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1. 发明申请

US20150302257A1 On-Vehicle Control Device 有权
标题翻译：车载控制装置
公开(公告)号：US20150302257A1
公开(公告)日：2015-10-22
申请号：US14647282
申请日：2013-11-21
申请人： Masayuki TAKEMURA , Takehito OGATA , Satoshi ITO
发明人： Masayuki TAKEMURA , Takehito OGATA , Satoshi ITO
IPC分类号： G06K9/00 , G06K9/46 , G06T7/20 , B60R1/00 , G06K9/52
CPC分类号： G06K9/00798 , B60R1/00 , B62D15/028 , B62D15/0285 , G06K9/46 , G06K9/52 , G06K2009/4666 , G06T7/20 , H04N5/2171
摘要： An on-vehicle control device includes: an image acquiring unit that acquires a captured image from an image-capturing device, the image-capturing device capturing an image of surroundings of a vehicle; a judged range dividing unit that divides a predetermined judged range of an image-capturing range of the image-capturing device into a plurality of regions; a feature point extracting unit that extracts a feature point having predetermined characteristics in the surroundings of the vehicle from the image acquired by the image acquiring unit; a point accumulating unit that accumulate points for a region where there is the feature point extracted by the feature point extracting unit, among the plurality of regions, for a plurality of images acquired by the image acquiring unit in time series; and a judging unit that judges whether a foreign matter is adhered to the image-capturing device based on scores resulting from accumulating points of the plurality of regions.
摘要翻译：车载控制装置包括：图像获取单元，其从图像捕获装置获取拍摄图像，所述图像捕获装置捕获车辆周围的图像; 判断范围划分单元，其将图像捕获装置的图像捕获范围的预定判定范围划分为多个区域; 特征点提取单元，从由图像获取单元获取的图像中提取具有车辆周围环境中的预定特征的特征点; 点积分单元，对于由所述图像获取单元以时间序列获取的多个图像，在所述多个区域中累积由所述特征点提取单元提取的特征点的区域的点; 以及判断单元，其基于由所述多个区域的积累点得到的分数来判断异物是否附着于图像捕获装置。

2. 发明授权

US08207834B2 Image processing device and vehicle detection device provided with the same 有权
标题翻译：图像处理装置与车辆检测装置相同
公开(公告)号：US08207834B2
公开(公告)日：2012-06-26
申请号：US12363129
申请日：2009-01-30
申请人： Masayuki Takemura , Shoji Muramatsu , Tatsuhiko Monji , Yuji Otsuka
发明人： Masayuki Takemura , Shoji Muramatsu , Tatsuhiko Monji , Yuji Otsuka
IPC分类号： B60Q1/00 , G08G1/00 , G06K9/00 , G01S13/88
CPC分类号： G06K9/00805 , B60W30/095 , B60W30/10 , G06T7/246 , G06T2207/10016 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： A virtual vehicle which approaches to a monitor-side vehicle and a virtual background are defined in a camera image, and a region in which a virtual vehicle moves fast with respect to a virtual background is defined as a first region F1, and a region in which a virtual vehicle moves slowly with respect to a virtual background is defined as a second region F2. Then, the first region F1 and the second region F2 combined with an actual camera image. In the first region F1, in which the virtual vehicle moves fast, a monitored vehicle is detected by a movement aspect of feature portions in the region, and in the second region F2, in which the virtual vehicle moves slowly, a monitored vehicle is detected by pattern recognition.
摘要翻译：在摄像机图像中定义接近监视器侧车辆和虚拟背景的虚拟车辆，并且将虚拟车辆相对于虚拟背景快速移动的区域定义为第一区域F1，并且区域将虚拟车辆相对于虚拟背景缓慢移动的物体被定义为第二区域F2。然后，第一区域F1和第二区域F2与实际照相机图像组合。在虚拟车辆快速移动的第一区域F1中，通过该区域中的特征部分的运动方面检测被监视的车辆，并且在虚拟车辆缓慢移动的第二区域F2中，检测被监视的车辆通过模式识别。

3. 发明授权

US09064418B2 Vehicle-mounted environment recognition apparatus and vehicle-mounted environment recognition system 有权
标题翻译：车载环境识别装置和车载环境识别系统
公开(公告)号：US09064418B2
公开(公告)日：2015-06-23
申请号：US13575173
申请日：2010-08-13
申请人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima , Yuji Otsuka , Tatsuhiko Monji
发明人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima , Yuji Otsuka , Tatsuhiko Monji
IPC分类号： G08G1/16 , G06K9/00 , G01S11/12
CPC分类号： G08G1/16 , G01S11/12 , G06K9/00798 , G06K9/00825 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A vehicle-mounted environment recognition apparatus including a simple pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate, an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object, and a tracking unit which tracks the object on the basis of an inputted predicted position of the object.
摘要翻译：一种车载环境识别装置，包括简单模式匹配单元，其通过使用预先存储的图案形状从通过车载图像捕获装置获取的图像中提取目标候选，并输出对象候选者的位置，区域变化量预测单元，其基于对通过划分所获取的图像，检测到的车辆行为信息和输入的获得的图像获得的多个区域的每个区域设置不同的对象变化量预测计算方法来计算提取的候选对象的变化量预测并且输出对象的预测位置，以及基于输入的对象的预测位置跟踪对象的跟踪单元。

4. 发明授权

US08730325B2 Traveling lane detector 有权
标题翻译：旅行车道检测器
公开(公告)号：US08730325B2
公开(公告)日：2014-05-20
申请号：US12365695
申请日：2009-02-04
申请人： Yuji Otsuka , Masayuki Takemura , Tatsuhiko Monji , Isao Furusawa
发明人： Yuji Otsuka , Masayuki Takemura , Tatsuhiko Monji , Isao Furusawa
IPC分类号： G09B9/04 , G06K9/00
CPC分类号： G06K9/00798 , G05D1/0246 , G05D2201/0213 , G06K9/3233
摘要： A traveling lane detector according to the present invention includes: an imaging unit mounted on a vehicle to take a road surface image; and an image processor performing image processing on the image to detect lane marks on the road surface. The image processor judges whether the vehicle is crossing the lane marks, and, when the vehicle is not crossing any of the lane marks, defines first and second windows, in the image, for detecting the lane marks located respectively on left and right parts of a road surface in front of or behind the vehicle, performs image processing on the image in each of the windows to detect the lane marks, and, when the vehicle is crossing any of the lane marks, defines a third window including the currently-crossed lane mark in the image, performs image processing on the image in the third window to detect the lane mark.
摘要翻译：根据本发明的行车道检测器包括：安装在车辆上以拍摄路面图像的成像单元; 以及对所述图像执行图像处理的图像处理器，以检测路面上的车道标记。图像处理器判断车辆是否越过车道标记，并且当车辆没有穿过任何车道标记时，在图像中限定第一和第二窗口，用于检测分别位于左侧和右侧的车道标记在车辆前方或后方的路面上，对每个窗口中的图像执行图像处理以检测车道标记，并且当车辆正在穿过任何车道标记时，限定包括当前交叉的第三窗口图像中的车道标记，对第三窗口中的图像执行图像处理以检测车道标记。

5. 发明授权

US08630793B2 Vehicle controller 有权
标题翻译：车辆控制器
公开(公告)号：US08630793B2
公开(公告)日：2014-01-14
申请号：US13395327
申请日：2010-08-06
申请人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima
发明人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima
IPC分类号： G06F17/10
CPC分类号： B60W30/12 , B60W2550/143 , G08G1/167
摘要： A vehicle controller is provided capable of expanding an application range of departure prevention control while suppressing erroneous control. The vehicle controller includes: a vehicle-mounted camera 600 that captures an image in front of a vehicle; and an ECU 610 that decides one vehicle control method from a plurality of vehicle control methods and controls an actuator with the decided vehicle control method. The vehicle-mounted camera includes an area-specific confidence calculation section 400 that divides the image captured into a plurality of areas on a basis of an acquired image by the capturing and a recognized lane, calculates confidence for each divided area and outputs area-specific confidence information, and the ECU decides a vehicle control method in accordance with the area-specific confidence information.
摘要翻译：提供了能够在抑制错误控制的同时扩大防止偏离控制的应用范围的车辆控制器。车辆控制器包括：车载摄像机600，其捕获车辆前方的图像; 以及ECU 610，其根据多个车辆控制方法判定一个车辆控制方法，并且通过决定的车辆控制方法控制致动器。车载摄像机包括区域特定置信度计算部分400，其通过捕获和识别的车道将基于获取的图像捕获的图像划分为多个区域，计算每个划分的区域的置信度并输出区域特定置信信息，ECU根据区域特定置信度判定车辆控制方法。

6. 发明申请

US20090195410A1 IMAGE PROCESSING DEVICE AND VEHICLE DETECTION DEVICE PROVIDED WITH THE SAME 有权
标题翻译：图像处理装置和具有该图像处理装置的车辆检测装置
公开(公告)号：US20090195410A1
公开(公告)日：2009-08-06
申请号：US12363129
申请日：2009-01-30
申请人： Masayuki TAKEMURA , Shoji Muramatsu , Tatsuhiko Monji , Yuji Otsuka
发明人： Masayuki TAKEMURA , Shoji Muramatsu , Tatsuhiko Monji , Yuji Otsuka
IPC分类号： G08G1/133 , G06T7/00
CPC分类号： G06K9/00805 , B60W30/095 , B60W30/10 , G06T7/246 , G06T2207/10016 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： A virtual vehicle which approaches to a monitor-side vehicle and a virtual background are defined in a camera image, and a region in which a virtual vehicle moves fast with respect to a virtual background is defined as a first region F1, and a region in which a virtual vehicle moves slowly with respect to a virtual background is defined as a second region F2. Then, the first region F1 and the second region F2 are applied to an actual camera image. In the first region F1 in which a virtual vehicle moves fast, a monitored vehicle is detected by a movement aspect of feature portions in the region, and in the second region F2 in which a virtual vehicle moves slowly, a monitored vehicle is detected by pattern recognition.
摘要翻译：在摄像机图像中定义接近监视器侧车辆和虚拟背景的虚拟车辆，并且将虚拟车辆相对于虚拟背景快速移动的区域定义为第一区域F1，并且区域将虚拟车辆相对于虚拟背景缓慢移动的物体被定义为第二区域F2。然后，将第一区域F1和第二区域F2应用于实际的摄像机图像。在虚拟车辆快速移动的第一区域F1中，通过区域中的特征部分的运动方面检测被监视的车辆，并且在虚拟车辆缓慢移动的第二区域F2中，通过模式检测被监视的车辆承认。

7. 发明授权

US09058746B2 Information processing device associated with vehicle traveling 有权
标题翻译：与车辆行驶相关的信息处理装置
公开(公告)号：US09058746B2
公开(公告)日：2015-06-16
申请号：US13122369
申请日：2009-10-02
申请人： Masayuki Takemura , Shoji Muramatsu , Tatsuhiko Monji
发明人： Masayuki Takemura , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： B60Q1/00 , G08G1/16 , G01S15/93 , G01S17/93 , B60W30/08
CPC分类号： G08G1/166 , B60W30/08 , G01S15/93 , G01S17/93
摘要： Provided are an information processing device and a processing method both of which are capable of executing processing in response to a traveling situation of a vehicle, thereby securing safety at the time of emergency while securing convenience. The aforementioned information processing device includes: an image obtaining section which performs imaging and obtains information associated with an image; an information obtaining section which obtains the information of a traveling state; a first executing section which executes a first application that executes information processing for improving the safety of traveling; a second executing application which executes a second application that executes the information processing associated with an improvement in traveling feeling; and a determining section which, based on the information obtained in the image obtaining section and the information obtained in the information obtaining section, determines with or without a possibility of encountering an emergency event. Based on determination, made by the determining section, that it is likely to encounter the emergency event, the information processing device stops part of or the overall processing executed by the second executing section.
摘要翻译：提供了能够根据车辆的行驶状况执行处理的信息处理装置和处理方法，从而在确保方便的同时确保了紧急时的安全性。上述信息处理设备包括：图像获取部分，其执行成像并获得与图像相关联的信息; 信息获取部，其获取行驶状态的信息; 第一执行部，其执行执行用于提高行驶安全性的信息处理的第一应用; 第二执行应用程序，其执行执行与改善旅行感觉相关联的信息处理的第二应用程序; 以及确定部分，其基于在图像获取部分中获得的信息和在信息获取部分中获得的信息，确定是否有可能遇到紧急事件。基于确定部判断出可能遇到紧急事件，信息处理装置停止由第二执行部执行的部分或整体处理。

8. 发明授权

US08832704B2 In-car-use multi-application execution device 有权
标题翻译：车载多用途执行装置
公开(公告)号：US08832704B2
公开(公告)日：2014-09-09
申请号：US13504418
申请日：2010-08-12
申请人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima
发明人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima
IPC分类号： G06F9/46
CPC分类号： G08G1/09623 , G06F9/4887 , G08G1/096783 , G08G1/096791 , G08G1/166 , G08G1/167
摘要： An in-car-use multi-application execution device is provided that ensures safety while maintaining convenience by securing operation of a plurality of applications and suppressing occurrence of a termination process within a limited processing capacity without degrading a real-time feature. The in-car-use multi-application execution device dynamically predicts a processing time for each application, and schedules each application on the basis of the predicted processing time. If it is determined that an application failing to complete a process in a prescribed cycle exists as a result of the scheduling, a process is executed that terminates the application or degrades the function of the application on the basis of a preset priority order.
摘要翻译：提供一种车内使用的多应用程序执行装置，其通过确保多个应用的操作并且在有限的处理能力内抑制终止处理的发生而保持安全性而不降低实时特性。车载多应用执行装置动态地预测每个应用的处理时间，并且基于预测的处理时间来调度每个应用。如果作为调度的结果确定应用程序未能完成规定循环中的处理，则执行终止应用或基于预设优先级顺序降低应用功能的处理。

9. 发明申请

US20120216208A1 In-Car-Use Multi-Application Execution Device 有权
标题翻译：车载多应用程序执行装置
公开(公告)号：US20120216208A1
公开(公告)日：2012-08-23
申请号：US13504418
申请日：2010-08-12
申请人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima
发明人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima
IPC分类号： G06F9/48
CPC分类号： G08G1/09623 , G06F9/4887 , G08G1/096783 , G08G1/096791 , G08G1/166 , G08G1/167
摘要： An in-car-use multi-application execution device is provided that ensures safety while maintaining convenience by securing operation of a plurality of applications and suppressing occurrence of a termination process within a limited processing capacity without degrading a real-time feature. The in-car-use multi-application execution device dynamically predicts a processing time for each application, and schedules each application on the basis of the predicted processing time. If it is determined that an application failing to complete a process in a prescribed cycle exists as a result of the scheduling, a process is executed that terminates the application or degrades the function of the application on the basis of a preset priority order.
摘要翻译：提供一种车内使用的多应用程序执行装置，其通过确保多个应用的操作并且在有限的处理能力内抑制终止处理的发生而保持安全性而不降低实时特性。车载多应用执行装置动态地预测每个应用的处理时间，并且基于预测的处理时间来调度每个应用。如果作为调度的结果确定应用程序未能完成规定循环中的处理，则执行终止应用或基于预设优先级顺序降低应用功能的处理。

10. 发明申请

US20090085775A1 Vehicle Detection Apparatus 审中-公开
标题翻译：车辆检测装置
公开(公告)号：US20090085775A1
公开(公告)日：2009-04-02
申请号：US12191815
申请日：2008-08-14
申请人： Yuji OTSUKA , Masayuki TAKEMURA , Tatsuhiko MONJI
发明人： Yuji OTSUKA , Masayuki TAKEMURA , Tatsuhiko MONJI
IPC分类号： G08G1/01
CPC分类号： G01S13/931 , G01S13/867 , G01S17/023 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9375
摘要： Disclosed herein is a vehicle detection apparatus has a first and a second sensors to detect vehicles ahead of the host vehicle, and a judgment part to judge that, in the case where the second sensor detects an object which the first sensor has detected, the object is a vehicle. The judging part judges the object as a vehicle in the case where it has once judged the object as a vehicle even though the second sensor does not detect the object in the next judgment. The first and second sensors should preferably be a radar and a camera, respectively.
摘要翻译：本发明公开了一种车辆检测装置，其具有检测本车辆前方的车辆的第一传感器和第二传感器，判断部，判断为在第二传感器检测出第一传感器检测到的物体的情况下，是一辆车。即使第二传感器在下一次判断中没有检测出物体，判断部在将物体作为车辆判断的情况下，判定为车辆。第一和第二传感器应分别优选为雷达和摄像机。

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