公开(公告)号：US06618672B2

公开(公告)日：2003-09-09

申请号：US09983016

申请日：2001-10-22

申请人： Kazuyuki Sasaki ,  Naoto Ishikawa ,  Kazutomo Fujinami

发明人： Kazuyuki Sasaki ,  Naoto Ishikawa ,  Kazutomo Fujinami

IPC分类号： G06F1710

CPC分类号： B60R1/00 ,  B60R2300/30 ,  B60R2300/8066 ,  G08G1/163

摘要： A vehicle-applied rear-and-side monitory system including an image taking means for taking an image of a rear-and-side view of the subject vehicle traveling in a lane; a characteristic point extracting device for extracting at least one point as a characteristic point from an image of a following vehicle contained in a first image, taken at a first time-point, of the rear-and-side view, the following vehicle traveling at the rear of the subject vehicle in the lane of the subject vehicle or in a neighboring lane; a corresponding point detecting device for detecting a corresponding point, corresponding to the characteristic point, in a second image taken at a second time-point following the first time-point; an optical flow forming device for forming an optical flow of the characteristic point of the following vehicle from a vector connecting the characteristic point and the corresponding point; and a dead angle area located vehicles-distance calculating device for calculating at least any one of a vehicles-distance between the subject vehicle and the following vehicle and a relative position therebetween after a time-point of disappearance of the optical flow outside an image plane of the image taking device on the basis of the optical flow formed just before the disappearance. Thus, a vehicle-applied rear-and-side monitoring system capable of monitoring an approaching degree of a following vehicle approaching from the rear of the subject vehicle in the lane of the subject vehicle in the neighboring lane can be realized.

摘要翻译： 一种车辆应用的后侧监视系统，包括：图像摄取装置，用于拍摄在车道中行驶的本车辆的后视图; 特征点提取装置，用于从后视图中的第一时间点拍摄的包含在第一图像中的随后车辆的图像中提取至少一个点作为特征点，随后的车辆行驶在 本车辆在车辆的车道的后部或相邻车道; 对应点检测装置，用于在与第一时间点之后的第二时间点拍摄的第二图像中检测对应于特征点的对应点; 光流形成装置，用于从连接特征点和对应点的矢量形成后续车辆的特征点的光流; 以及定位在车辆距离计算装置上的死角区域，用于计算目标车辆和后续车辆之间的车辆距离中的至少任何一个以及在图像平面外的光流消失的时间点之间的相对位置 基于在消失前形成的光流的图像拍摄装置。 因此，可以实现能够监视在相邻车道中的本车辆的车道中的从本车辆的后方接近的后续车辆的接近程度的车辆的后侧监视系统。

公开(公告)号：US5729216A

公开(公告)日：1998-03-17

申请号：US847989

申请日：1997-04-22

申请人： Kazuyuki Sasaki ,  Naoto Ishikawa ,  Kazutomo Fujinami

发明人： Kazuyuki Sasaki ,  Naoto Ishikawa ,  Kazutomo Fujinami

IPC分类号： G01C3/06 ,  B60Q1/52 ,  B60R1/00 ,  B60R21/00 ,  B60W30/00 ,  G01S11/12 ,  G01S17/93 ,  G06T1/00 ,  G08B21/00 ,  G08G1/16 ,  H04N5/225 ,  H04N7/18 ,  G08G1/017

CPC分类号： G01S11/12 ,  B60Q9/008 ,  G01S17/93

摘要： A monitoring apparatus for monitoring the periphery of a motor vehicle in which patterns painted on the surface of a road are eliminated to shorten a time required for calculation to determine a position of a subject by processing image data generated by two cameras, whereby image data of the object having a height is derived by subtracting image data generated one camera from image data generating by the other camera after transferring either of image data to the other image coordinate by assuming that the transferring image data have a height of zero (0) for canceling road surface images and sounding an alarm whenever it is determined that the position of the object causes an obstacle of the moving vehicle.

摘要翻译： 一种用于监测机动车辆周边的监视装置，其中消除了在道路表面上绘制的图案，以缩短计算所需的时间，以通过处理由两个摄像机产生的图像数据来确定被摄体的位置，由此图像数据 通过假设传送图像数据具有零（0）的高度来取消，通过从图像数据生成另一个摄像机生成的图像数据中的一个摄像机生成的图像数据减去另一个图像坐标来导出具有高度的对象 当确定物体的位置导致移动车辆的障碍物时，路面图像并发出报警。

公开(公告)号：US06360170B1

公开(公告)日：2002-03-19

申请号：US09511500

申请日：2000-02-23

申请人： Naoto Ishikawa ,  Kazutomo Fujinami ,  Keiki Okamoto

发明人： Naoto Ishikawa ,  Kazutomo Fujinami ,  Keiki Okamoto

IPC分类号： B60R100

CPC分类号： G05D1/0253 ,  G05D1/0278 ,  G05D2201/0213

摘要： In a rear monitoring system for a vehicle, the information on the road on which one's own vehicle has run is acquired. On the basis of the information thus acquired, the white lines on a rear road image which distinguish one's own lane from both adjacent lanes are estimated. Using the white lines thus estimated, it is decided whether another detected vehicle is located on one's own lane or adjacent lanes.

摘要翻译： 在车辆的后方监视系统中，获取自己车辆所经过的道路上的信息。 基于这样获得的信息，估计将自己的车道与两个相邻车道区分开的后路图像上的白线。 使用如此估计的白线，判定另一个检测到的车辆是否位于自己的车道或相邻车道上。

公开(公告)号：US06292111B1

公开(公告)日：2001-09-18

申请号：US09514948

申请日：2000-02-28

申请人： Naoto Ishikawa ,  Kazutomo Fujinami ,  Keiki Okamoto

发明人： Naoto Ishikawa ,  Kazutomo Fujinami ,  Keiki Okamoto

IPC分类号： G08G1017

CPC分类号： H04N7/183 ,  G08G1/167

摘要： A vehicle-applied rear-and-side monitoring system wherein a monitoring area is set inside or outside an area enclosed with lines connecting two lane marking positions, where two lane markings on both sides of a preceding vehicle running lane in the road image cross a periphery of the road image, to an infinity point in the road image, which infinity point corresponding to a detected rudder angle. Further, a vehicle-applied rear-and-side monitoring and alarming system which a alarms a drives when the following vehicle was detected as a result of monitoring a rear-and-side road view by was of the vehicle-applied rear-and-side monitoring system.

摘要翻译： 一种车辆应用的后侧监视系统，其中监视区域被设置在与连接两个车道标记位置的线对应的区域的内部或外部，其中道路图像中的前一车辆行驶车道两侧的两条车道标记横穿 道路图像的边缘，到道路图像中的无限远点，该无限远点对应于检测到的舵角。 此外，作为通过车辆施加的后排车辆进行监视的后方车道的结果，当检测到后续车辆时，报警器驱动的车辆用后侧监视和报警系统， 侧面监控系统。

公开(公告)号：US06218960B1

公开(公告)日：2001-04-17

申请号：US09515527

申请日：2000-02-29

申请人： Naoto Ishikawa ,  Kazutomo Fujinami ,  Keiki Okamoto

发明人： Naoto Ishikawa ,  Kazutomo Fujinami ,  Keiki Okamoto

IPC分类号： G08G100

CPC分类号： H04N7/183 ,  G06K9/00805 ,  G08G1/166 ,  G08G1/167

摘要： A rear-view monitor for use in vehicles is provided, in which contained are vehicle-mounted image pickup means for picking up images of road in the rear of one's own vehicle at every fixed time; and detection means for detecting an overtaking vehicle by processing road images obtained by the image pickup means. The monitor keeps monitoring of relative movement between one's own vehicle and the overtaking vehicle detected by the detection means. The monitor is characterized in that the image pickup means contain a wide-angle high resolution camera, and the detection means include: first image processing means for processing the whole road images obtained by the image pickup means by sampling image data; second image processing means for processing a part of road images obtained by the image pickup means without sampling image data; and selection means for selecting either the first image processing means or the second image processing means in response to a situation of traffic. Thus, a rear-view monitor for use in vehicles according to the present invention enables monitoring over a wide range, i.e. the far and near distances, under preferable conditions.

摘要翻译： 提供一种用于车辆的后视监视器，其中包含有车载图像拾取装置，用于在每个固定时间拾取自身车辆后方的道路图像; 以及检测装置，用于通过处理由图像拾取装置获得的道路图像来检测超车辆。 监视器监视由检测装置检测到的本车和超车之间的相对运动。 监视器的特征在于摄像装置包含广角高分辨率照相机，检测装置包括：第一图像处理装置，用于通过采样图像数据来处理由图像拾取装置获得的整个道路图像; 第二图像处理装置，用于处理由图像拾取装置获得的道路图像的一部分，而不对图像数据进行采样; 以及选择装置，用于响应于业务情况选择第一图像处理装置或第二图像处理装置。 因此，根据本发明的用于车辆的后视监视器能够在优选条件下在宽范围即远和近距离上进行监视。

公开(公告)号：US6025872A

公开(公告)日：2000-02-15

申请号：US924959

申请日：1997-09-08

申请人： Toshiaki Ozaki ,  Takeyuki Amari ,  Naoto Ishikawa ,  Kazutomo Fujinami

发明人： Toshiaki Ozaki ,  Takeyuki Amari ,  Naoto Ishikawa ,  Kazutomo Fujinami

IPC分类号： B60R1/00 ,  H04N7/18 ,  H04N13/02 ,  H04N13/00

CPC分类号： H04N7/183 ,  H04N5/2259

摘要： A motor vehicle peripheral monitoring apparatus uses a monitor region extension member as optical image forming means. The monitor region extension member comprises an upper image passage part and an upper image compression part. The upper image passage part includes a prism structural element of substantially a semi-conical shape whose prism apical angles become the maximum angle at the center of the member and are decreased toward the extremity from the center of the member. The upper image compression part includes a cylindrical structural element having a curved surface whose angles are set to be smaller continuously from the prism apical angles of the upper image passage part.

摘要翻译： 机动车辆周边监视装置使用监视器区域延伸部件作为光学图像形成装置。 监视器区域延伸构件包括上部图像通道部分和上部图像压缩部分。 上图像通道部分包括基本上为半圆锥形的棱镜结构元件，其棱柱顶角成为构件中心处的最大角度，并且从构件的中心朝向末端减小。 上部图像压缩部分包括具有弯曲表面的圆柱形结构元件，其角度被设置为从上部图像通道部分的棱镜顶角连续地更小。

公开(公告)号：US06549124B1

公开(公告)日：2003-04-15

申请号：US09514354

申请日：2000-02-28

申请人： Naoto Ishikawa ,  Kazutomo Fujinami ,  Keiki Okamoto

发明人： Naoto Ishikawa ,  Kazutomo Fujinami ,  Keiki Okamoto

IPC分类号： B60Q100

CPC分类号： B60Q9/008 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/089 ,  G08G1/166 ,  G08G1/167

摘要： In an environment monitoring system for a vehicle, when a detecting means decides that an approaching vehicle cannot be detected by an image processing means, a waning means gives warning of this fact. Thus, the environment monitoring system permits one's own vehicle to run with safety even when the approaching vehicle cannot be detected.

摘要翻译： 在车辆的环境监视系统中，当检测装置判定出图像处理装置不能检测出接近的车辆时，减速装置发出警告。 因此，即使不能检测到接近的车辆，环境监测系统也允许自己的车辆安全地行驶。

公开(公告)号：US06259359B1

公开(公告)日：2001-07-10

申请号：US09544298

申请日：2000-04-06

申请人： Kazutomo Fujinami ,  Naoto Ishikawa ,  Keiki Okamoto

发明人： Kazutomo Fujinami ,  Naoto Ishikawa ,  Keiki Okamoto

IPC分类号： B60Q1100

CPC分类号： B60R1/00 ,  B60R2300/103 ,  B60R2300/30 ,  B60R2300/404 ,  B60R2300/802 ,  B60R2300/804 ,  B60R2300/8066 ,  G08G1/166 ,  G08G1/167

摘要： In a rear monitoring apparatus for a vehicle, a prism (2) enlarges the lower portion of the range which can be picked up by a camera (1), and a usage means uses the lower portion. In this configuration, the image in the vicinity of one's own vehicle can be picked up without impeding the detection of the optical flows generated from another vehicle approaching from a far distance, and can be used for the purpose different from the detection of the optical flows.

摘要翻译： 在车辆的后方监视装置中，棱镜（2）放大可以由照相机（1）拾取的范围的下部，并且使用装置使用下部。 在该结构中，可以拾取本车辆附近的图像，而不会妨碍从远距离接近的另一车辆产生的光流的检测，并且可以用于与光流的检测不同的目的 。