公开(公告)号：US06344805B1

公开(公告)日：2002-02-05

申请号：US09560560

申请日：2000-04-28

申请人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Yoshiki Ueyama

发明人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Yoshiki Ueyama

IPC分类号： B60Q148

CPC分类号： B62D15/0275 ,  B60T2201/10 ,  B62D15/027 ,  G08G1/168

摘要： A vehicle position calculation unit (1) calculates a position of a vehicle on a plan view, and an estimate locus calculation unit (2) calculates an estimate movement locus of a vehicle body when the vehicle is moved at a maximum steering angle with respect to the vehicle position, and a display unit (3) displays the vehicle position calculated by the vehicle position calculation unit (1) together with the estimate locus of the vehicle body calculated by the estimate locus calculation unit (2). Thus, even a beginner driver of the vehicle can easily and quickly park the vehicle with accuracy and safety while monitoring the estimate movement locus of the vehicle on the display screen.

摘要翻译： 车辆位置计算单元在平面图中计算车辆的位置，并且估计轨迹计算单元计算当车辆相对于车辆位置以最大转向角移动时的车身的估计移动轨迹，并且 显示单元显示由车辆位置计算单元计算的车辆位置与由估计轨迹计算单元计算出的车身的估计轨迹。 因此，即使车辆的初级驾驶员也可以在监视车辆在显示画面上的估计移动轨迹的同时，以准确和安全的方式容易且快速地停放车辆。

公开(公告)号：US06369701B1

公开(公告)日：2002-04-09

申请号：US09892740

申请日：2001-06-28

申请人： Takashi Yoshida ,  Nobuhiko Yasui ,  Atsushi Iisaka ,  Akira Ishida

发明人： Takashi Yoshida ,  Nobuhiko Yasui ,  Atsushi Iisaka ,  Akira Ishida

IPC分类号： B60Q100

CPC分类号： B62D15/0275 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/107 ,  B60R2300/305 ,  B60R2300/60 ,  B60R2300/802 ,  B60R2300/806 ,  B60R2300/8086 ,  G06T5/006 ,  G06T15/20

摘要： In a rendering device Urnd, a CPU generates a lower viewpoint image based on captured images captured by image capture devices both securely mounted to a vehicle. Here, the lower viewpoint image shows a region rear of the vehicle viewed from those image capture devices. Then, the CPU executes viewpoint conversion processing onto the captured images, and generates an upper viewpoint image. Here, the upper viewpoint image shows also the region rear of the vehicle but viewed from a camera virtually placed above the vehicle. The CPU then stitches the upper and lower viewpoint images together to generate a drive assistant image. In such manner, the drive assistant image generated by the rendering device Urnd becomes informative enough for a driver of the vehicle.

摘要翻译： 在渲染设备Urnd中，CPU基于被牢固地安装到车辆的图像捕获设备捕获的捕获图像来生成较低的视点图像。 这里，下视点图像示出从那些图像捕获装置观看的车辆后方的区域。 然后，CPU对拍摄图像执行视点转换处理，并生成上视点图像。 这里，上视点图像还示出了车辆的区域后方，但是从实际上放置在车辆上方的相机观察。 然后，CPU将上下视点图像缝合在一起以产生驱动辅助图像。 以这种方式，由渲染设备Urnd生成的驱动辅助图像对于车辆的驾驶者来说变得足够信息。

公开(公告)号：US5922036A

公开(公告)日：1999-07-13

申请号：US864428

申请日：1997-05-28

申请人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

发明人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

IPC分类号： G09B29/00 ,  B60W30/00 ,  G01B11/24 ,  G01B11/255 ,  G01C21/00 ,  G01C21/26 ,  G05D1/02 ,  G06T1/00 ,  G06T7/60 ,  G08G1/04 ,  G08G1/0969 ,  G08G1/16 ,  G06F165/00 ,  G06K9/36

CPC分类号： G06K9/00798 ,  G01C21/26 ,  G05D1/0246 ,  G05D1/0278 ,  G06K9/4633 ,  G08G1/04 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0274 ,  G05D2201/0213

摘要： A lane detection sensor for detecting opposite lane markers of a road, comprising: an image shooting member for shooting an image of the road ahead of a running motor vehicle; an image data memory for storing data on the image of the road from the image shooting member; a contour point extracting member for extracting, by using the data on the image of the road stored in the image data memory, contour points corresponding to the lane markers of the road; a curve detecting member for calculating polynomial curves by using the contour points corresponding to the lane markers of the road from the contour point extracting member; a Hough transformation limiting member for bounding a region of Hough transformation by using coefficients of the polynomial curves calculated by the curve detecting member; a Hough transformation member for performing Hough transformation by using the polynomial curves from the curve detecting member and the region of Hough transformation bounded by the Hough transformation limiting member; and a Hough transformation detecting member which obtains a maximum value of accumulators in Hough space so as to detect a curve corresponding to the maximum value of the accumulators.

摘要翻译： 一种用于检测道路的相对车道标记的车道检测传感器，包括：用于拍摄行驶的机动车辆前方道路的图像的图像拍摄部件; 图像数据存储器，用于从图像拍摄构件存储关于道路图像的数据; 轮廓点提取构件，用于通过使用存储在图像数据存储器中的道路的图像上的数据来提取与道路的车道标记相对应的轮廓点; 曲线检测构件，用于通过使用与来自轮廓点提取构件的道路的车道标记相对应的轮廓点来计算多项式曲线; 霍夫转换限制部件，用于通过使用由曲线检测部件计算出的多项式曲线的系数来界定霍夫变换区域; 霍夫变换构件，用于通过使用来自曲线检测构件的多项式曲线和由霍夫变换限制构件限定的霍夫变换区域来执行霍夫变换; 以及霍夫变换检测部件，其获得霍夫空间中的累加器的最大值，以检测对应于所述累加器的最大值的曲线。

公开(公告)号：US06483429B1

公开(公告)日：2002-11-19

申请号：US09692540

申请日：2000-10-20

申请人： Nobuhiko Yasui ,  Atsushi Iisaka

发明人： Nobuhiko Yasui ,  Atsushi Iisaka

IPC分类号： B60Q100

CPC分类号： B60R1/00 ,  B60Q9/005 ,  B60R2300/30 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/404 ,  B60R2300/607 ,  B60R2300/806 ,  B60R2300/8093 ,  B60T2201/10 ,  G01S5/16 ,  G06K9/00812

摘要： A parking assistance system is mounted in a vehicle, and has an image pick-up with a single camera, an image processing device, a display, a steering angle sensor, a wheel speed sensor, and a pulse counter. An A/D converter subjects two analog images picked up by the image pick-up at different locations to A/D conversion, and sends the results to frame memories. A CPU uses the digital image data and the transition data of the vehicle to calculate object data and a distance from the vehicle to the 3D object. An image thus obtained is then converted into a view from the above. The view from the above is stored in a frame memory, and outputted to the display under the control of a controller for display.

摘要翻译： 车辆中安装有停车辅助系统，并且具有单个照相机，图像处理装置，显示器，转向角传感器，车轮速度传感器和脉冲计数器的图像拾取器。 A / D转换器将由不同位置的图像拾取器拾取的两个模拟图像进行A / D转换，并将结果发送到帧存储器。 CPU使用数字图像数据和车辆的转换数据来计算对象数据和从车辆到3D对象的距离。 然后将如此获得的图像从上述转换成视图。 从上述的视图被存储在帧存储器中，并且在控制器的控制下输出到显示器以进行显示。

公开(公告)号：US5904725A

公开(公告)日：1999-05-18

申请号：US637417

申请日：1996-04-25

申请人： Atsushi Iisaka ,  Nobuhiko Yasui ,  Mamoru Kaneko

发明人： Atsushi Iisaka ,  Nobuhiko Yasui ,  Mamoru Kaneko

IPC分类号： G01S5/16 ,  G06T5/00 ,  G06T7/00 ,  G06F165/00

CPC分类号： G01S5/16 ,  G06K9/00798 ,  G06T7/0044 ,  G06T7/0083 ,  G06T2207/10016 ,  G06T2207/30256

摘要： A local positioning device detects a local position of an automobile advancing along a lane formed on a road in a direction. A digital image data indicative of an advancing direction view observed from the automobile in the advancing direction is applied to the local position device. An edge extractor, a threshold generator, and a contour extractor are operable for extracting a contour data indicative of the lane from the image signal. A coordinate convertor converts the contour data into a plane view data indicating the dimensions of extracted contours correctly. A matching operator matches a line or an arc with each of extracted contour. A lane mark contour extractor selectively extracts a pair of extracted contours corresponding to the lane on which the automobile is located.

摘要翻译： 本地定位装置检测沿着在道路上形成的车道沿方向前进的汽车的局部位置。 将表示从行驶方向观察到的前进方向图的数字图像数据应用于本地位置装置。 边缘提取器，阈值生成器和轮廓提取器可用于从图像信号中提取表示车道的轮廓数据。 坐标转换器将轮廓数据转换为指示提取轮廓的尺寸正确的平面视图数据。 匹配的操作符将线或弧与每个提取的轮廓相匹配。 车道标记轮廓提取器选择性地提取对应于汽车所在的车道的一对提取轮廓。

公开(公告)号：US07266219B2

公开(公告)日：2007-09-04

申请号：US10088606

申请日：2001-07-19

申请人： Shusaku Okamoto ,  Masamichi Nakagawa ,  Kunio Nobori ,  Atsushi Morimura ,  Nobuhiko Yasui ,  Akira Ishida ,  Atsushi Iisaka ,  Takashi Yoshida

发明人： Shusaku Okamoto ,  Masamichi Nakagawa ,  Kunio Nobori ,  Atsushi Morimura ,  Nobuhiko Yasui ,  Akira Ishida ,  Atsushi Iisaka ,  Takashi Yoshida

IPC分类号： G06K9/36 ,  H04N7/18 ,  H04N9/47 ,  B60Q1/48 ,  G08G1/14

CPC分类号： H04N7/181 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/207 ,  B60R2300/30 ,  B60R2300/305 ,  B60R2300/404 ,  B60R2300/607 ,  B60R2300/806 ,  B60R2300/8086 ,  G06T15/10

摘要： For supporting a complicated driving operation, a synthesized image is presented to the driver. The driver can view this image and thus drive with a sense of security. The synthesized image may include an image of at least one tire and may have an enlargement/reduction ratio that is relatively higher in a nearby area of the vehicle, including a grounding portion of at least one tire of the vehicle, as compared with a peripheral area of the vehicle.

摘要翻译： 为了支持复杂的驾驶操作，向驾驶员呈现合成图像。 司机可以查看此图像，从而以安全感驱动。 合成图像可以包括至少一个轮胎的图像，并且可以具有在车辆的附近区域中相对较高的放大/缩小比率，包括车辆的至少一个轮胎的接地部分，与外围设备相比 车辆区域。

公开(公告)号：US06999602B2

公开(公告)日：2006-02-14

申请号：US09892741

申请日：2001-06-28

申请人： Takashi Yoshida ,  Nobuhiko Yasui ,  Atsushi Iisaka ,  Akira Ishida

发明人： Takashi Yoshida ,  Nobuhiko Yasui ,  Atsushi Iisaka ,  Akira Ishida

IPC分类号： G06K9/00

CPC分类号： G06T11/00 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/607 ,  B60R2300/8086

摘要： In a rendering device Urnd1, a CPU 7 receives a captured image each from two image capture devices 1 and 2. The CPU 7 then receives a steering angle of a steering wheel of a vehicle from a steering angle sensor 3. Based on the steering angle, the CPU 7 derives an estimated trajectory for the vehicle to take in the course of time. Then, with reference to the estimated trajectory, the CPU 7 selects several pixels each from the captured images, and then generates a drive assistant image based on those pixels. In this manner, the drive assistant image generated by the rendering device Urnd1 hardly causes the driver to feel strange.

摘要翻译： 在渲染设备Urnd 1中，CPU7从两个图像捕获设备1和2接收捕获的图像。然后，CPU 7从转向角传感器3接收车辆的方向盘的转向角。基于转向 角度，CPU 7导出车辆在时间过程中估计的轨迹。 然后，参考估计的轨迹，CPU7从捕获的图像中选择几个像素，然后基于这些像素生成驱动辅助图像。 以这种方式，由渲染装置Urnd 1生成的驱动辅助图像几乎不会使驾驶员感到奇怪。

公开(公告)号：US20050002545A1

公开(公告)日：2005-01-06

申请号：US10492214

申请日：2002-10-08

申请人： Nobuhiko Yasui ,  Takashi Yoshida ,  Atsushi Iisaka ,  Akira Ishida

发明人： Nobuhiko Yasui ,  Takashi Yoshida ,  Atsushi Iisaka ,  Akira Ishida

IPC分类号： B60R1/00 ,  H04N7/18 ,  G06K9/00

CPC分类号： H04N7/181 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/30 ,  B60R2300/8006

摘要： An image processor has two types of image pickup devices connected thereto. One image pickup device shoots the state of the surroundings of a vehicle, and the other shoots the state of the inside of the vehicle. A processor uses images from the image pickup devices to generate a driving assist image representing both of the state of the surroundings of the vehicle and the state of the inside thereof. With this, it is possible to provide an image processor which generates a driving assist image capable of providing more information to a driver.

摘要翻译： 图像处理器具有与其连接的两种类型的图像拾取装置。 一个图像拾取装置拍摄车辆的周围环境，另一个拍摄车辆内部的状态。 处理器使用来自图像拾取装置的图像来产生表示车辆的周围状态和其内部的状态的驾驶辅助图像。 由此，能够提供能够向驾驶员提供更多信息的驾驶辅助图像的图像处理装置。

公开(公告)号：US06731332B1

公开(公告)日：2004-05-04

申请号：US09238611

申请日：1999-01-28

申请人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Noboru Nomura

发明人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Noboru Nomura

IPC分类号： H04N718

CPC分类号： H04N7/183 ,  G06K9/00798 ,  G06T7/246

摘要： In an image processing apparatus carried on a vehicle, an image of a scene around the vehicle, which is photographed by an image pick-up, is inputted into a white line failure extractor. Then, outline points of a white line on a road and a guardrail, which is parallel to the white line, are sought. Further, the outline points are detected as a polynomial. Moreover, the image photographed by the image pick-up is also inputted into an intermittent image obtainer. Then, the images from the image pick-up are intermittently obtained at constant periodical intervals, and further the images are compressed using JPEG compression method. Further, in a synthesizer, the feature data from the white line feature extractor and the image data from the intermittent image obtainer are aligned in order of time. Moreover, the image data and feature data, which are aligned in order of time, are conserved within a given constant period by a recorder. Thus, accurate data as to condition of the road can be recorded using a small capacity memory.

摘要翻译： 在搭载在车辆上的图像处理装置中，由摄像机摄影的车辆周围的场景的图像被输入白线故障提取器。 然后，寻求与白线平行的道路上的白线的轮廓点和护栏。 此外，轮廓点被检测为多项式。 此外，由图像拾取器拍摄的图像也被输入到间歇图像获取器中。 然后，以恒定的周期间隔间歇地获得来自图像拾取器的图像，并且使用JPEG压缩方法进一步压缩图像。 此外，在合成器中，来自白线特征提取器的特征数据和来自间歇图像获取器的图像数据按时间顺序排列。 此外，由时间顺序排列的图像数据和特征数据由记录器在给定的恒定周期内保存。 因此，可以使用小容量存储器记录关于道路状况的准确数据。

公开(公告)号：US06493458B2

公开(公告)日：2002-12-10

申请号：US09216957

申请日：1998-12-21

申请人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

发明人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

IPC分类号： G06K900

CPC分类号： G06K9/00798 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0246 ,  G06T7/12 ,  G06T7/73 ,  G06T7/74 ,  G06T2207/10016 ,  G06T2207/30256 ,  G08G1/04 ,  G08G1/161

摘要： An apparatus and method for correctly determining the position of a vehicle in a traffic lane by obtaining correct information about the position of the traffic lane without being affected by variations in the road surface, weather, time of day, or such imaging conditions as fixed or moving lighting, are provided. An edge signal of a high spatial frequency component and a luminance signal of a low spatial frequency component of a digital image signal representing the view of the local area to the front of a vehicle are extracted. A road contour signal is then extracted from the edge signal, and a road region signal is extracted from the luminance signal. The position of the lane Sre is then detected with high precision by evaluating the lane contour Sre based on the road region signal Srr and lane contour data Sre.

摘要翻译： 通过获取关于行车道的位置的正确信息而不受路面，天气，时间的变化或诸如固定或 提供移动照明。 提取高空间频率分量的边缘信号和表示车辆前方的局部区域的视图的数字图像信号的低空间频率分量的亮度信号。 然后从边缘信号中提取道路轮廓信号，并从亮度信号中提取道路区域信号。 然后通过基于道路区域信号Srr和车道轮廓数据Sre评估车道轮廓Sre，高精度地检测车道Sre的位置。