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11. 发明授权

US08085167B2 Parking assist apparatus 有权
标题翻译：停车辅助装置
公开(公告)号：US08085167B2
公开(公告)日：2011-12-27
申请号：US12442474
申请日：2007-10-29
申请人： Yu Tanaka , Jun Kadowaki , Kazuya Watanabe
发明人： Yu Tanaka , Jun Kadowaki , Kazuya Watanabe
IPC分类号： B60Q1/48 , G08G1/14
CPC分类号： B62D15/0285 , B60W30/06 , B62D15/027
摘要： A view in front of a vehicle (1) is captured, and the captured imaged is displayed on a display section. At a predetermined stop position (S1), a target parking position (S4) of the vehicle (1) is set based on the captured image. Then, a reverse guidance route (C2) is calculated. The reverse guidance route (C2) is a route located forward of the vehicle (1), in front of the stop position (S1), and lies from a reverse start position (S2), at which the vehicle (1) starts to reverse for parking, up to the target parking position (S4). Based on the captured image, the reverse start position (S2) is set within a predetermined setting area by an instruction of an occupant of the vehicle (1). A forward travel guidance route (C1) from the stop position (S1) to the reverse start position (S2) is calculated, and conditions of movement of the vehicle (1) are detected. The vehicle (1) is guided from the stop position (S1) up to the reverse start position (S2) based on the forward travel guidance route (C1) and on the movement conditions.
摘要翻译：拍摄车辆（1）前方的视野，拍摄的拍摄被显示在显示部上。在规定的停止位置（S1），基于拍摄图像来设定车辆（1）的目标停车位置（S4）。然后，计算出反向引导路径（C2）。反向引导路线（C2）是在停止位置（S1）前方位于车辆（1）前方的路线，并且位于车辆（1）开始反向的反向起始位置（S2）用于停车，直到目标停车位置（S4）。基于拍摄图像，通过车辆（1）的乘员的指示将反转开始位置（S2）设定在预定设定区域内。计算从停止位置（S1）到反向开始位置（S2）的前进行驶引导路线（C1），并且检测车辆（1）的移动条件。基于前进行驶引导路线（C1）和移动条件，车辆（1）从停止位置（S1）向上推动到反向起始位置（S2）。

12. 发明授权

US07813855B2 Parking assist system 有权
标题翻译：停车辅助系统
公开(公告)号：US07813855B2
公开(公告)日：2010-10-12
申请号：US12531400
申请日：2008-04-11
申请人： Kazuya Watanabe , Jun Kadowaki , Yu Tanaka
发明人： Kazuya Watanabe , Jun Kadowaki , Yu Tanaka
IPC分类号： B62D6/00 , G05D1/00 , G05D1/12 , G05D3/00 , G01C21/00
CPC分类号： B62D15/0285 , B60W30/06
摘要： A parking assist system for guiding a vehicle under automatic steering control from a predetermined step position via a turning-direction switching position to a parking target position. With this parking assist system, based upon an operation of a steering wheel by a driver at the predetermined stop position, a parking mode and a parking target position corresponding to that parking mode are determined. And, regardless of the amount of the operation of the steering wheel given at the time of the determination of the parking mode, the vehicle is guided with a correction such that a deflection angle of the vehicle relative to the parking target position may be a predetermined deflection angle, at a corrected switching position nearby the switching position.
摘要翻译：一种停车辅助系统，用于将自动转向控制下的车辆从预定步进位置经由转向方向切换位置引导到停车目标位置。利用该停车辅助系统，基于驾驶员在预定停止位置的方向盘的操作，确定与该停车模式相对应的停车模式和停车目标位置。并且，不管在确定停车模式时给出的方向盘的操作量如何，车辆被引导以使得车辆相对于停车目标位置的偏转角度可以是预定的在切换位置附近的校正切换位置处的偏转角。

13. 发明授权

US08964034B2 Vehicle surroundings awareness support device 有权
标题翻译：车辆环境意识支持装置
公开(公告)号：US08964034B2
公开(公告)日：2015-02-24
申请号：US13388849
申请日：2010-07-28
申请人： Noboru Nagamine , Kazuya Watanabe , Tomoyuki Matsuba , Jun Kadowaki , Toshihiro Mori , Yuuichi Ooshita
发明人： Noboru Nagamine , Kazuya Watanabe , Tomoyuki Matsuba , Jun Kadowaki , Toshihiro Mori , Yuuichi Ooshita
IPC分类号： H04N9/47 , B62D15/02 , B60R1/00 , G08G1/16 , G06T7/20
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/305 , B60R2300/307 , B60R2300/8033 , B60R2300/806 , B60R2300/8086 , G06T7/246 , G06T2207/30261 , G08G1/166 , G08G1/168
摘要： Provided is a vehicle surroundings awareness support device capable of providing a prompt for a driver to intuitively direct their attention, without the driver feeling hassled. Captured images comprising a plurality of frames taken sequentially by an onboard camera for imaging the surroundings of the vehicle are received; an optical flow is computed on the basis of feature points contained in the plurality of frames imaged at different times; moving objects in the surroundings of the vehicle are detected on the basis of the optical flow; and a display for showing movement trajectories for the moving objects is superimposed on the captured images on the basis of the optical flow.
摘要翻译：提供一种车辆环境意识支持装置，其能够提供驾驶员直观地引导他们的注意力，而不会使驾驶员感到困扰。接收包括由车载摄像机依次拍摄的用于对车辆周围进行摄像的多个帧的拍摄图像; 基于在不同时间成像的多个帧中包含的特征点来计算光流; 基于光流检测车辆周围的移动物体; 并且用于显示用于移动物体的运动轨迹的显示器基于光流被叠加在所捕获的图像上。

14. 发明申请

US20110273310A1 PARKING ASSIST APPARATUS 有权
标题翻译：停车辅助装置
公开(公告)号：US20110273310A1
公开(公告)日：2011-11-10
申请号：US13141904
申请日：2010-01-29
申请人： Jun Kadowaki , Kazuya Watanabe
发明人： Jun Kadowaki , Kazuya Watanabe
IPC分类号： B60Q1/48 , B62D6/00 , G05D1/00
CPC分类号： B62D15/0285
摘要： There is provided a parking assist apparatus capable of allowing an automatic steering control to be started smoothly, without requiring any special operation after confirmation of a parking target location. The parking assist apparatus includes a parking target position setting section for setting a parking target position, a guiding path calculating section for calculating a guiding path to the parking target position, a reporting information outputting section for reporting to the driver upon successful establishment of a guiding path that an automatic steering is now possible, a non-holding state determining section for determining whether there is established a non-holding state of the driver not holding a steering device, and a guiding start determining section configured to allow guiding by the automatic steering to be started, provided the guiding path has been established AND the non-holding state has been realized.
摘要翻译：提供了一种停车辅助装置，其能够使自动转向控制能够顺利地起动，而不需要在确定停车目标位置之后进行特殊操作。停车辅助装置包括用于设定停车目标位置的停车目标位置设定部分，用于计算到停车目标位置的引导路径的引导路径计算部分，报告信息输出部分，用于在成功建立引导时向司机报告现在可以进行自动转向的路径，非保持状态判定部，其判定是否存在没有保持转向装置的驾驶员的非保持状态;以及引导开始判定部，其被配置为允许通过自动转向如果建立起来的指导路线，不坚持的状态已经实现，就要开始了。

15. 发明申请

US20100219010A1 PARKING ASSIST APPARATUS 有权
标题翻译：停车辅助装置
公开(公告)号：US20100219010A1
公开(公告)日：2010-09-02
申请号：US12705809
申请日：2010-02-15
申请人： Jun KADOWAKI , Kazuya Watanabe
发明人： Jun KADOWAKI , Kazuya Watanabe
IPC分类号： B60S9/00 , G05D1/00 , G06F7/00 , B62D6/00
CPC分类号： B62D15/0285
摘要： A parking assist apparatus includes a guidance mode setting portion specifying a forward turning guidance controlling portion to perform a control when determining that a direct guidance control for driving a vehicle rearward to a target parking position without once driving the vehicle forward is unachievable. The forward turning guidance controlling portion includes an auxiliary guidance controlling device generating an auxiliary guidance path and driving the vehicle rearward by an automatic steering along the auxiliary guidance path and a guidance possibility determining device determining whether or not the vehicle is directly guided rearward to the target parking position based on a position and a steering angle of the vehicle while the vehicle is moving forward by a manual steering. The forward turning guidance controlling portion includes a final guidance controlling device guiding the vehicle to the target parking position.
摘要翻译：停车辅助装置包括指定前进转向引导控制部分的引导模式设置部分，当确定用于将车辆向后驱动到目标停车位置的直接引导控制，而不是一次驾驶车辆时，执行控制是不可行的。前进转向引导控制部分包括辅助引导控制装置，其产生辅助引导路径并且沿着辅助引导路径通过自动转向向后驱动车辆;以及引导可能性确定装置，确定车辆是否被直接向后引导到目标当车辆通过手动转向向前移动时，基于车辆的位置和转向角的停车位置。前转向引导控制部包括将车辆引导到目标停车位置的最终引导控制装置。

16. 发明授权

US10315568B2 Vehicle peripheral display device 有权
公开(公告)号：US10315568B2
公开(公告)日：2019-06-11
申请号：US12888157
申请日：2010-09-22
申请人： Jun Kadowaki , Kazuya Watanabe , Takashi Yamanaka , Yumi Yamanaka
发明人： Jun Kadowaki , Kazuya Watanabe , Takashi Yamanaka
IPC分类号： H04N7/18 , B60R1/00 , B62D15/02 , G08B13/196
摘要： The device is provided with an image acquisition unit for acquiring a peripheral image of a vehicle, the peripheral image being captured by an image pickup device provided to the vehicle; a display device for displaying the peripheral image, the display device being provided inside a vehicle cabin; and an indicator line output unit for causing an indicator line as a guide for a driver during a driving operation to be displayed superimposed on the peripheral image, at least one of a shadow portion and a side surface portion adjacent to the indicator line being added to the indicator line.

17. 发明授权

US09156402B2 Wide view vehicle periphery image generation apparatus 有权
标题翻译：宽视野车辆周边图像生成装置
公开(公告)号：US09156402B2
公开(公告)日：2015-10-13
申请号：US13388619
申请日：2010-07-28
申请人： Noboru Nagamine , Kazuya Watanabe , Tomoyuki Matsuba , Jun Kadowaki , Toshihiro Mori , Yuuichi Ooshita
发明人： Noboru Nagamine , Kazuya Watanabe , Tomoyuki Matsuba , Jun Kadowaki , Toshihiro Mori , Yuuichi Ooshita
IPC分类号： H04N7/18 , B60R1/00
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/306 , B60R2300/605 , B60R2300/607 , B60R2300/804 , G06T3/0018 , H04N7/181
摘要： A vehicle periphery image generation apparatus for generating a vehicle periphery image with a wide view. The apparatus includes an image acquisition unit that acquires vehicle periphery images obtained by vehicle mounted photographic cameras, a display device, a viewing point position setting unit that sets the position to a viewing point from a perpendicular upward direction, a fish-eye image generation unit for generating a fish-eye image using the periphery images and a position set by the viewing point position setting unit, a self vehicle image generation unit that generates a self vehicle image as the fish-eye image with the position set by the viewing point position setting unit, and a display image generation unit for generating an image to be displayed on the display device using the fish-eye image and the self vehicle image, wherein the position of the viewing point of the fish-eye image can be changed.
摘要翻译：一种用于产生具有宽视野的车辆周边图像的车辆周边图像生成装置。该装置包括：图像获取单元，其获取通过车载照相机获得的车辆周边图像;显示装置;从垂直向上方向设置观察点的位置设定单元;鱼眼图像生成单元用于使用周边图像和由观察点位置设置单元设置的位置来生成鱼眼图像的自车辆图像生成单元，其生成具有由观察点位置设置的位置的鱼眼图像的自车辆图像设置单元，以及显示图像生成单元，用于使用鱼眼图像和自身车辆图像来生成要在显示装置上显示的图像，其中可以改变鱼眼图像的视点的位置。

18. 发明授权

US08907815B2 Parking support device 有权
标题翻译：停车支援装置
公开(公告)号：US08907815B2
公开(公告)日：2014-12-09
申请号：US12934002
申请日：2009-05-08
申请人： Jun Kadowaki , Kazuya Watanabe , Yumi Yamanaka
发明人： Jun Kadowaki , Kazuya Watanabe , Takashi Yamanaka
IPC分类号： B60Q1/48 , B62D15/02
CPC分类号： B62D15/0275
摘要： A parking support device capable of reliably supporting a parking driving operation by a driver, comprising an image acquisition portion for acquiring an image peripheral to a vehicle captured by a vehicle-mounted image pickup device; an image display portion for displaying the peripheral image; and an indicator output portion for superimposedly displaying an indicator, comprising a pair of left and right vehicle width extension lines extending rearwards of the vehicle, on the peripheral image in order to guide a driver during a parking operation by the driver. The parking support device supports parallel parking, comprising a first turning step, in which the vehicle is reversed while being turned and driven into a parking area, and a second turning step, in which the vehicle is aligned in a parallel direction while being turned in a direction opposite to that in the first turning step. The indicator output portion superimposedly displays, during the second turning step, only the vehicle width extension line that is on an outside of the turn.
摘要翻译：一种能够可靠地支持驾驶员的停车驾驶操作的停车辅助装置，包括：图像获取部，其获取车载摄像装置拍摄的车辆周边的图像; 用于显示周边图像的图像显示部分; 以及指示器输出部分，用于叠加地显示指示器，包括在所述周边图像上向后延伸的一对左右车辆宽度延伸线，以便在驾驶员的停车操作期间引导驾驶员。所述停车支援装置支持并行停车，其特征在于，包括第一转向步骤，所述第一转向步骤，其中所述车辆在被转动并被驱动到停车区域的同时被反转;以及第二转向步骤，其中所述车辆在转动时沿平行方向对准与第一转动步骤相反的方向。指示器输出部分在第二转动步骤期间仅叠加显示位于转弯外侧的车宽延伸线。

19. 发明授权

US08816878B2 Parking assist apparatus 有权
标题翻译：停车辅助装置
公开(公告)号：US08816878B2
公开(公告)日：2014-08-26
申请号：US13141904
申请日：2010-01-29
申请人： Jun Kadowaki , Kazuya Watanabe
发明人： Jun Kadowaki , Kazuya Watanabe
IPC分类号： B60Q1/00
CPC分类号： B62D15/0285
摘要： There is provided a parking assist apparatus capable of allowing an automatic steering control to be started smoothly, without requiring any special operation after confirmation of a parking target location. The parking assist apparatus includes a parking target position setting section for setting a parking target position, a guiding path calculating section for calculating a guiding path to the parking target position, a reporting information outputting section for reporting to the driver upon successful establishment of a guiding path that an automatic steering is now possible, a non-holding state determining section for determining whether there is established a non-holding state of the driver not holding a steering device, and a guiding start determining section configured to allow guiding by the automatic steering to be started, provided the guiding path has been established AND the non-holding state has been realized.
摘要翻译：提供了一种停车辅助装置，其能够使自动转向控制能够顺利地起动，而不需要在确定停车目标位置之后进行特殊操作。停车辅助装置包括用于设定停车目标位置的停车目标位置设定部分，用于计算到停车目标位置的引导路径的引导路径计算部分，报告信息输出部分，用于在成功建立引导时向司机报告现在可以进行自动转向的路径，非保持状态判定部，其判定是否存在没有保持转向装置的驾驶员的非保持状态;以及引导开始判定部，其被配置为允许通过自动转向如果建立起来的指导路线，不坚持的状态已经实现，就要开始了。

20. 发明申请

US20110102196A1 PARKING SUPPORT DEVICE 有权
标题翻译：停车支援装置
公开(公告)号：US20110102196A1
公开(公告)日：2011-05-05
申请号：US12934002
申请日：2009-05-08
申请人： Jun Kadowaki , Kazuya Watanabe , Takashi Yamanaka
发明人： Jun Kadowaki , Kazuya Watanabe , Takashi Yamanaka
IPC分类号： B60Q1/48
CPC分类号： B62D15/0275
摘要： A parking support device capable of reliably supporting a parking driving operation by a driver, comprising an image acquisition portion for acquiring an image peripheral to a vehicle captured by a vehicle-mounted image pickup device; an image display portion for displaying the peripheral image; and an indicator output portion for superimposedly displaying an indicator, comprising a pair of left and right vehicle width extension lines extending rearwards of the vehicle, on the peripheral image in order to guide a driver during a parking operation by the driver. The parking support device supports parallel parking, comprising a first turning step, in which the vehicle is reversed while being turned and driven into a parking area, and a second turning step, in which the vehicle is aligned in a parallel direction while being turned in a direction opposite to that in the first turning step. The indicator output portion superimposedly displays, during the second turning step, only the vehicle width extension line that is on an outside of the turn.
摘要翻译：一种能够可靠地支持驾驶员的停车驾驶操作的停车辅助装置，包括：图像获取部，其获取车载摄像装置拍摄的车辆周边的图像; 用于显示周边图像的图像显示部分; 以及指示器输出部分，用于叠加地显示指示器，包括在所述周边图像上向后延伸的一对左右车辆宽度延伸线，以便在驾驶员的停车操作期间引导驾驶员。所述停车支援装置支持并行停车，其特征在于，包括第一转向步骤，所述第一转向步骤，其中所述车辆在被转动并被驱动到停车区域的同时被反转;以及第二转向步骤，其中所述车辆在转动时沿平行方向对准与第一转动步骤相反的方向。指示器输出部分在第二转动步骤期间仅叠加显示位于转弯外侧的车宽延伸线。

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