公开(公告)号：US06301003B1

公开(公告)日：2001-10-09

申请号：US09369249

申请日：1999-08-05

申请人： Noriaki Shirai ,  Yoshiaki Hoashi ,  Takeshi Matsui

发明人： Noriaki Shirai ,  Yoshiaki Hoashi ,  Takeshi Matsui

IPC分类号： B60T716

CPC分类号： G01S17/936 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/42

摘要： An optical distance measuring apparatus is provided which is designed to transmit a laser beam in a cycle to scan a two-dimensional detection zone and to receive a return of the laser beam from a target through a light sensitive unit to determine data on the distance to the target. The light sensitive unit is made of a matrix of cells which are selectively activated in each scan cycle of the laser beam for minimizing optical interference with incoming light other than the return of the laser beam from the target in determining the data on the distance to the target.

摘要翻译： 提供了一种光学距离测量装置，其被设计成在循环中传输激光束以扫描二维检测区域并且接收来自目标的激光束通过光敏单元的返回，以确定关于距离 目标。 光敏单元由在激光束的每个扫描周期中被选择性地激活的单元矩阵制成，用于在确定与目标的距离上的数据之间最小化来自目标的激光束返回的入射光的光学干涉 目标。

公开(公告)号：US06218982B1

公开(公告)日：2001-04-17

申请号：US09418603

申请日：1999-10-15

申请人： Noriaki Shirai ,  Yoshiaki Hoashi ,  Takeshi Matsui

发明人： Noriaki Shirai ,  Yoshiaki Hoashi ,  Takeshi Matsui

IPC分类号： G01S1326

CPC分类号： G01S17/32 ,  G01S7/493 ,  G01S13/325 ,  G01S17/36

摘要： A pseudo random noise code is generated synchronously with a reference clock signal. A first forward electromagnetic wave is transmitted in response to the pseudo random noise code. A first echo wave is received which is caused by reflection of the first forward electromagnetic wave at an object. The received first echo wave is converted into a binary signal. A value of a correlation between the binary signal and the pseudo random noise code is repetitively calculated at a predetermined period having a synchronous relation with the reference clock signal. A time interval taken by the first forward electromagnetic wave and the first echo wave to travel to and from the object is measured in response to a timing at which the calculated correlation value peaks. Then, a second forward electromagnetic wave is transmitted in response to a transmitted pulse signal is transmitted. A second echo wave related to the second forward electromagnetic wave is received. The received second echo wave is converted into a received pulse signal. A delay circuit defers the transmitted pulse signal by a delay time corresponding to the measured time interval to generate a delayed transmitted pulse signal. A phase difference between the received pulse signal and the delayed transmitted pulse signal is measured at a resolution higher than a resolution corresponding to the predetermined period of the correlation-value calculation. A distance to the object is calculated on the basis of the measured time interval and the measured phase difference.

摘要翻译： 伪随机噪声码与参考时钟信号同步产生。 响应于伪随机噪声码发送第一正向电磁波。 接收到由物体上的第一正向电磁波的反射引起的第一回波。 接收的第一回波被转换为二进制信号。 在与参考时钟信号具有同步关系的预定周期内重复计算二进制信号和伪随机噪声码之间的相关值。 响应于所计算的相关值达峰值的定时，测量第一前向电磁波和第一回波在与物体之间行进的时间间隔。 然后，响应于发送的脉冲信号发送第二正向电磁波。 接收与第二正向电磁波相关的第二回波。 接收的第二回波被转换成接收的脉冲信号。 延迟电路将发送的脉冲信号延迟与测量的时间间隔相对应的延迟时间，以产生延迟的发送脉冲信号。 以比相关值计算的预定周期对应的分辨率高的分辨率来测量接收脉冲信号和延迟的发送脉冲信号之间的相位差。 基于测量的时间间隔和测量的相位差计算到物体的距离。

公开(公告)号：US06393377B1

公开(公告)日：2002-05-21

申请号：US09429164

申请日：1999-10-28

申请人： Noriaki Shirai ,  Yoshiaki Hoashi ,  Takeshi Matsui

发明人： Noriaki Shirai ,  Yoshiaki Hoashi ,  Takeshi Matsui

IPC分类号： G01S1508

CPC分类号： G01S17/936 ,  G01S7/4868 ,  G01S7/487 ,  G01S13/931 ,  G01S17/102

摘要： A distance measurement apparatus includes a transmitting device for transmitting a forward electromagnetic wave. A receiving device operates for receiving an echo wave caused by reflection of the forward electromagnetic wave at an object, and converting the received echo wave into a first received signal. A scattered-wave detecting device operates for detecting a scattered wave reaching the receiving device and caused by reflection of the forward electromagnetic wave at an obstacle which occurs prior to the reflection of the forward electromagnetic wave at the object. A cancel-signal generating device operates for generating a cancel signal to cancel a scattered-wave-corresponding component of the first received signal generated by the receiving device in response to the scattered wave detected by the scattered-wave detecting device. A scattered-wave canceling device operates for removing the scattered-wave-corresponding component from the first received signal in response to the cancel signal generated by the cancel-signal generating device to change the first received signal to a second received signal. A distance calculating device responsive to the second received signal operates for measuring a time interval between a moment of the transmission of the forward electromagnetic wave by the transmitting device and a moment of the reception of the echo wave by the receiving device, and calculating a distance to the object on the basis of the measured time interval.

摘要翻译： 距离测量装置包括用于发送正向电磁波的发送装置。 接收装置用于接收由物体上的正向电磁波的反射引起的回波，并将接收到的回波变换为第一接收信号。 散射波检测装置用于检测到达接收装置的散射波，并且是由在正向电磁波在物体的反射之前发生的障碍物处的正向电磁波的反射引起的。 消除信号发生装置用于响应于由散射波检测装置检测到的散射波，产生消除信号以消除由接收装置产生的第一接收信号的散射波相应分量。 散射波消除装置响应于由消除信号发生装置产生的消除信号，将第一接收信号改变为第二接收信号，用于从第一接收信号中去除散射波相应分量。 响应于第二接收信号的距离计算装置操作用于测量由发送装置发送正向电磁波的时刻与接收装置接收回波的时刻之间的时间间隔， 基于测量的时间间隔对象。

公开(公告)号：US5805527A

公开(公告)日：1998-09-08

申请号：US773901

申请日：1996-12-27

申请人： Yoshiaki Hoashi ,  Noriaki Shirai

发明人： Yoshiaki Hoashi ,  Noriaki Shirai

IPC分类号： G01S7/292 ,  G01S7/487 ,  G01S7/497 ,  G01S17/10 ,  G01S17/93 ,  G01S15/00

CPC分类号： G01S7/489 ,  G01S17/10 ,  G01S7/4865 ,  G01S7/487 ,  G01S7/497 ,  G01S17/936

摘要： A distance measuring apparatus includes a wave transmitting device for emitting a transmission wave. A wave receiving device is operative for receiving a reflection wave, which results from reflection of the transmission wave by a reflection object, as a reception wave. A time difference measuring device is operative for measuring a time difference between a moment at which the wave transmitting device emits the transmission wave and a moment at which the wave receiving device receives the reception wave. A distance calculating device is operative for calculating a distance to the reflection object on the basis of the time difference calculated by the time difference measuring device. An error correcting device is operative for detecting a time interval during which a signal level of the reception wave remains higher than a predetermined threshold level, and for correcting an error in the calculated distance to the reflection object on the basis of the detected time interval, the error being caused by a difference in intensity of the reception wave.

摘要翻译： 距离测量装置包括用于发射发射波的波发射装置。 波接收装置用于接收由反射物体的透射波的反射产生的反射波作为接收波。 时差测量装置用于测量波发射装置发射发射波的时刻与波接收装置接收到接收波的时刻之间的时间差。 距离计算装置用于根据由时差测量装置计算的时间差计算到反射物体的距离。 误差校正装置用于检测接收波的信号电平保持高于预定阈值电平的时间间隔，并且基于检测到的时间间隔来校正计算出的与反射对象距离的误差， 误差由接收波的强度差引起。

公开(公告)号：US06710859B2

公开(公告)日：2004-03-23

申请号：US09977231

申请日：2001-10-16

申请人： Noriaki Shirai ,  Takeshi Matsui ,  Katsuhiro Morikawa ,  Katsuji Kosaka ,  Yuji Kimura

发明人： Noriaki Shirai ,  Takeshi Matsui ,  Katsuhiro Morikawa ,  Katsuji Kosaka ,  Yuji Kimura

IPC分类号： G01C308

CPC分类号： G01S17/936 ,  G01S7/484 ,  G01S7/4868 ,  G01S17/42

摘要： A scanning device periodically changes the direction of the transmission of an electromagnetic wave from an electromagnetic wave generating device. A first driving device operates for repetitively driving the electromagnetic wave generating device a plurality of times per one period of the change of the direction by the scanning device, and thereby for repetitively transmitting a distance measurement electromagnetic wave. A second driving device operates for, before the first driving device drives the electromagnetic wave generating device, driving the electromagnetic wave generating device and thereby transmitting a judgment electromagnetic wave having an energy smaller than that of the distance measurement electromagnetic wave. An obstacle judging device permits the first driving device to drive the electromagnetic wave generating device next in cases where a detected obstacle is absent, and inhibits the first driving device from driving the electromagnetic wave generating device next in cases where a detected obstacle is present.

摘要翻译： 扫描装置周期性地改变来自电磁波发生装置的电磁波的传输方向。 第一驱动装置用于通过扫描装置每一方向改变的周期重复地驱动电磁波产生装置多次，从而重复地发送距离测量电磁波。 第二驱动装置在第一驱动装置驱动电磁波产生装置之前进行驱动，驱动电磁波产生装置，从而发送具有比测距电磁波的能量小的能量的判断电磁波。 障碍判断装置允许第一驱动装置在检测到的障碍物不存在的情况下驱动电磁波产生装置，并且在存在检测到的障碍物的情况下，禁止第一驱动装置驱动电磁波产生装置。

公开(公告)号：US06587187B2

公开(公告)日：2003-07-01

申请号：US10043249

申请日：2002-01-14

申请人： Takamoto Watanabe ,  Noriaki Shirai ,  Takeshi Matsui

发明人： Takamoto Watanabe ,  Noriaki Shirai ,  Takeshi Matsui

IPC分类号： G01C308

CPC分类号： G01S17/936 ,  G01S7/4915 ,  G01S7/493 ,  G01S13/325 ,  G01S17/32

摘要： A coarse measuring circuit measures an approximate measurement object time DU based on a first reference clock CK10. The approximate measurement object time represents a duration from a measurement start time to an input time of measurement object pulse PBr. A fine measuring circuit, cooperating with the coarse measuring circuit and using a shorter reference time, measures a time difference between a change point of the first reference clock CK10 and the input time of measurement object pulse PBr as a correction time DD of the approximate measurement object time DU, thereby obtaining a precise measurement objet time DT.

公开(公告)号：US20140055572A1

公开(公告)日：2014-02-27

申请号：US14110066

申请日：2012-04-02

申请人： Noriaki Shirai ,  Masaki Masuda

发明人： Noriaki Shirai ,  Masaki Masuda

IPC分类号： H04N13/02

CPC分类号： H04N13/20 ,  H04N5/2258 ,  H04N5/2355 ,  H04N13/239

摘要： An image processing apparatus for a vehicle characterized in that the apparatus includes a first imaging section, a second imaging section, a switching section which switches exposure controls of the first imaging section and the second imaging section to an exposure control for recognizing an object placed on a road and a lamp or to an exposure control for recognizing a three-dimensional object, and a detection section which detects the object placed on a road and the lamp or the three-dimensional object from images captured by the first imaging section and the second imaging section, wherein under the exposure control for recognizing an object placed on a road and a lamp, exposure of the first imaging section and exposure of the second imaging section are different from each other.

摘要翻译： 一种用于车辆的图像处理装置，其特征在于，所述装置包括第一成像部分，第二成像部分，切换部分，其将第一成像部分和第二成像部分的曝光控制切换到用于识别放置在其上的物体的曝光控制 道路和灯或用于识别三维物体的曝光控制;以及检测部，其从由第一摄像部和第二摄像部拍摄的图像中检测放置在道路上的物体​​，灯或三维物体 成像部分，其中在用于识别放置在道路上的物体​​和灯的曝光控制下，第一成像部分的曝光和第二成像部分的曝光彼此不同。

公开(公告)号：US20120308082A1

公开(公告)日：2012-12-06

申请号：US13486366

申请日：2012-06-01

申请人： Toshikazu Murao ,  Takayuki Kimura ,  Kentarou Shiota ,  Noriaki Shirai

发明人： Toshikazu Murao ,  Takayuki Kimura ,  Kentarou Shiota ,  Noriaki Shirai

IPC分类号： G06K9/62

CPC分类号： G06K9/00825 ,  G06K9/38 ,  G06K9/62

摘要： A recognition object detecting apparatus is provided which includes an imaging unit which generates image data representing a taken image, and a detection unit which detects a recognition object from the image represented by the image data. The imaging unit has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range. The detection unit binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a to plurality of binary images, and detects the recognition object based on the plurality of binary images.

摘要翻译： 提供了一种识别对象检测装置，其包括生成表示拍摄图像的图像数据的成像单元和从由图像数据表示的图像中检测识别对象的检测单元。 成像单元具有其中亮度和输出像素值之间的关系根据亮度范围而变化的特性。 检测单元通过使用多个阈值对由图像数据表示的图像的输出像素值进行二值化，以生成多个二进制图像，并且基于多个二进制图像来检测识别对象。

公开(公告)号：US06657704B2

公开(公告)日：2003-12-02

申请号：US10157230

申请日：2002-05-30

申请人： Noriaki Shirai ,  Katsuhiro Morikawa

发明人： Noriaki Shirai ,  Katsuhiro Morikawa

IPC分类号： G01C308

CPC分类号： G01S17/36 ,  G01S7/493 ,  G01S13/288

摘要： A forward electromagnetic wave is generated in accordance with a succession of pseudo random noise code signals. An echo electromagnetic wave caused by reflection of the forward electromagnetic wave at an object is converted into a received signal. Direct-current and low-frequency components are removed from the received signal to generate a filtering-resultant signal. The filtering-resultant signal is compared with a preset decision reference voltage to generate a binary signal. The binary signal is sampled into received data. Calculation is made as to a correlation between the received data and the pseudo random noise code signal. The distance to the object is computed on the basis of the calculated correlation. The pseudo random noise code signal is repetitively generated to produce a succession of the pseudo random noise code signals during a surplus time covering a stabilization time taken by the received signal to stabilize in direct-current voltage level.

公开(公告)号：US06650235B2

公开(公告)日：2003-11-18

申请号：US09892499

申请日：2001-06-28

申请人： Noriaki Shirai ,  Yoshie Samukawa ,  Keiji Matsuoka

发明人： Noriaki Shirai ,  Yoshie Samukawa ,  Keiji Matsuoka

IPC分类号： B60Q100

CPC分类号： G01S17/936 ,  B60Q9/008 ,  G01S7/4802 ,  G01S2013/9353 ,  G01S2013/9367

摘要： A transmission wave is applied to a predetermined range in a width-wise direction of a subject vehicle. Objects located ahead of the subject vehicle are recognized on the basis of reflected waves which result from reflections of the transmission wave. The reflected waves are converted into a received signal. Detection is made regarding a variation in an intensity of the received signal along a direction corresponding to the width-wise direction of the subject vehicle. The received signal is separated into a first signal portion and a second signal portion on the basis of the detected signal intensity variation. The first signal portion corresponds to a scattered portion of the transmission wave. The second signal portion corresponds to an unscattered portion of the transmission wave. Objects are recognized on the basis of the second signal portion.

摘要翻译： 将传输波施加到本车辆的宽度方向上的预定范围。 基于由透射波的反射产生的反射波来识别位于主体车辆前方的物体。 反射波被转换成接收信号。 对沿着与本车辆的宽度方向对应的方向的接收信号的强度的变化进行检测。 基于检测到的信号强度变化，接收到的信号被分离成第一信号部分和第二信号部分。 第一信号部分对应于发射波的散射部分。 第二信号部分对应于发射波的未散射部分。 基于第二信号部分识别对象。