance upon parking in lateral and parking in parallel, based on a minimum turning radius Rc of the data that is unique to the vehicle, which is stored in the EEPROM, and the CPU operates based on the control program stored in the control ROM. The controller 1 calculates a yaw angle of the vehicle from an angular speed of the vehicle inputted from a yaw rate sensor and information about an operation method and operation timing in each step during the drive for parking in lateral and parking in parallel is outputted to a speaker through calculating a turning angle of the vehicle, thereby appropriately assisting a driver with parking.

摘要翻译： 控制器具有CPU，用于存储车辆唯一的且可重写的数据的EEPROM，以及用于在侧向停车和并行停车时执行停车辅助的控制ROM，其基于最小转向半径Rc 存储在EEPROM中的车辆唯一的数据，并且CPU基于存储在控制ROM中的控制程序进行操作。 控制器1根据横摆率传感器输入的车辆的角速度计算车辆的横摆角度，并且在横向停车的驱动中并行停车的各步骤中的每个步骤的信息被输出到 扬声器，通过计算车辆的转向角度，从而适当地辅助驾驶员停车。