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公开(公告)号：US06285778B1
公开(公告)日：2001-09-04
申请号：US08468231
申请日：1995-06-06
申请人： Masato Nakajima , Junichi Yamaguchi , Hiroya Akita , Yoshihiro Tsuji , Kazuyuki Sasaki , Naoto Ishikawa
发明人： Masato Nakajima , Junichi Yamaguchi , Hiroya Akita , Yoshihiro Tsuji , Kazuyuki Sasaki , Naoto Ishikawa
IPC分类号： G06K900
CPC分类号： G05D1/0248 , G06K9/00664 , G06K9/00805 , G06K9/2036
摘要： The vehicle surroundings monitor detects the sizes and positions of obstacles, ditches and humans as well as the depths of the ditches to provide the driver with sufficient information to secure safety during driving. The pattern light projector receives an incoming laser beam and projects a light spot matrix in the form of a regular grating onto the monitored area. The camera photographs the light spot pattern on the monitored area and sends image signals to the data processor which processes the image signals to detect the presence of any obstacle, ditch or human. Based on the steering angle detected by the steering angle sensor, the path the car will take is predicted and a possible contact or collision of the car with the obstacle is detected beforehand. The buzzer, voice synthesizer and display device are used to alert the driver and indicate the presence of the obstacles, the possible contact with them and the location where the possible contact will occur.
摘要翻译： 车辆环境监视器检测障碍物，沟渠和人类的大小和位置以及沟渠的深度，以向驾驶员提供足够的信息以确保驾驶期间的安全。 图案光投影仪接收输入的激光束并将普通光栅形式的光点矩阵投射到监视区域上。 相机拍摄被监视区域上的光点图案，并将图像信号发送到处理图像信号的数据处理器，以检测是否存在任何障碍物，沟渠或人类。 基于由转向角传感器检测到的转向角度，预测轿厢将采取的路径，并且预先检测到轿厢与障碍物的可能的接触或碰撞。 蜂鸣器，语音合成器和显示设备用于警告驾驶员并指示障碍物的存在，可能的接触以及可能发生接触的位置。
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公开(公告)号：US06466684B1
公开(公告)日：2002-10-15
申请号：US09394689
申请日：1999-09-13
IPC分类号： G06K900
CPC分类号： G06K9/00805 , G06K9/00798 , G06T7/246 , G06T2207/30256
摘要： In an environment monitoring system using an optical flow, a monitoring region is set in one's own vehicle lane or an adjacent lane on the basis of the white lines. In this case, an early image is divided into a plurality of small regions. An edge is extracted which is an candidate of each the white lines for each the small regions using a virtual FOE for each the small regions acquired previously of the early image. A white line is determined is determined on the basis of the edge extracted. Finally, white line segments are extended for each small region determined to acquire a coordinate of a crossing point thereof and that of the virtual FOE is stored for each the small regions. The virtual FOE is used to extract the edge for each of the small regions of an image newly picked-up in order to detect the optical flow.
摘要翻译： 在使用光流的环境监视系统中，基于白线将监视区域设定在自己的车道或相邻车道中。 在这种情况下，早期图像被分成多个小区域。 提取一个边缘，它是每个小区域的每个白线的候选者，使用虚拟FOE对于先前获得的早期图像获取的每个小区域。 基于提取的边缘确定白线。 最后，对于确定获得其交叉点的坐标的每个小区域，并且针对每个小区域存储虚拟FOE的坐标的白线段被扩展。 虚拟FOE用于提取新拾取的图像的每个小区域的边缘，以便检测光流。
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公开(公告)号：US06445809B1
公开(公告)日：2002-09-03
申请号：US09383200
申请日：1999-08-26
IPC分类号： G06K900
CPC分类号： B60R1/00 , G01S11/12 , G06K9/00798 , G06K9/00805 , G06T7/269
摘要： In an environment monitoring system using an optical flow, an optical-flow detecting device detects the optical flow in the steps of reverse-projection converting the early image of two early and later images picked up by an image picked up, on the basis of a predetermined optical arrangement of the image pick-up means onto an x-z plane in parallel to a road surface in a real space to acquire a road surface image; computing a moving distance of one's own vehicle in two timings on the basis of a time interval between two timings and speed information of one's own vehicle; parallel-shifting the road surface image by the moving distance thus computed; projection-converting the road surface image after parallel-shifted to acquire an estimated image of the later image in timing; acquiring a differential image between the later image and its estimated image to extract a feature point; and searching a corresponding point of the feature point extracted. In this configuration, it is possible to prevent an object such as a paint which should not be detected on a road surface from being erroneously detected as another surrounding vehicle.
摘要翻译： 在使用光流的环境监视系统中，光流检测装置在以下步骤中检测光流：反转投影转换由拾取的图像拾取的两个早期和后期图像的早期图像，基于 图像拾取装置的预定光学布置平行于实际空间中的路面平行于xz平面，以获取路面图像; 根据自己车辆的两个时间和速度信息之间的时间间隔，在两个定时中计算自己的车辆的移动距离; 将路面图像平行移动所计算的移动距离; 平行移位后投影转换路面图像，以获取定时中的后期图像的估计图像; 获取后期图像与其估计图像之间的差分图像以提取特征点; 并搜索提取的特征点的对应点。 在这种结构中，可以防止在路面上不应检测到的涂料等物体被错误地作为其他周围的车辆被检测。
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公开(公告)号：US6049747A
公开(公告)日：2000-04-11
申请号：US872058
申请日：1997-06-10
申请人： Masato Nakajima , Kazuyuki Sasaki , Naoto Ishikawa
发明人： Masato Nakajima , Kazuyuki Sasaki , Naoto Ishikawa
IPC分类号： B60K28/06 , B60N2/00 , B60R11/04 , B60R21/01 , B60R21/015 , B60W30/00 , G08B21/06 , H04N7/18 , B60R21/00
CPC分类号： B60N2/002 , B60R21/01538 , G08B21/06
摘要： In a driver monitoring system, a pattern projecting device consisting of two fiber gratings stacked orthogonally which receive light from a light source projects a pattern of bright spots on a face of a driver. A image pick-up device picks up the pattern of bright spots to provide an image of the face. A data processing device processes the image, samples the driver's face to acquire three-dimensional position data at sampling points and processing the data thus acquired to provide inclinations of the face of the driver in vertical, horizontal and oblique directions. A decision device decides whether or not the driver is in a dangerous state in accordance with the inclinations of the face obtained. A warning device warns the driver against his dangerous state. The pattern light projecting device and pick-up device are integrated to each other and installed on a steering column on a vehicle. Thus, the driver monitoring system can assure performance, reliability and safety without hindering the driver in view of its installation on the vehicle.
摘要翻译： 在驾驶员监视系统中，由两个正交地堆叠的光纤光栅组成的图案投影装置，其接收来自光源的光，从而在驾驶员的脸上投射亮点的图案。 图像拾取装置拾取亮点的图案以提供脸部的图像。 数据处理装置对图像进行处理，对采集点的三维位置数据进行采样，对采集到的数据进行处理，以提供垂直方向，水平方向和倾斜方向的驾驶员脸部倾斜度。 决定装置根据所获得的面部倾斜来判定驾驶员是否处于危险状态。 警告装置警告司机不要危险。 图案光投射装置和拾取装置彼此集成并安装在车辆上的转向柱上。 因此，驾驶员监视系统可以确保性能，可靠性和安全性，而不会因驾驶员在车辆上的安装而妨碍驾驶员。
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公开(公告)号：US06246961B1
公开(公告)日：2001-06-12
申请号：US09327573
申请日：1999-06-08
IPC分类号： G06F1550
摘要： A collision alarm method and apparatus for vehicles in which, in order to detect and alarm of danger of collision, the time of possible collision is calculated by a danger judgement means from optical flow. In order for an image processing means to detect the optical flow, a horizontal or vertical noticeable edge is used, which edge is extracted from two images obtained at different times with an image photographing means. The collision alarm method and apparatus for vehicles detect danger of collision at high speed and gives a timely alarm so as to enable collision avoiding action to be securely taken.
摘要翻译： 一种用于车辆的碰撞报警方法和装置，其中为了检测和报警碰撞的危险，可以通过来自光流的危险判断装置来计算可能的碰撞时间。 为了使图像处理装置检测光流，使用水平或垂直显着的边缘，其中使用图像拍摄装置从不同时间获得的两个图像提取边缘。 用于车辆的碰撞报警方法和装置高速检测碰撞的危险并且及时报警，以便能够安全地采取避免碰撞的动作。
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公开(公告)号：US5353736A
公开(公告)日：1994-10-11
申请号：US947483
申请日：1992-09-21
申请人： Kazuyuki Sasaki , Yoshihiro Tsuji
发明人： Kazuyuki Sasaki , Yoshihiro Tsuji
摘要： This invention relates to an instrument for a vehicle in which a front cover is attached to a front face of an instrument case for protecting inside of the instrument. An instrument for a vehicle according to the present invention comprising: a meter; a case for accommodating the meter; and a prism disposed at a front portion of the case for regulating amount of light which is emitted from the prism upward by bending light emitted from the meter downward, the prism also acting as a front cover of the case.
摘要翻译： 本发明涉及一种用于车辆的仪器，其中前盖附接到仪器壳体的前表面，用于保护仪器内部。 根据本发明的用于车辆的仪器包括：仪表; 用于容纳仪表的情况; 以及棱镜，其设置在所述壳体的前部，用于通过将从所述仪表发射的光向下弯曲来调节从所述棱镜向上发射的光的量，所述棱镜还用作所述壳体的前盖。
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公开(公告)号：US06618672B2
公开(公告)日：2003-09-09
申请号：US09983016
申请日：2001-10-22
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。
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公开(公告)号：US5729216A
公开(公告)日：1998-03-17
申请号：US847989
申请日：1997-04-22
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
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。
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公开(公告)号：US5521633A
公开(公告)日：1996-05-28
申请号：US126298
申请日：1993-09-24
申请人： Masato Nakajima , Takahiro Fujishiro , Norio Kitamura , Kazuyuki Sasaki , Takahiro Oikawa , Kouji Ishii
发明人： Masato Nakajima , Takahiro Fujishiro , Norio Kitamura , Kazuyuki Sasaki , Takahiro Oikawa , Kouji Ishii
CPC分类号： B60Q9/008 , B60R1/00 , G06K9/00805 , G06T7/2013 , G06T7/2033 , B60G2401/142 , B60W2550/10 , B60W2550/308 , G01S11/12 , G06T2207/10016 , G06T2207/30236 , G06T2207/30248
摘要： A monitoring method for moving vehicles allows the presence of danger to be determined from the magnitude of an optical flow vector. The optical flow vector is detected as a movement of a single point on an object taken over two images, with one image taken at a preceding time and the other image taken at succeeding time in a series of images. A long and narrow window set in a radial direction from a focus of expansion (FOE) of the earlier image is moved in the same direction on the latter image. An optical flow vector of a target point is defined by a vector connecting the midpoint of a location of a subsequent window and the midpoint of a location at which the long and narrow window is set in the earlier image. The location of the subsequent window is determined by minimizing the sum of absolute values of differences in luminance between the long and narrow window and an area of the latter image overlapping such long and narrow window. The optical flow calculation area is limited to areas in which a difference in luminance between the earlier and latter images exceeds a predetermined threshold, and any influence from scenes outside the road boundaries and from lane-dividing lines or other symbols drawn on the road surface is removed in calculating the optical flow.
摘要翻译： 用于移动车辆的监视方法允许根据光流矢量的大小确定危险的存在。 光流矢量被检测为在两个图像上拍摄的物体上的单个点的移动，其中在先前时间拍摄一个图像，并且在一系列图像中在随后的时间拍摄另一个图像。 从较早的图像的扩展焦点（FOE）沿径向设置的长而窄的窗口在后一图像上沿相同的方向移动。 目标点的光流向量由连接后续窗口的位置的中点和在较早的图像中设置长而窄的窗口的位置的中点的向量定义。 后续窗口的位置通过最小化长和窄窗口之间的亮度差的绝对值与后一图像的与这样长而窄的窗口重叠的区域的绝对值之和来确定。 光流计算区域限于前者和后一图像之间的亮度差异超过预定阈值的区域，并且道路边界以外的场景和路面划分线或其他路面上绘制的其他符号的任何影响是 在计算光流时被去除。
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公开(公告)号：US08215060B2
公开(公告)日：2012-07-10
申请号：US12461233
申请日：2009-08-05
IPC分类号： E05D13/00
CPC分类号： E05F11/382 , E05F11/485 , E05F11/486 , E05Y2201/21 , E05Y2201/612 , E05Y2201/64 , E05Y2900/55
摘要： A window regulator includes a carrier. The carrier includes a holding section and is capable slide along a guide rail with the holding section slidably contacting on the guide rail. The carrier supports a window panel. A brake mechanism is provided on the carrier. The brake mechanism prevents the window panel (the carrier) from self-weight drop by slidably contacting onto the guide rail by an urging force thereof. According to the window regulator, good down operations of the window panel can be maintained even if a slidably contacting portion(s) of the holding section that holds the guide rail becomes worn.
摘要翻译： 窗口调节器包括载体。 载体包括保持部分，并且能够沿着导轨滑动，其中保持部分可滑动地接合在导轨上。 承运人支持一个窗口面板。 在载体上设有制动机构。 制动机构通过其引导力滑动地接触导轨，防止窗面板（托架）自重下降。 根据窗口调节器，即使保持导轨的保持部的滑动接触部分变得磨损，也可以保持窗口面板的良好的向下操作。
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