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1.发明申请公开(公告)号：US20130234654A1
公开(公告)日：2013-09-12
申请号：US13885314
申请日：2011-10-26
CPC分类号： G01R31/382 , H01M10/44 , H01M10/46 , H01M10/465 , H01M10/48 , H02J3/383 , H02J7/007 , H02J7/32 , H02J7/35 , Y02E10/563 , Y02E10/566
摘要： An electricity accumulation device has a dedicated charge terminal that connects to a distributed power generation system such as a solar power generation system and a grid-dedicated discharge terminal that connects to the power grid, a grid-dedicated charge terminal that connects to the power grid and a discharge terminal for discharging to an electric load such as an electric apparatus. The electric power charged to the electricity accumulation device can be made between an electric power generated by the distributed generation and an electric power generated by the power grid, by providing an electric power measurement device for each charge terminal and each discharge terminal that connects to the distributed generation, and thus charge and discharge control can be performed.
摘要翻译： 蓄电装置具有专用的充电端子，其连接到诸如太阳能发电系统和连接到电网的电网专用放电端子之类的分布式发电系统，连接到电网的电网专用充电端子 以及用于对诸如电气设备的电负载进行放电的放电端子。 通过为每个充电端子提供电力测量装置，并且每个放电端子连接到蓄电装置的电力可以在由分布式发电产生的电力和由电网产生的电力之间进行 分布式发电，因此可以进行充放电控制。
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2.发明授权External environment recognition device for vehicle and vehicle system using same 有权用于车辆和车辆系统的外部环境识别装置公开(公告)号：US08924140B2
公开(公告)日：2014-12-30
申请号：US13264190
申请日：2010-04-13
CPC分类号： B60T8/17558 , G01S13/867 , G01S13/931 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G06K9/00805 , G08G1/166
摘要： An external environment recognition device for a vehicle and a vehicle system capable of assuring safety and reducing the processing load in a compatible manner are provided. An external environment recognition device 100 for a vehicle includes: first collision determination means 103 for computing a risk of collision of a host vehicle with a detected object in front of the host vehicle on the basis of information of a predicted course of the host vehicle and the detected object; and second collision determination means 104 for determining whether the detected object enters the predicted course from the outside of the predicted course or not. This device further includes object selection means 105 for selecting the detected object having a risk at least a first threshold and the detected object determined to enter the predicted course as selection candidate objects from among the detected objects, and for selecting the selection candidate object having a minimum relative distance to the host vehicle as a pedestrian determination request object from among the selected selection candidate objects. This device further includes pedestrian determination means 106 for determining whether the selected pedestrian determination request object is a pedestrian or not using image information.
摘要翻译： 提供了一种用于车辆和车辆系统的外部环境识别装置，其能够以兼容的方式确保安全性并降低处理负荷。 用于车辆的外部环境识别装置100包括：第一碰撞判定装置103，用于根据本车辆的预测路线的信息计算本车辆与本车辆前方的被检测物体的碰撞风险;以及 被检测物体; 以及第二碰撞确定装置104，用于确定检测对象是否从预测路线的外部进入预测路线。 该装置还包括对象选择装置105，用于选择具有至少第一阈值的风险的检测对象，并且将被检测对象确定为从检测对象中选择候选对象进入预测路线，并且用于选择具有 作为来自所选择的候选对象中的步行者确定请求对象的与本车辆的最小相对距离。 该装置还包括步行者确定装置106，用于使用图像信息来确定所选择的步行者确定请求对象是否是行人。
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公开(公告)号：US08705796B2
公开(公告)日：2014-04-22
申请号：US13391929
申请日：2010-07-22
IPC分类号： G06K9/00
CPC分类号： B60R21/0134 , G01B11/002 , G01S17/936 , G06K9/00369 , G06K9/00798 , G06K9/00805 , G06K9/4642 , G08G1/166
摘要： The present invention provides an obstacle detection device that enables stable obstacle detection with less misdetections even when a bright section and a dark section are present in an obstacle and a continuous contour of the obstacle is present across the bright section and the dark section. The obstacle detection device includes a processed image generating unit that generates a processed image for detecting an obstacle from a picked-up image, a small region dividing unit that divides the processed image into plural small regions, an edge threshold setting unit that sets an edge threshold for each of the small regions from pixel values of the plural small regions and the processed image, an edge extracting unit that calculates a gray gradient value of each of the small regions from the plural small regions and the processed image and generates, using the edge threshold for the small region corresponding to the calculated gray gradient value, an edge image and a gradient direction image, and an obstacle recognizing unit that determines presence or absence of an obstacle from the edge image in a matching determination region set in the edge image and the gradient direction image corresponding to the edge image. The small region dividing unit divides the processed image into the plural small regions on the basis of an illumination state on the outside of the own vehicle.
摘要翻译： 本发明提供一种障碍物检测装置，即使在障碍物中存在明亮部分和暗部分的情况下，即使在明亮部分和暗部分存在障碍物的连续轮廓，也能够以较少的误差进行稳定的障碍物检测。 障碍物检测装置包括：处理图像生成单元，其从拾取图像生成用于检测障碍物的处理图像;小区域分割单元，其将处理后的图像分割成多个小区域;边缘阈值设定单元， 阈值，所述边缘提取单元从所述多个小区域和所述处理图像计算每个所述小区域的灰度梯度值，并且使用所述边缘提取单元， 对应于所计算的灰度梯度值的小区域的边缘阈值，边缘图像和梯度方向图像，以及在边缘图像中设置的匹配确定区域中从边缘图像确定障碍物的存在或不存在的障碍物识别单元 以及与边缘图像对应的梯度方向图像。 小区域分割单元根据本车辆的外部的照明状态将处理后的图像分割为多个小区域。
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公开(公告)号：US07778758B2
公开(公告)日：2010-08-17
申请号：US11867192
申请日：2007-10-04
申请人： Kazutoshi Tsuchiya , Hiroshi Sakamoto , Masato Imai , Tatsuya Ochi , Takaomi Nishigaito , Masao Sakata , Masafumi Naito
发明人： Kazutoshi Tsuchiya , Hiroshi Sakamoto , Masato Imai , Tatsuya Ochi , Takaomi Nishigaito , Masao Sakata , Masafumi Naito
IPC分类号： G06F7/00
CPC分类号： B60K31/0066 , B60W2520/14 , B60W2550/402 , G01C21/30 , G06K9/00798
摘要： This invention provides a vehicle cruise control system which, during recognition of a shape of a road extending in a frontward direction of host vehicle, can calculate the road shape rapidly and accurately from a positional relationship with respect to the host vehicle. The system includes at least: a position change detector that detects, from information on the road existing in the frontward direction of the vehicle, a horizontal distance from a line segment orthogonal to a traveling direction vector of the vehicle, to a centerline of the road, the detection being conducted at a plurality of measuring points in an extending direction of the traveling direction vector; a road shape recognizer that identifies the shape of the road from data relating to linearity of changes in each of the horizontal distances, the linearity data being obtained by the position change detector; and a cruise controller that controls traveling of the vehicle according to results of the identification by the road shape recognizer.
摘要翻译： 本发明提供一种车辆巡航控制系统，在识别到在主车辆的向前方向上延伸的道路的形状时，能够从相对于本车辆的位置关系快速，准确地计算道路形状。 该系统至少包括：位置变化检测器，其从车辆前方存在的道路上的信息中检测出与从车辆的行进方向矢量正交的线段的水平距离到道路的中心线 检测在行进方向矢量的延伸方向上的多个测量点进行; 路线形状识别器，其通过与位置变化检测器得到的线性数据相关的水平距离各变化的线性度的数据来识别道路的形状; 以及巡航控制器，其根据道路形状识别器的识别结果来控制车辆的行驶。
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公开(公告)号：US20120170808A1
公开(公告)日：2012-07-05
申请号：US13391929
申请日：2010-07-22
IPC分类号： G06K9/00
CPC分类号： B60R21/0134 , G01B11/002 , G01S17/936 , G06K9/00369 , G06K9/00798 , G06K9/00805 , G06K9/4642 , G08G1/166
摘要： The present invention provides an obstacle detection device that enables stable obstacle detection with less misdetections even when a bright section and a dark section are present in an obstacle and a continuous contour of the obstacle is present across the bright section and the dark section. The obstacle detection device includes a processed image generating unit that generates a processed image for detecting an obstacle from a picked-up image, a small region dividing unit that divides the processed image into plural small regions, an edge threshold setting unit that sets an edge threshold for each of the small regions from pixel values of the plural small regions and the processed image, an edge extracting unit that calculates a gray gradient value of each of the small regions from the plural small regions and the processed image and generates, using the edge threshold for the small region corresponding to the calculated gray gradient value, an edge image and a gradient direction image, and an obstacle recognizing unit that determines presence or absence of an obstacle from the edge image in a matching determination region set in the edge image and the gradient direction image corresponding to the edge image. The small region dividing unit divides the processed image into the plural small regions on the basis of an illumination state on the outside of the own vehicle.
摘要翻译： 本发明提供一种障碍物检测装置，即使在障碍物中存在明亮部分和暗部分的情况下，即使在明亮部分和暗部分存在障碍物的连续轮廓，也能够以较少的误差进行稳定的障碍物检测。 障碍物检测装置包括：处理图像生成单元，其从拾取图像生成用于检测障碍物的处理图像;小区域分割单元，其将处理后的图像分割成多个小区域;边缘阈值设定单元， 阈值，所述边缘提取单元从所述多个小区域和所述处理图像计算每个所述小区域的灰度梯度值，并且使用所述边缘提取单元， 对应于所计算的灰度梯度值的小区域的边缘阈值，边缘图像和梯度方向图像，以及在边缘图像中设置的匹配确定区域中从边缘图像确定障碍物的存在或不存在的障碍物识别单元 以及与边缘图像对应的梯度方向图像。 小区域分割单元根据本车辆的外部的照明状态将处理后的图像分割为多个小区域。
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公开(公告)号：US20080091327A1
公开(公告)日：2008-04-17
申请号：US11867192
申请日：2007-10-04
申请人： Kazutoshi Tsuchiya , Hiroshi Sakamoto , Masato Imai , Tatsuya Ochi , Takaomi Nishigaito , Masao Sakata , Masafumi Naito
发明人： Kazutoshi Tsuchiya , Hiroshi Sakamoto , Masato Imai , Tatsuya Ochi , Takaomi Nishigaito , Masao Sakata , Masafumi Naito
CPC分类号： B60K31/0066 , B60W2520/14 , B60W2550/402 , G01C21/30 , G06K9/00798
摘要： This invention provides a vehicle cruise control system which, during recognition of a shape of a road extending in a frontward direction of host vehicle, can calculate the road shape rapidly and accurately from a positional relationship with respect to the host vehicle. The system includes at least: a position change detector that detects, from information on the road existing in the frontward direction of the vehicle, a horizontal distance from a line segment orthogonal to a traveling direction vector of the vehicle, to a centerline of the road, the detection being conducted at a plurality of measuring points in an extending direction of the traveling direction vector; a road shape recognizer that identifies the shape of the road from data relating to linearity of changes in each of the horizontal distances, the linearity data being obtained by the position change detector; and a cruise controller that controls traveling of the vehicle according to results of the identification by the road shape recognizer.
摘要翻译： 本发明提供一种车辆巡航控制系统，在识别到在主车辆的向前方向上延伸的道路的形状时，能够从相对于本车辆的位置关系快速，准确地计算道路形状。 该系统至少包括：位置变化检测器，其从车辆前方存在的道路上的信息中检测出与从车辆的行进方向矢量正交的线段的水平距离到道路的中心线 检测在行进方向矢量的延伸方向上的多个测量点进行; 路线形状识别器，其通过与位置变化检测器得到的线性数据相关的水平距离各变化的线性度的数据来识别道路的形状; 以及巡航控制器，其根据道路形状识别器的识别结果来控制车辆的行驶。
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公开(公告)号：US08170769B2
公开(公告)日：2012-05-01
申请号：US12194767
申请日：2008-08-20
IPC分类号： B60K31/00
CPC分类号： B60W30/16 , B60K31/0075 , B60K31/0083 , B60W2520/125 , B60W2520/14 , B60W2550/143 , B60W2550/402 , B60W2720/106
摘要： A vehicle speed control system includes a road shape recognition unit which recognizes a road shape, a target speed setting unit which sets a target speed according to the road shape, a speed control unit which controls the host vehicle's speed according to the target speed, a parameter detecting unit which detects at least one of parameters representing the driver's steering rotation, a yaw rate of the host vehicle, and a lateral acceleration of the host vehicle, and a first acceleration determining unit which, after the speed control unit has decelerated, determines whether or not to accelerate the host vehicle according to reference parameters based on a road shape and the host vehicle's speed and parameters detected by the parameter detecting unit, wherein if the first acceleration determining unit has determined to accelerate, the target speed setting unit sets a target speed of the host vehicle according to a predetermined acceleration.
摘要翻译： 车速控制系统包括识别道路形状的道路形状识别单元，根据道路形状设定目标速度的目标速度设定单元，根据目标速度来控制本车辆速度的速度控制单元， 参数检测单元，其检测表示所述驾驶员的转向旋转，所述主车辆的偏航率，所述主车辆的横向加速度的参数中的至少一个以及所述速度控制单元减速后的第一加速度判定单元， 是否根据参考参数根据道路形状和本车辆的速度和参数检测单元检测到的参数加速本车辆，其中如果第一加速度确定单元已经确定加速，则目标速度设定单元设定 根据预定加速度，本车辆的目标速度。
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8.发明申请EXTERNAL ENVIRONMENT RECOGNITION DEVICE FOR VEHICLE AND VEHICLE SYSTEM USING SAME 有权使用其的车辆和车辆系统的外部环境识别装置公开(公告)号：US20120035846A1
公开(公告)日：2012-02-09
申请号：US13264190
申请日：2010-04-13
IPC分类号： G08G1/16
CPC分类号： B60T8/17558 , G01S13/867 , G01S13/931 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G06K9/00805 , G08G1/166
摘要： An external environment recognition device for a vehicle and a vehicle system capable of assuring safety and reducing the processing load in a compatible manner are provided. An external environment recognition device 100 for a vehicle includes: first collision determination means 103 for computing a risk of collision of a host vehicle with a detected object in front of the host vehicle on the basis of information of a predicted course of the host vehicle and the detected object; and second collision determination means 104 for determining whether the detected object enters the predicted course from the outside of the predicted course or not. This device further includes object selection means 105 for selecting the detected object having a risk at least a first threshold and the detected object determined to enter the predicted course as selection candidate objects from among the detected objects, and for selecting the selection candidate object having a minimum relative distance to the host vehicle as a pedestrian determination request object from among the selected selection candidate objects. This device further includes pedestrian determination means 106 for determining whether the selected pedestrian determination request object is a pedestrian or not using image information.
摘要翻译： 提供了一种用于车辆和车辆系统的外部环境识别装置，其能够以兼容的方式确保安全性并降低处理负荷。 用于车辆的外部环境识别装置100包括：第一碰撞判定装置103，用于根据本车辆的预测路线的信息计算本车辆与本车辆前方的被检测物体的碰撞风险;以及 被检测物体; 以及第二碰撞确定装置104，用于确定检测对象是否从预测路线的外部进入预测路线。 该装置还包括对象选择装置105，用于选择具有至少第一阈值的风险的检测对象，并且将被检测对象确定为从检测对象中选择候选对象进入预测路线，并且用于选择具有 作为来自所选择的候选对象中的步行者确定请求对象的与本车辆的最小相对距离。 该装置还包括步行者确定装置106，用于使用图像信息来确定所选择的步行者确定请求对象是否是行人。
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