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公开(公告)号：US20120170411A1
公开(公告)日：2012-07-05
申请号：US13394307
申请日：2009-11-17
申请人： Ryotaro Suzuki , Satoru Inoue , Yukio Nishimoto
发明人： Ryotaro Suzuki , Satoru Inoue , Yukio Nishimoto
CPC分类号： G01S15/931 , G01S7/5276 , G01S15/10 , G01S15/878 , G01S2015/939
摘要： An obstacle detection device includes one or more emitter ultrasonic sensors, each emitting an ultrasonic wave toward an obstacle, and one or more detection ultrasonic sensors for reception, each detecting a reflected wave from the obstacle. A control unit drives a specific one of the emitter ultrasonic sensors to cause it to emit an ultrasonic wave, stops the emission of the ultrasonic wave by the specific emitter ultrasonic sensor at the time that one of the detection ultrasonic sensors detects a reflected wave from the obstacle, and carries out detection of the obstacle and measurement of the distance to the obstacle from the time that the control unit stops the emission of the ultrasonic wave by the emitter ultrasonic sensor and the time that the reflected wave cannot be detected anymore.
摘要翻译： 障碍物检测装置包括一个或多个发射超声波朝向障碍物发射的超声波传感器，以及一个或多个用于接收的检测超声波传感器，每个检测超声波传感器每个检测来自障碍物的反射波。 控制单元驱动特定的一个发射超声波传感器以使其发射超声波，在一个检测超声波传感器检测到来自该超声波的反射波时，通过特定发射体超声波传感器停止超声波的发射 从控制单元停止发射超声波传感器发射超声波的时间和不能再次检测出反射波的时间，进行障碍物的检测和与障碍物的距离的测量。
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公开(公告)号：US20120307594A1
公开(公告)日：2012-12-06
申请号：US13577428
申请日：2010-05-19
申请人： Satoru Inoue , Ryotaro Suzuki
发明人： Satoru Inoue , Ryotaro Suzuki
IPC分类号： G01S15/08
CPC分类号： G01S15/931 , G01S7/52004 , G01S15/003 , G01S15/10 , G01S15/87 , G01S2015/938
摘要： An obstacle detection device controls distance sensors to cause the distance sensors to transmit a transmission wave during a fixed time period, measures a first time which has elapsed from a time at which the transmission starts to a time at which a reflected wave is detected, and a second time which has elapsed a time at which the above-mentioned transmission is stopped to a time at which the reflected wave disappears, and determines that an obstacle exists when a time difference between the above-mentioned first time and the above-mentioned second time is equal to or shorter than a predetermined allowed time. Therefore, the obstacle detection device can reduce the time required for the determination to at least one-half that provided by a related art technique, and improves the accuracy of the detection of an object moving at a relatively high speed.
摘要翻译： 障碍物检测装置控制距离传感器使得距离传感器在固定时间段期间发送传输波，测量从发射开始的时间到检测到反射波的时间已经过去的第一次，以及 经过了上述发送停止的时间到反射波消失的时间的第二次，并且当上述第一时间和上述第二时间之间的时间差 时间等于或短于预定的允许时间。 因此，障碍物检测装置可以将确定所需的时间减少到由现有技术提供的至少一半，并且提高以较高速度移动的物体的检测精度。
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公开(公告)号：US20120327239A1
公开(公告)日：2012-12-27
申请号：US13582691
申请日：2010-05-19
IPC分类号： H04N7/18
CPC分类号： G08G1/16 , B60R1/00 , B60R2300/301 , B60R2300/307 , B60R2300/607 , B60R2300/70 , G01S7/6245 , G01S15/876 , G01S15/931 , G01S2015/932 , G01S2015/933 , G08G1/165 , G08G1/166
摘要： Because a vehicle rear view monitoring device changes the detection threshold level of each of distance sensors 4-1 to 4-4 to change horizontal and vertical detection areas and a bearing resolution, determines the display position of an obstacle mark 16 from the distances to an obstacle 15 detected by the plurality of distance sensors 4-1 to 4-4, and amplitude information about the amplitude of a reflected wave from the obstacle, and overlays the obstacle mark 16 on the obstacle 15 by using an overlay unit 17, the vehicle rear view monitoring device improves the degree of positional precision of the overlay of the obstacle mark on the obstacle displayed on a captured image.
摘要翻译： 因为车辆后视监视装置改变距离传感器4-1至4-4中的每一个的检测阈值水平以改变水平和垂直检测区域和方位分辨率，所以从距离的距离确定障碍物标记16的显示位置 由多个距离传感器4-1至4-4检测到的障碍物15以及关于来自障碍物的反射波的振幅的幅度信息，并且通过使用覆盖单元17覆盖障碍物15上的障碍物标记16，车辆 后视监视装置提高在拍摄图像上显示的障碍物上的障碍物标记的重叠的位置精度。
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公开(公告)号：US09047779B2
公开(公告)日：2015-06-02
申请号：US13582691
申请日：2010-05-19
IPC分类号： H04N7/00 , H04N9/47 , B60Q1/00 , G06K9/00 , G08G1/16 , B60R1/00 , G01S7/62 , G01S15/87 , G01S15/93
CPC分类号： G08G1/16 , B60R1/00 , B60R2300/301 , B60R2300/307 , B60R2300/607 , B60R2300/70 , G01S7/6245 , G01S15/876 , G01S15/931 , G01S2015/932 , G01S2015/933 , G08G1/165 , G08G1/166
摘要： Because a vehicle rear view monitoring device changes the detection threshold level of each of distance sensors 4-1 to 4-4 to change horizontal and vertical detection areas and a bearing resolution, determines the display position of an obstacle mark 16 from the distances to an obstacle 15 detected by the plurality of distance sensors 4-1 to 4-4, and amplitude information about the amplitude of a reflected wave from the obstacle, and overlays the obstacle mark 16 on the obstacle 15 by using an overlay unit 17, the vehicle rear view monitoring device improves the degree of positional precision of the overlay of the obstacle mark on the obstacle displayed on a captured image.
摘要翻译： 因为车辆后视监视装置改变距离传感器4-1至4-4中的每一个的检测阈值水平以改变水平和垂直检测区域和方位分辨率，所以从距离的距离确定障碍物标记16的显示位置 由多个距离传感器4-1至4-4检测到的障碍物15以及关于来自障碍物的反射波的振幅的幅度信息，并且通过使用覆盖单元17覆盖障碍物15上的障碍物标记16，车辆 后视监视装置提高在拍摄图像上显示的障碍物上的障碍物标记的重叠的位置精度。
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公开(公告)号：US08686875B2
公开(公告)日：2014-04-01
申请号：US13318441
申请日：2009-08-26
申请人： Satoru Inoue , Ryotaro Suzuki , Mitsuaki Akaza
发明人： Satoru Inoue , Ryotaro Suzuki , Mitsuaki Akaza
CPC分类号： G01S13/931 , B62D15/027 , G01S15/931 , G01S2013/9314 , G01S2013/9364 , G01S2013/9367 , G01S2013/9385 , G01S2015/935 , G01S2015/937
摘要： A parking support device is provided for extracting detection point data corresponding to a corner portion of a parked vehicle 2 from detection point data showing a series of detection points at each of which the distance to the parked vehicle 2 is detected, performing a noise component removing process and a data complementing process using a curve approximation of the series of detection points on the extracted detection point data, estimating reflection points of a detection wave in the corner portion from the detection point data and sensor position data showing a moving path of a distance sensor 3, and measuring the length of a parking space adjacent to the parked vehicle 2 according to a corner position which is determined from the positions of the estimated reflection points to determine if a vehicle 1 can be parked in the parking space.
摘要翻译： 提供停车辅助装置，用于从检测点数据中提取与停放车辆2的角部对应的检测点数据，该数据表示检测到与停放车辆2的距离的一系列检测点，执行噪声成分去除 处理和使用提取的检测点数据上的一系列检测点的曲线近似的数据补充处理，从检测点数据估计拐角部分中的检测波的反射点和表示距离的移动路径的传感器位置数据 传感器3，并且根据从估计反射点的位置确定的角位置来测量与停放车辆2相邻的停车空间的长度，以确定车辆1是否可以停放在停车空间中。
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公开(公告)号：US20120320211A1
公开(公告)日：2012-12-20
申请号：US13580410
申请日：2010-06-15
IPC分类号： H04N7/18
CPC分类号： G06T3/00 , B60R2300/301 , B60R2300/602 , G06K9/00805
摘要： A vehicle surroundings monitoring device carries out a position mapping process of expressing a positional relationship in the detection ranges of distance sensors 2 for detecting an obstacle 100 by coordinates on a camera image captured by a camera unit 3 having an image capture range in the surroundings of a vehicle, derives transformation parameters used for carrying out a mapping transformation in such a way that the obstacle detected by the distance sensors 2 is placed at a predetermined position on the camera image on which the position mapping process has been carried out, and carries out an image transformation on the camera image by using the transformation parameters in such a way that the obstacle is placed at the predetermined position.
摘要翻译： 车辆环境监视装置执行位置映射处理，该位置映射处理通过在具有在周围环境中具有图像捕获范围的相机单元3拍摄的相机图像上的坐标来表示用于检测障碍物100的距离传感器2的检测范围内的位置关系 车辆导出用于执行映射变换的变换参数，使得由距离传感器2检测到的障碍物被放置在执行了位置映射处理的摄像机图像上的预定位置，并执行 通过使用变形参数将障碍物放置在预定位置的方式对照相机图像进行图像变换。
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公开(公告)号：US09064293B2
公开(公告)日：2015-06-23
申请号：US13580410
申请日：2010-06-15
CPC分类号： G06T3/00 , B60R2300/301 , B60R2300/602 , G06K9/00805
摘要： A vehicle surroundings monitoring device carries out a position mapping process of expressing a positional relationship in the detection ranges of distance sensors 2 for detecting an obstacle 100 by coordinates on a camera image captured by a camera unit 3 having an image capture range in the surroundings of a vehicle, derives transformation parameters used for carrying out a mapping transformation in such a way that the obstacle detected by the distance sensors 2 is placed at a predetermined position on the camera image on which the position mapping process has been carried out, and carries out an image transformation on the camera image by using the transformation parameters in such a way that the obstacle is placed at the predetermined position.
摘要翻译： 车辆环境监视装置执行位置映射处理，该位置映射处理通过在具有在周围环境中具有图像捕获范围的相机单元3拍摄的相机图像上的坐标来表示用于检测障碍物100的距离传感器2的检测范围内的位置关系 车辆导出用于执行映射变换的变换参数，使得由距离传感器2检测到的障碍物被放置在执行了位置映射处理的摄像机图像上的预定位置，并执行 通过使用变形参数将障碍物放置在预定位置的方式对照相机图像进行图像变换。
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公开(公告)号：US09036453B2
公开(公告)日：2015-05-19
申请号：US13394307
申请日：2009-11-17
申请人： Ryotaro Suzuki , Satoru Inoue , Yukio Nishimoto
发明人： Ryotaro Suzuki , Satoru Inoue , Yukio Nishimoto
CPC分类号： G01S15/931 , G01S7/5276 , G01S15/10 , G01S15/878 , G01S2015/939
摘要： An obstacle detection device includes one or more emitter ultrasonic sensors, each emitting an ultrasonic wave toward an obstacle, and one or more detection ultrasonic sensors for reception, each detecting a reflected wave from the obstacle. A control unit drives a specific one of the emitter ultrasonic sensors to cause it to emit an ultrasonic wave, stops the emission of the ultrasonic wave by the specific emitter ultrasonic sensor at the time that one of the detection ultrasonic sensors detects a reflected wave from the obstacle, and carries out detection of the obstacle and measurement of the distance to the obstacle from the time that the control unit stops the emission of the ultrasonic wave by the emitter ultrasonic sensor and the time that the reflected wave cannot be detected anymore.
摘要翻译： 障碍物检测装置包括一个或多个发射超声波朝向障碍物发射的超声波传感器，以及一个或多个用于接收的检测超声波传感器，每个检测超声波传感器每个检测来自障碍物的反射波。 控制单元驱动特定的一个发射超声波传感器以使其发射超声波，在一个检测超声波传感器检测到来自该超声波的反射波时，通过特定发射体超声波传感器停止发射超声波 从控制单元停止发射超声波传感器发射超声波的时间和不能再次检测出反射波的时间，进行障碍物的检测和与障碍物的距离的测量。
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公开(公告)号：US08797829B2
公开(公告)日：2014-08-05
申请号：US13577428
申请日：2010-05-19
申请人： Satoru Inoue , Ryotaro Suzuki
发明人： Satoru Inoue , Ryotaro Suzuki
IPC分类号： G01S15/08
CPC分类号： G01S15/931 , G01S7/52004 , G01S15/003 , G01S15/10 , G01S15/87 , G01S2015/938
摘要： An obstacle detection device controls distance sensors to cause the distance sensors to transmit a transmission wave during a fixed time period, measures a first time which has elapsed from a time at which the transmission starts to a time at which a reflected wave is detected, and a second time which has elapsed a time at which the above-mentioned transmission is stopped to a time at which the reflected wave disappears, and determines that an obstacle exists when a time difference between the above-mentioned first time and the above-mentioned second time is equal to or shorter than a predetermined allowed time. Therefore, the obstacle detection device can reduce the time required for the determination to at least one-half that provided by a related art technique, and improves the accuracy of the detection of an object moving at a relatively high speed.
摘要翻译： 障碍物检测装置控制距离传感器使得距离传感器在固定时间段期间发送传输波，测量从发射开始的时间到检测到反射波的时间已经过去的第一次，以及 经过了上述发送停止的时间到反射波消失的时间的第二次，并且当上述第一时间和上述第二时间之间的时间差 时间等于或短于预定的允许时间。 因此，障碍物检测装置可以将确定所需的时间减少到由现有技术提供的至少一半，并且提高以较高速度移动的物体的检测精度。
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公开(公告)号：US20120062396A1
公开(公告)日：2012-03-15
申请号：US13318441
申请日：2009-08-26
申请人： Satoru Inoue , Ryotaro Suzuki , Mitsuaki Akaza
发明人： Satoru Inoue , Ryotaro Suzuki , Mitsuaki Akaza
IPC分类号： G08G1/14
CPC分类号： G01S13/931 , B62D15/027 , G01S15/931 , G01S2013/9314 , G01S2013/9364 , G01S2013/9367 , G01S2013/9385 , G01S2015/935 , G01S2015/937
摘要： A parking support device is provided for extracting detection point data corresponding to a corner portion of a parked vehicle 2 from detection point data showing a series of detection points at each of which the distance to the parked vehicle 2 is detected, performing a noise component removing process and a data complementing process using a curve approximation of the series of detection points on the extracted detection point data, estimating reflection points of a detection wave in the corner portion from the detection point data and sensor position data showing a moving path of a distance sensor 3, and measuring the length of a parking space adjacent to the parked vehicle 2 according to a corner position which is determined from the positions of the estimated reflection points to determine if a vehicle 1 can be parked in the parking space.
摘要翻译： 提供停车辅助装置，用于从检测点数据中提取与停放车辆2的角部对应的检测点数据，该数据表示检测到与停放车辆2的距离的一系列检测点，执行噪声成分去除 处理和使用提取的检测点数据上的一系列检测点的曲线近似的数据补充处理，从检测点数据估计拐角部分中的检测波的反射点和表示距离的移动路径的传感器位置数据 传感器3，并且根据从估计反射点的位置确定的角位置来测量与停放车辆2相邻的停车空间的长度，以确定车辆1是否可以停放在停车空间中。
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