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11. 发明申请

US20060193511A1 Object determining apparatus 有权
公开(公告)号：US20060193511A1
公开(公告)日：2006-08-31
申请号：US11356976
申请日：2006-02-21
申请人： Yoshikatsu Kimura , Yoshiki Ninomiya
发明人： Yoshikatsu Kimura , Yoshiki Ninomiya
IPC分类号： G06K9/00
CPC分类号： G06K9/00805
摘要： An object determining apparatus is disclosed which is structured such that right and left disparity images are acquired from different view points, disparity of corresponding points in the right and left images is computed, information relating to the points for which disparity is computed is voted to respective blocks of a disparity map that arranges blocks with one side corresponding to disparity, other side corresponding to image lateral position, and these sides being elongated with increasing disparity. An attribute of three dimensional object is applied to first blocks in which distribution of voted disparity points in disparity direction is small and image vertical direction is large. An attribute of road surface is applied to second blocks in which distribution in disparity direction is large and image vertical direction small, thereby determining an object as a three dimensional object or road surface.

12. 发明授权

US4809178A Obstacle data processing system for unmanned vehicle 失效
标题翻译：无人机障碍物数据处理系统
公开(公告)号：US4809178A
公开(公告)日：1989-02-28
申请号：US051831
申请日：1987-05-20
申请人： Yoshiki Ninomiya , Gunji Sugimoto , Takero Hongo , Keiichi Watanabe , Hideo Arakawa
发明人： Yoshiki Ninomiya , Gunji Sugimoto , Takero Hongo , Keiichi Watanabe , Hideo Arakawa
IPC分类号： G05D1/02
CPC分类号： G05D1/0272 , G05D1/0255 , G05D1/0274
摘要： An obstacle data processing system for an unmanned self-controlled vehicle, capable of enabling the vehicle to automatically avert any obstacle which lies in the course of running of the vehicle. The system has obstacle position memory device capable of accumulating position data concerning specific obstacles and, hence, forming data concerning the distribution of the obstacles. The vehicle therefore can conduct appropriate averting operation in accordance with the distribution of a plurality of obstacles.
摘要翻译：一种用于无人驾驶的自控车辆的障碍物数据处理系统，其能够使车辆自动避开车辆行驶过程中的任何障碍物。该系统具有能够累积关于特定障碍物的位置数据的障碍物位置存储装置，并且因此形成关于障碍物分布的数据。因此，车辆可以根据多个障碍物的分布进行适当的避免操作。

13. 发明授权

US08989965B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US08989965B2
公开(公告)日：2015-03-24
申请号：US13058051
申请日：2010-11-05
申请人： Hirokazu Abe , Yoshiki Ninomiya
发明人： Hirokazu Abe , Yoshiki Ninomiya
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0481 , B62D5/0463
摘要： An electric power steering apparatus includes a steering torque detector for detecting a steering torque applied to a steering mechanism, a motor for generating an assist force that assists steering of a steering wheel, a power voltage detector for detecting a power voltage of a power supply, a power voltage monitoring section for determining a power voltage detection value detected by the power voltage detector and a motor drive controller for calculating an assist amount based on the steering torque and controlling drive of the motor through a driving section. Assist control is maintained based on a drive possible characteristic corresponding to a reduction level of the power voltage of FETs when the power voltage monitoring section determines that the power voltage detection value is less than or equal to an assist operation possible power voltage.
摘要翻译：电动助力转向装置包括用于检测施加到转向机构的转向转矩的转向转矩检测器，用于产生辅助方向盘转向的辅助力的电动机，用于检测电源的电源电压的电力电压检测器，用于确定由电力电压检测器检测的电力电压检测值的电源电压监视部分和用于基于转向转矩计算辅助量的电动机驱动控制器，并且通过驱动部分控制电动机的驱动。当电源电压监视部判定为电源电压检测值小于或等于辅助动作电力电压时，基于与FET的电源电压的降低电平相对应的驱动可能特性来维持辅助控制。

14. 发明授权

US07954587B2 Collision behavior control apparatus 有权
标题翻译：碰撞行为控制装置
公开(公告)号：US07954587B2
公开(公告)日：2011-06-07
申请号：US11332178
申请日：2006-01-17
申请人： Yoshikatsu Kisanuki , Tetsuzou Inoue , Kazunori Furukawa , Kazuo Miki , Eiichi Ono , Yoshiki Ninomiya , Kiyokazu Sunami
发明人： Yoshikatsu Kisanuki , Tetsuzou Inoue , Kazunori Furukawa , Kazuo Miki , Eiichi Ono , Yoshiki Ninomiya , Kiyokazu Sunami
IPC分类号： B60R21/34
CPC分类号： B60R21/36 , B60R21/0134 , B60R2021/346
摘要： A collision behavior control apparatus which comprises a contacting portion disposed in a portion of the front of a vehicle, and which, at the time of collision against a pedestrian or a two-wheeler with a rider riding thereon, controls the behavior of the pedestrian or the two-wheeler rider by pushing the pedestrian or the two-wheeler rider separated from the two-wheeler with the contacting portion, wherein the pedestrian or the two-wheeler rider is pushed by the contacting portion such that the pedestrian or the two-wheeler rider is not bumped up onto the hood, whereby the pedestrian or the two-wheeler rider is moved to the vehicle side.
摘要翻译：一种碰撞行为控制装置，包括设置在车辆前部的一部分中的接触部分，并且在与乘坐骑乘者的行人或两轮车碰撞时，控制行人的行为或所述两轮车骑乘者通过将所述行人或所述两轮车骑乘者与所述两轮车与所述接触部分分开，其中所述行人或所述两轮车骑乘者被所述接触部分推动，使得所述行人或所述两轮车车手没有撞到发动机罩上，由此行人或两轮车骑手被移动到车辆侧。

15. 发明授权

US07583817B2 Object determining apparatus 有权
标题翻译：对象确定装置
公开(公告)号：US07583817B2
公开(公告)日：2009-09-01
申请号：US11356976
申请日：2006-02-21
申请人： Yoshikatsu Kimura , Yoshiki Ninomiya
发明人： Yoshikatsu Kimura , Yoshiki Ninomiya
IPC分类号： G06K9/00
CPC分类号： G06K9/00805
摘要： An object determining apparatus is disclosed which is structured such that right and left disparity images are acquired from different view points, disparity of corresponding points in the right and left images is computed, information relating to the points for which disparity is computed is voted to respective blocks of a disparity map that arranges blocks with one side corresponding to disparity, other side corresponding to image lateral position, and these sides being elongated with increasing disparity. An attribute of three dimensional object is applied to first blocks in which distribution of voted disparity points in disparity direction is small and image vertical direction is large. An attribute of road surface is applied to second blocks in which distribution in disparity direction is large and image vertical direction small, thereby determining an object as a three dimensional object or road surface.
摘要翻译：公开了一种对象确定装置，其被构造为使得从不同视点获取右视差图像和左视差图像，计算右图像和左图像中的对应点的差异，与计算视差的点相关的信息被表示为相应的视差图的块，其排列具有与视差相对应的块，另一侧对应于图像横向位置，并且这些侧面随着视差的增加而伸长。将三维物体的属性应用于视差方向的投影视差点的分布小且图像垂直方向大的第一块。将路面的属性应用于视差方向分布大且图像垂直方向较小的第二块，从而将物体确定为三维物体或路面。

16. 发明申请

US20070183657A1 Color-image reproduction apparatus 审中-公开
标题翻译：彩色图像再现装置
公开(公告)号：US20070183657A1
公开(公告)日：2007-08-09
申请号：US11649359
申请日：2007-01-04
申请人： Kiyosumi Kidono , Yoshiki Ninomiya
发明人： Kiyosumi Kidono , Yoshiki Ninomiya
IPC分类号： G06K9/00
CPC分类号： G06K9/2018 , G06T11/001 , H04N5/332 , H04N9/045 , H04N9/67 , H04N2209/047
摘要： A color-image reproduction apparatus reproduces a color image on the basis of digital image data which are obtained through detection of an image by visible light detection elements and an infrared detection element. Visible image data are extracted from the image data, and infrared-containing image data are extracted from the image data. Brightness information is extracted from the visible image data or infrared-containing image data. An infrared component is removed from the visible image data. Color information is extracted from the visible image data from which the infrared component has been removed. The brightness information and the color information are combined so as to generate a quasi color image.
摘要翻译：彩色图像再现装置根据通过可见光检测元件和红外线检测元件的图像检测获得的数字图像数据再现彩色图像。从图像数据中提取可见图像数据，并从图像数据中提取含红外图像数据。从可见图像数据或含红外图像数据中提取亮度信息。从可见图像数据中去除红外分量。从已经去除了红外分量的可见图像数据中提取颜色信息。亮度信息和颜色信息被组合以产生准彩色图像。

17. 发明申请

US20130218403A1 POWER STATE DIAGNOSIS METHOD AND APPARATUS 有权
标题翻译：电力状态诊断方法和装置
公开(公告)号：US20130218403A1
公开(公告)日：2013-08-22
申请号：US13264912
申请日：2011-09-06
申请人： Hirokazu Abe , Yoshiki Ninomiya , Toru Sakaguchi
发明人： Hirokazu Abe , Yoshiki Ninomiya , Toru Sakaguchi
IPC分类号： B62D5/04
CPC分类号： B62D5/0481 , B60R16/03
摘要： [Problem]An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that pass and increase not only a d-axis current but also a q-axis current to a current value that a steering behavior does not occur to perform a diagnosis in the vector control of a motor, and determine that a power supply degraded, that the power supply is normal and that the diagnosis is not completed without giving an uncomfortable feeling to a driver, detecting a timing that there is not a driver, and needing to comprise a plurality of actuators.[Means for solving the problem]The present invention is a power state diagnosis method that diagnoses a power state of a vehicle which comprises an electrical control system supplied from a power supply and a motor controlled by a vector control method, comprising: gradually increasing a d-axis current to a current value that a steering behavior does not occur and applying the d-axis current, concurrently gradually increasing a q-axis current that is a rectangular-wave with positive and negative directions to the current value and applying the q-axis current, and determining degradation of the power supply when a voltage value of the power supply is equal to or less than a power supply threshold and a given period of time T1 elapses.
摘要翻译：发明内容本发明的目的在于提供一种功率状态诊断方法和电力状态诊断装置，其不仅将d轴电流，而且将q轴电流增加到转向行为的当前值在电动机的矢量控制中不进行诊断，并且判定电源劣化，电源正常，诊断未完成，而不给驾驶员带来不适感，检测到有时而不是驱动器，并且需要构成多个致动器。解决问题的手段本发明是一种电力状态诊断方法，其对由电源供给的电气控制系统和由矢量控制方法控制的电动机进行诊断的车辆的电力状态包括：逐渐增加 d轴电流转换为不发生转向行为的电流值并施加d轴电流，同时将正方向和正方向的矩形波的q轴电流同时逐渐增加到当前值，并施加q轴电流并且当所述电源的电压值等于或小于电源阈值并且经过给定时间段T1时，确定所述电源的劣化。

18. 发明申请

US20120014610A1 FACE FEATURE POINT DETECTION DEVICE AND PROGRAM 有权
标题翻译：表面特征点检测装置和程序
公开(公告)号：US20120014610A1
公开(公告)日：2012-01-19
申请号：US13259065
申请日：2010-03-26
申请人： Satoru Nakashi , Yoshiki Ninomiya , Takashi Naito , Shinichi Kojima , Yoshinao Takemae , Takuhiro Omi , Jun Adachi , Takashi Hiramaki
发明人： Satoru Nakashi , Yoshiki Ninomiya , Takashi Naito , Shinichi Kojima , Yoshinao Takemae , Takuhiro Omi , Jun Adachi , Takashi Hiramaki
IPC分类号： G06K9/46
CPC分类号： G06K9/00281 , G06T7/73
摘要： Detecting with good precision an eye inside corner position and an eye outside corner position as face feature points even when the eye inside corner and/or the eye outside corner portions are obscured by noise. First eyelid profile modeling is performed with a Bezier curve expressed by a fixed control point P3 indicating an eye inside corner first position detected in an image, a fixed control point P4 indicating an eye outside corner first position, a control point P1 corresponding to an upper eyelid position candidate (first parameter), and a control point P2 corresponding to a lower eyelid position candidate (second parameter). Then in a second eyelid profile model with fixed P1 and P2 of the first eyelid profile model having the highest fitting evaluation value λ to the eyelid profile in the image, the values of a control point P3 indicating an eye inside corner position candidate (third parameter) and a control point P4 indicating an eye outside corner candidate (fourth parameter) at a maximum of a fitting evaluation value λ when changing the values of the control point P3 and control point P4 are determined as an eye inside corner second position and an eye outside corner second position, respectively.
摘要翻译：即使当角落内部的眼睛和/或眼睛的外角部被噪声遮蔽时，以高精度检测眼内角位置和眼外角位置作为面部特征点。用固定控制点P3表示的Bezier曲线进行第一次眼皮轮廓建模，所述固定控制点P3表示在图像中检测到的角内第一位置内的眼睛，指示眼睛外角角位置的眼睛的固定控制点P4，对应于上部眼睑位置候选（第一参数）和对应于下眼睑位置候选的控制点P2（第二参数）。然后，在具有对图像中的眼睑轮廓具有最高拟合评估值λ的第一眼睑轮廓模型的具有固定的P1和P2的第二眼睑轮廓模型中，指示角内位置候选中的眼睛的控制点P3的值（第三参数）和将控制点P3和控制点P4的值改变时，以拟合评估值λ的最大值指示眼睛外角候选（第四参数）的控制点P4被确定为眼角内第二位置和眼睛外角第二位。

19. 发明申请

US20110231064A1 ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置
公开(公告)号：US20110231064A1
公开(公告)日：2011-09-22
申请号：US13058051
申请日：2010-11-05
申请人： Hirokazu Abe , Yoshiki Ninomiya
发明人： Hirokazu Abe , Yoshiki Ninomiya
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0481 , B62D5/0463
摘要： [Problem] The present invention provides an electric power steering apparatus that is capable of suppressing behaviors of steering assist and performing assist control without an uncomfortable feeling even though a power voltage varied drastically during cranking.[Means for Solving the Problem] The electric power steering apparatus comprises a steering torque detecting means for detecting a steering torque applied to a steering mechanism, a motor for generating an assist force that assists steering of a steering wheel, a power voltage detecting means for detecting a power voltage of a power supply, a power voltage monitoring section for determining a power voltage detection value detected by the power voltage detecting means and a motor drive control means for calculating an assist amount based on the steering torque and controlling drive of the motor through a driving section comprising an FET-bridge, and assist control is maintained based on a drive possible characteristic corresponding to a reduction level of the power voltage of FETs when the power voltage monitoring section determines that the power voltage detection value is less than or equal to an assist operation possible power voltage.
摘要翻译：发明内容本发明提供一种电动助力转向装置，其能够抑制转向辅助的行为，并且即使在起动期间电力变化剧烈的情况下，也不会产生不舒适的感觉，进行辅助控制。解决问题的手段电动助力转向装置包括用于检测施加于转向机构的转向转矩的转向转矩检测装置，用于产生辅助方向盘转向的辅助力的电动机，电动电压检测装置，检测电源的电源电压，用于确定由电力电压检测装置检测的电力电压检测值的电力电压监视部分和用于基于转向转矩计算辅助量并控制电动机的驱动的电动机驱动控制装置通过包括FET桥的驱动部分，并且当电源电压监视部分确定电源电压检测值小于或等于时，基于与FET的电源电压的降低电平对应的驱动可能特性来维持辅助控制以辅助操作可能的电源电压。

20. 发明申请

US20060186702A1 Collision behavior control apparatus 有权
标题翻译：碰撞行为控制装置
公开(公告)号：US20060186702A1
公开(公告)日：2006-08-24
申请号：US11332178
申请日：2006-01-17
申请人： Yoshikatsu Kisanuki , Tetsuzou Inoue , Kazunori Furukawa , Kazuo Miki , Eiichi Ono , Yoshiki Ninomiya , Kiyokazu Sunami
发明人： Yoshikatsu Kisanuki , Tetsuzou Inoue , Kazunori Furukawa , Kazuo Miki , Eiichi Ono , Yoshiki Ninomiya , Kiyokazu Sunami
IPC分类号： B60J7/00 , E05F15/00 , B60R19/54
CPC分类号： B60R21/36 , B60R21/0134 , B60R2021/346
摘要： A collision behavior control apparatus which comprises a contacting portion disposed in a portion of the front of a vehicle, and which, at the time of collision against a pedestrian or a two-wheeler with a rider riding thereon, controls the behavior of the pedestrian or the two-wheeler rider by pushing the pedestrian or the two-wheeler rider separated from the two-wheeler with the contacting portion, wherein the pedestrian or the two-wheeler rider is pushed by the contacting portion such that the pedestrian or the two-wheeler rider is not bumped up onto the hood, whereby the pedestrian or the two-wheeler rider is moved to the vehicle side.
摘要翻译：一种碰撞行为控制装置，包括设置在车辆前部的一部分中的接触部分，并且在与乘坐骑乘者的行人或两轮车碰撞时，控制行人的行为或所述两轮车骑乘者通过将所述行人或所述两轮车骑乘者与所述两轮车与所述接触部分分开，其中所述行人或所述两轮车骑乘者被所述接触部分推动，使得所述行人或所述两轮车车手没有撞到发动机罩上，由此行人或两轮车骑手被移动到车辆侧。

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