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    • 24. 发明授权
    • Image calibration method and image calibration device
    • 图像校准方法和图像校准装置
    • US09030561B2
    • 2015-05-12
    • US13807440
    • 2011-06-29
    • Keiji Sato
    • Keiji Sato
    • H04N7/18H04N5/357H04N17/00G06T7/00G06T3/00
    • H04N7/181G06T3/00G06T7/80G06T2207/30204G06T2207/30252H04N5/3572H04N17/002
    • To alleviate the strictness degree required for a relative positional relationship between a calibration index and a vehicle in an image calibration method and an image calibration device. The image calibration device includes a calibration index 20, four cameras 10, a distortion correction processing unit 30, a viewpoint transformation processing unit 40, and a calibration processing unit 50. The calibration index 20 includes two mutually parallel lines and a distance between which is known and one line orthogonal to the two lines. The cameras 10 take peripheral area images S1 to S4 of peripheral areas R1 to R4 including the calibration index 20. The distortion correction processing unit 30 corrects the peripheral area images S1 to S4 by using internal parameters M to obtain distortion-corrected images P1 to P4. The viewpoint transformation processing unit 40 performs viewpoint transformation processing on the distortion-corrected images P1 to P4 by using external parameters N to obtain a viewpoint-transformed composite image Q0. The calibration processing unit 50 performs calibration in the viewpoint transformation processing. The calibration processing unit 50 includes an internal parameter correction unit 51 and an external parameter correction unit 52. The internal parameter correction unit 51 corrects the internal parameters M. The external parameter correction unit 52 corrects the external parameters N.
    • 为了减轻图像校准方法和图像校准装置中的校准索引和车辆之间的相对位置关系所需的严格程度。 图像校准装置包括校准索引20,四个照相机10,失真校正处理单元30,视点变换处理单元40和校准处理单元50.校准索引20包括两条相互平行的线,其间距离 已知和一行正交于两条线。 相机10拍摄包括校准索引20的外围区域R1至R4的周边区域图像S1至S44.失真校正处理单元30通过使用内部参数M来校正外围区域图像S1至S4以获得失真校正图像P1至P4 。 视点变换处理部40通过使用外部参数N对失真校正图像P1〜P4进行视点变换处理,得到视点变换合成图像Q0。 校准处理单元50在视点变换处理中执行校准。 校准处理单元50包括内部参数校正单元51和外部参数校正单元52.内部参数校正单元51校正内部参数M.外部参数校正单元52校正外部参数N.
    • 28. 发明授权
    • Electric power steering apparatus
    • 电动助力转向装置
    • US07474070B2
    • 2009-01-06
    • US11709024
    • 2007-02-22
    • Yasushi MiyazawaKeiji Sato
    • Yasushi MiyazawaKeiji Sato
    • H02P7/00H02K17/32B62D5/00
    • B62D5/049B62D6/10G01L25/003
    • A torque detection portion includes a first arm having a detection coil L1 and a resistor R1, and a second arm having a detection coil L2 and a resistor R2. When a test mode is set, a reference voltage Vref having an abnormal value is outputted to a monitoring portion 13. An abnormal condition is intentionally caused in the monitoring portion 13. A main torque signal Vtm is compared with a sub torque signal Vts in the monitoring portion 13. When the reference voltage Vref set in the monitoring portion 13 has the abnormal value, a sub torque signal Vts having a level of 0 (Vts=0) is forcibly outputted in a normal condition. Then the signal Vtm is equal to the signal Vts, the monitoring portion 13 determines that a shortcircuit occurs between a main torque signal line and a sub torque signal line.
    • 扭矩检测部分包括具有检测线圈L1和电阻器R1的第一臂和具有检测线圈L2和电阻器R2的第二臂。 当设置测试模式时,具有异常值的参考电压Vref被输出到监视部分13.在监视部分13中有意地引起异常状况。将主转矩信号Vtm与副转矩信号Vts进行比较 在监视部13中设定的基准电压Vref为异常值的情况下,在正常状态下强制输出0(Vts = 0)的副转矩信号Vts。 然后信号Vtm等于信号Vts,监视部分13确定在主转矩信号线和副转矩信号线之间发生短路。