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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：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：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：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：US5321633A
公开(公告)日：1994-06-14
申请号：US886593
申请日：1992-05-21
申请人： Ichiro Kataoka , Naoto Ishikawa , Yoshihito Aoki
发明人： Ichiro Kataoka , Naoto Ishikawa , Yoshihito Aoki
CPC分类号： G01F23/246
摘要： To eliminate an ambient temperature correcting sensor and further to improve the sensor response speed in a heat radiating type liquid level sensing system, a constant current pulse is periodically passed through a level sensor to heat it; level sensor voltages sampled at predetermined time intervals when the level sensor is being heated are divided by each initial sensor voltage to obtain sensor voltage ratios with respect to time; an approximate voltage is calculated on the basis of the the obtained ratios in accordance with an approximation equation; a liquid level is calculated and displayed on the basis of the calculated approximate sensor voltage. Further, it is preferable that the system is provided with an additional inclination correcting sensor or an acceleration sensor, in order to correct the inclined liquid level.
摘要翻译： 为了消除环境温度校正传感器并且进一步提高散热型液位感测系统中的传感器响应速度，恒定电流脉冲周期性地通过液位传感器加热; 当水平传感器被加热时以预定时间间隔采样的水平传感器电压被每个初始传感器电压除以获得相对于时间的传感器电压比; 基于所获得的比率根据近似方程计算近似电压; 基于计算出的近似传感器电压来计算和显示液位。 此外，为了校正倾斜的液位，优选地，该系统设置有附加的倾斜校正传感器或加速度传感器。
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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。
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10.发明授权Monitor region extension member and motor vehicle peripheral monitoring apparatus using same 失效监视区域扩展部件和使用该监视器区域扩展部件的机动车辆周边监视装置
公开(公告)号：US6025872A
公开(公告)日：2000-02-15
申请号：US924959
申请日：1997-09-08
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。
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