公开(公告)号：US09196163B2

公开(公告)日：2015-11-24

申请号：US14240808

申请日：2011-08-26

申请人： Shoichi Hayasaka ,  Masayuki Shimizu ,  Minami Sato

发明人： Shoichi Hayasaka ,  Masayuki Shimizu ,  Minami Sato

IPC分类号： G08G1/16 ,  G08G1/0969

CPC分类号： G08G1/166 ,  B60T2201/022 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2550/10 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/308 ,  G08G1/0969

摘要： There are provided a driving support apparatus and a driving support method in which the reliability can be improved. In the driving support apparatus, in a traveling direction of the host vehicle and a direction crossing the traveling direction, an intersection where the host vehicle and the moving object cross is predicted; a virtual TTC that it takes for the host vehicle to arrive at the intersection and a virtual TTV that it takes for the moving object to arrive at the intersection when the moving object moves in the direction crossing the traveling direction at a virtual speed which is set virtually, are respectively acquired; and the driving support in the host vehicle is implemented based on the relative relationship between the virtual TTC and the virtual TTV.

摘要翻译： 提供了可以提高可靠性的驾驶辅助装置和驾驶辅助方法。 在驾驶辅助装置中，在本车辆的行进方向和与行驶方向交叉的方向上，预测本车辆与运动物体交叉的交叉路口; 用于主车辆到达交叉口的虚拟TTC以及当移动物体以设置的虚拟速度沿着行进方向移动的方向移动时移动物体到达交叉点所需的虚拟TTV 实际上分别获得; 并且基于虚拟TTC和虚拟TTV之间的相对关系来实现主车辆中的驾驶支持。

公开(公告)号：US20140288816A1

公开(公告)日：2014-09-25

申请号：US14240808

申请日：2011-08-26

申请人： Shoichi Hayasaka ,  Masayuki Shimizu ,  Minami Sato

发明人： Shoichi Hayasaka ,  Masayuki Shimizu ,  Minami Sato

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  B60T2201/022 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2550/10 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/308 ,  G08G1/0969

摘要： There are provided a driving support apparatus and a driving support method in which the reliability can be improved. In the driving support apparatus, in a traveling direction of the host vehicle and a direction crossing the traveling direction, an intersection where the host vehicle and the moving object cross is predicted; a virtual TTC that it takes for the host vehicle to arrive at the intersection and a virtual TTV that it takes for the moving object to arrive at the intersection when the moving object moves in the direction crossing the traveling direction at a virtual speed which is set virtually, are respectively acquired; and the driving support in the host vehicle is implemented based on the relative relationship between the virtual TTC and the virtual TTV.

摘要翻译： 提供了可以提高可靠性的驾驶辅助装置和驾驶辅助方法。 在驾驶辅助装置中，在本车辆的行进方向和与行驶方向交叉的方向上，预测本车辆与运动物体交叉的交叉路口; 用于主车辆到达交叉口的虚拟TTC以及当移动物体以设置的虚拟速度沿着行进方向移动的方向移动时移动物体到达交叉点所需的虚拟TTV 实际上分别获得; 并且基于虚拟TTC和虚拟TTV之间的相对关系来实现主车辆中的驾驶支持。

公开(公告)号：US20140358392A1

公开(公告)日：2014-12-04

申请号：US14344712

申请日：2011-09-14

申请人： Masayuki Shimizu ,  Shoichi Hayasaka ,  Minami Sato

发明人： Masayuki Shimizu ,  Shoichi Hayasaka ,  Minami Sato

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  B60W30/09 ,  B60W30/095 ,  B60W30/0953 ,  B60W50/0097 ,  B60W2050/0026 ,  B60W2520/10 ,  B60W2550/10 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308

摘要： A driving support apparatus includes a collision time prediction unit that predicts a TTC and a TTV, a driving support determination unit that applies the TTC and TTV to a map and determines whether the driving support in the host vehicle is to be implemented or not, a driving support control unit that controls the driving support in the host vehicle, an extension mode determination unit that determines whether a speed of the moving object in a direction crossing the traveling direction is equal to or less than a first threshold value and whether the TTC is equal to or less than a second threshold value or not, and determines that the driving support is to be implemented in the host vehicle in a case where the above conditions are satisfied.

摘要翻译： 驾驶辅助装置包括：预测TTC和TTV的碰撞时间预测单元，将TTC和TTV应用于地图并确定是否要实现本车辆中的驾驶支持的驾驶支持确定单元， 驾驶辅助控制单元，其控制本车辆的驾驶支持;扩展模式确定单元，确定移动物体在与行驶方向相交的方向上的速度是否等于或小于第一阈值，以及TTC是否为 等于或小于第二阈值，并且在满足上述条件的情况下，确定要在主车辆中实施驾驶支持。

公开(公告)号：US09460626B2

公开(公告)日：2016-10-04

申请号：US14240622

申请日：2011-08-26

申请人： Minami Sato ,  Masayuki Shimizu ,  Shoichi Hayasaka

发明人： Minami Sato ,  Masayuki Shimizu ,  Shoichi Hayasaka

IPC分类号： G08G1/16 ,  B60W10/18 ,  B60K31/00

CPC分类号： G08G1/166 ,  B60K31/0008 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2540/18 ,  B60W2550/10

摘要： A driving support device and a driving support method, which can appropriately determine whether driving support is necessary and perform effective driving support, are provided. A driving support device calculates TTC, which is a time required for the vehicle to arrive at an intersection point at which the vehicle and a moving object intersect in the traveling direction of the vehicle and in a direction intersecting with the traveling direction, and TTV required for the moving object to arrive at the intersection point, and performs driving support in the vehicle based on the relative relation between TTC and TTV.

摘要翻译： 提供了可以适当地确定驾驶支持是否必要并且执行有效驾驶支持的驾驶支持装置和驾驶辅助方法。 驾驶辅助装置计算车辆到车辆和移动物体的行进方向与行驶方向相交的交点的交点所需的时间TTC，需要TTV 使运动对象到达交点，并根据TTC与TTV之间的相对关系，对车辆进行驾驶辅助。

公开(公告)号：US09026352B2

公开(公告)日：2015-05-05

申请号：US14344712

申请日：2011-09-14

申请人： Masayuki Shimizu ,  Shoichi Hayasaka ,  Minami Sato

发明人： Masayuki Shimizu ,  Shoichi Hayasaka ,  Minami Sato

IPC分类号： G08G1/16 ,  B60R21/00 ,  B60W30/095 ,  B60W30/09 ,  B60W50/00

CPC分类号： G08G1/166 ,  B60W30/09 ,  B60W30/095 ,  B60W30/0953 ,  B60W50/0097 ,  B60W2050/0026 ,  B60W2520/10 ,  B60W2550/10 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308

摘要： A driving support apparatus includes a collision time prediction unit that predicts a TTC and a TTV, a driving support determination unit that applies the TTC and TTV to a map and determines whether the driving support in the host vehicle is to be implemented or not, a driving support control unit that controls the driving support in the host vehicle, an extension mode determination unit that determines whether a speed of the moving object in a direction crossing the traveling direction is equal to or less than a first threshold value and whether the TTC is equal to or less than a second threshold value or not, and determines that the driving support is to be implemented in the host vehicle in a case where the above conditions are satisfied.

摘要翻译： 驾驶辅助装置包括：预测TTC和TTV的碰撞时间预测单元，将TTC和TTV应用于地图并确定是否要实现本车辆中的驾驶支持的驾驶支持确定单元， 驾驶辅助控制单元，其控制本车辆的驾驶支持;扩展模式确定单元，确定移动物体在与行驶方向相交的方向上的速度是否等于或小于第一阈值，以及TTC是否为 等于或小于第二阈值，并且在满足上述条件的情况下，确定要在主车辆中实施驾驶支持。

公开(公告)号：US20140222326A1

公开(公告)日：2014-08-07

申请号：US14240622

申请日：2011-08-26

申请人： Minami Sato ,  Masayuki Shimizu ,  Shoichi Hayasaka

发明人： Minami Sato ,  Masayuki Shimizu ,  Shoichi Hayasaka

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  B60K31/0008 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2540/18 ,  B60W2550/10

摘要： A driving support device and a driving support method, which can appropriately determine whether driving support is necessary and perform effective driving support, are provided. A driving support device calculates TTC, which is a time required for the vehicle to arrive at an intersection point at which the vehicle and a moving object intersect in the traveling direction of the vehicle and in a direction intersecting with the traveling direction, and TTV required for the moving object to arrive at the intersection point, and performs driving support in the vehicle based on the relative relation between TTC and TTV.

摘要翻译： 提供了可以适当地确定驾驶支持是否必要并且执行有效驾驶支持的驾驶辅助装置和驾驶辅助方法。 驾驶辅助装置计算车辆到车辆和移动物体的行进方向与行驶方向相交的交点的交点所需的时间TTC，需要TTV 使运动对象到达交点，并根据TTC与TTV之间的相对关系，对车辆进行驾驶辅助。

公开(公告)号：US07843767B2

公开(公告)日：2010-11-30

申请号：US12063961

申请日：2006-08-29

申请人： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

发明人： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

IPC分类号： G01S15/93

CPC分类号： G01S15/025 ,  G01S7/52004 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2015/934 ,  G01S2015/935 ,  G01S2015/936

摘要： A reflection-point estimation section constituting an object detection apparatus first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angleφ=a tan {(dn+1−dn)/In} in which n is a natural number. Subsequently, the reflection-point estimation section obtains estimated reflection points Pn′ after correction, by rotating each estimated reflection point Pn based on the calculation result.

摘要翻译： 构成物体检测装置的反射点估计部分首先利用以下事实来计算每个估计反射点Pn的旋转校正角，使用以下事实：检测距离dn的变化量与移动量In 的声纳几乎等于相对于垂直于物体表面的方向的切线：旋转校正角＆phgr = = tan（（dn + 1-dn）/ In}其中n是自然数。 随后，反射点估计部通过基于计算结果旋转每个估计反射点Pn来获得校正后的估计反射点Pn'。

公开(公告)号：US08121348B2

公开(公告)日：2012-02-21

申请号：US12308582

申请日：2007-07-09

申请人： Shoichi Hayasaka ,  Hideo Fukamachi ,  Yoshimasa Hara ,  Naotaka Ichikawa ,  Toshio Sawaki

发明人： Shoichi Hayasaka ,  Hideo Fukamachi ,  Yoshimasa Hara ,  Naotaka Ichikawa ,  Toshio Sawaki

IPC分类号： G06K9/00

CPC分类号： G08G1/166 ,  G06K9/00805 ,  G06K9/3241 ,  G06K9/6203 ,  G06T7/77 ,  G06T2207/30196

摘要： An object detection apparatus for detecting an object from an image obtained by taking a front view picture of a road in a traveling direction of a vehicle includes a camera unit for taking the front view picture of the road and inputting the image; a dictionary modeling the object; a search unit for searching the image with a search window; a histogram production unit for producing a histogram by comparing the image in the search window with the dictionary and counting a detection frequency in a direction parallel to a road plane; and a detection unit for detecting the detection object by detecting a unimodal distribution from the histogram.

摘要翻译： 一种物体检测装置，用于通过拍摄在车辆的行进方向上的道路的前视图获得的图像来检测物体，所述物体检测装置包括用于拍摄所述道路的前视图并输入所述图像的照相机单元; 一个模拟对象的字典; 搜索单元，用于利用搜索窗口搜索图像; 直方图生成单元，用于通过将搜索窗口中的图像与字典进行比较来生成直方图，并且在平行于路面的方向上对检测频率进行计数; 以及检测单元，用于通过从直方图检测单峰分布来检测检测对象。

公开(公告)号：US20100067740A1

公开(公告)日：2010-03-18

申请号：US12308553

申请日：2007-11-09

申请人： Shoichi Hayasaka ,  Hideo Fukamachi ,  Yoshimasa Hara ,  Toshio Sawaki ,  Hironori Sato

发明人： Shoichi Hayasaka ,  Hideo Fukamachi ,  Yoshimasa Hara ,  Toshio Sawaki ,  Hironori Sato

IPC分类号： G06K9/00 ,  G06K9/68

CPC分类号： G06K9/00362

摘要： A near-infrared night vision device to which a pedestrian detection device is applied includes a near-infrared projector, a near-infrared camera, a display and an ECU. By executing programs, the ECU constitutes a pedestrian candidate extraction portion and a determination portion. The pedestrian candidate extraction portion extracts pedestrian candidate regions from near-infrared images. The determination portion normalizes the sizes and the brightnesses of the pedestrian candidates extracted by the pedestrian candidate extraction portion, and then computes the degrees of similarity between the normalized pedestrian candidates. The determination portion determines that a pedestrian candidate having two or more other pedestrian candidates whose degree of similarity with the pedestrian candidate is greater than or equal to a predetermined value is not a pedestrian.

摘要翻译： 应用了行人检测装置的近红外夜视装置包括近红外投影仪，近红外摄像机，显示器和ECU。 通过执行程序，ECU构成行人候选提取部分和确定部分。 行人候补提取部从近红外图像中提取行人候补区域。 判定部对由行人候选提取部提取的行人候补的大小和亮度进行归一化，然后计算归一化的行人候选者的相似度。 确定部分确定具有两个或更多个与行人候选人的相似程度大于或等于预定值的其他行人候选人的行人候选人不是行人。

公开(公告)号：US20080232198A1

公开(公告)日：2008-09-25

申请号：US12063961

申请日：2006-08-29

申请人： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

发明人： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

IPC分类号： G01S15/93

CPC分类号： G01S15/025 ,  G01S7/52004 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2015/934 ,  G01S2015/935 ,  G01S2015/936

摘要： A reflection-point estimation section constituting an object detection apparatus first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angleφ=atan{(dn+1−dn)/In} in which n is a natural number. Subsequently, the reflection-point estimation section obtains estimated reflection points Pn′ after correction, by rotating each estimated reflection point Pn based on the calculation result.

摘要翻译： 构成物体检测装置的反射点估计部分首先利用以下事实来计算每个估计反射点P N n N的旋转校正角，使用以下事实： 检测到的声纳的距离d N n N以及相对于与物体表面垂直的方向的切线几乎相等：＆lt;θin＆ line-formula description =“In-line Formulas”end =“lead”？>旋转校正anglephi = atan {（d）n + 1 n <？in-line-formula description =“In-line Formulas”end =“tail”？>其中n是自然数。 随后，反射点估计部通过基于计算结果旋转每个估计反射点P＆lt; N＆lt; N＆gt;获得校正后的估计反射点P＆lt; N＆gt;'。