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1. 发明申请

WO2008146951A1 OBJECT RECOGNITION DEVICE AND OBJECT RECOGNITION METHOD, AND LANE DETERMINATION DEVICE AND LANE DETERMINATION METHOD USING THEM 审中-公开
标题翻译：对象识别装置和对象识别方法，以及LANE确定装置和使用它们的LANE确定方法
公开(公告)号：WO2008146951A1
公开(公告)日：2008-12-04
申请号：PCT/JP2008/060411
申请日：2008-05-30
申请人： AISIN AW CO., LTD. , TOYOTA JIDOSHA KABUSHIKI KAISHA , NAKAMURA, Masaki , ISHIKAWA, Tomoaki , NAKAO, Koichi , AISAKA, Osamu , KANBA, Motoki , OKADA, Kiyokazu
发明人： NAKAMURA, Masaki , ISHIKAWA, Tomoaki , NAKAO, Koichi , AISAKA, Osamu , KANBA, Motoki , OKADA, Kiyokazu
IPC分类号： G06K9/00 , G06K9/68
CPC分类号： G06K9/00798 , G06K9/00818 , G06K9/685
摘要： The present invention appropriately determines an object type in consideration of the possibility of false recognition of the object type, when determining the object type of a targeted object included in image information taken by an imaging device. The present invention includes: unit for obtaining image information; unit for performing image recognition processing of an object type of a targeted object included in the image information; a false recognition table that is related to a plurality of object types applicable as the target object and, when a portion of a form of the targeted object of a predetermined first object type cannot be recognized in an image, prescribes a relation of the first object type with an object type designated as a second object type different from the first object type that may be falsely recognized; and object type determining unit for determining, based on a recognized object type specified in an image recognition result and the false recognition table, that the object type of the targeted object in the image information is potentially either the recognized object type, or the object type prescribed as related with the recognized object type in the false recognition table.
摘要翻译：当确定由成像装置拍摄的图像信息中包括的目标对象的对象类型时，本发明适当地确定对象类型，考虑到对象类型的错误识别的可能性。本发明包括：获取图像信息的单元; 用于执行图像信息中包括的目标对象的对象类型的图像识别处理的单元; 与可应用于目标对象的多个对象类型相关的虚假识别表，并且当在图像中不能识别预定第一对象类型的目标对象的形式的一部分时，规定第一对象的关系类型，其被指定为与可能被错误识别的第一对象类型不同的第二对象类型; 以及对象类型确定单元，用于基于在图像识别结果和所述错误识别表中指定的识别对象类型来确定所述图像信息中的所述目标对象的对象类型可能是所识别的对象类型或对象类型与虚假识别表中识别的对象类型相关。

2. 发明申请

WO2008150002A1 FEATURE EXTRACTION METHOD, AND IMAGE RECOGNITION METHOD AND FEATURE DATABASE CREATION METHOD USING THE SAME 审中-公开
标题翻译：特征提取方法和图像识别方法及其特征数据库创建方法
公开(公告)号：WO2008150002A1
公开(公告)日：2008-12-11
申请号：PCT/JP2008/060503
申请日：2008-05-30
申请人： AISIN AW CO., LTD. , TOYOTA JIDOSHA KABUSHIKI KAISHA , NAKAMURA, Masaki , ISHIKAWA, Tomoaki , NAKAO, Koichi , KANBA, Motoki , AISAKA, Osamu , OKADA, Kiyokazu
发明人： NAKAMURA, Masaki , ISHIKAWA, Tomoaki , NAKAO, Koichi , KANBA, Motoki , AISAKA, Osamu , OKADA, Kiyokazu
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： A feature extraction method includes: the step (#14) of grouping a cluster of features, in which an interval of the respective features is less than or equal to a predetermined grouping interval, to form a feature group, for a plurality of features of which feature information including at least information of a position and a feature type is included in a predetermined feature information storage unit; the step (#15) of excluding the feature, not suitable for use in an image recognition process of the feature with respect to image information, from the cluster of the features within the feature group; and the step (#18) of extracting a part or all of one or more of the features within the feature group remaining as a result of the exclusion step as a target feature suitable for the use in the image recognition process.
摘要翻译：特征提取方法包括：对于特征群集进行分组的步骤（＃14），其中各个特征的间隔小于或等于预定分组间隔，以形成特征群，对于多个特征至少包括位置和特征类型的信息的特征信息被包括在预定特征信息存储单元中; 从特征组中的特征的聚类中排除不适用于特征相对于图像信息的图像识别处理的特征的步骤（＃15）; 以及将作为排除步骤的结果剩余的特征组中的一个或多个特征的一部分或全部的部分或全部提取为适于在图像识别处理中使用的目标特征的步骤（＃18）。

3. 发明申请

WO2008146899A1 LANE DETERMINING DEVICE, LANE DETERMINING METHOD AND NAVIGATION APPARATUS USING THE SAME 审中-公开
标题翻译： LANE确定装置，LANE确定方法和使用该方法的导航装置
公开(公告)号：WO2008146899A1
公开(公告)日：2008-12-04
申请号：PCT/JP2008/059961
申请日：2008-05-23
申请人： AISIN AW CO., LTD. , TOYOTA JIDOSHA KABUSHIKI KAISHA , NAKAMURA, Masaki , ISHIKAWA, Tomoaki , NAKAO, Koichi , AISAKA, Osamu , KANBA, Motoki , OKADA, Kiyokazu
发明人： NAKAMURA, Masaki , ISHIKAWA, Tomoaki , NAKAO, Koichi , AISAKA, Osamu , KANBA, Motoki , OKADA, Kiyokazu
IPC分类号： G06K9/00 , G01C21/30
CPC分类号： G06K9/00798 , G01C21/30 , G01C21/3658
摘要： A lane determining device includes: a feature information obtaining unit for obtaining feature information F of a target feature existing in each lane in the traveling direction of a vehicle 30, based on vehicle position information; an image recognizing unit for conducting image recognition processing of a feature type of the target feature in a vehicle lane, with respect to image information; and a lane accuracy determining unit for determining a vehicle lane accuracy for the respective lanes based on a type of a recognized feature fa shown in an image recognition result, feature types FtI to Ft4 of the target feature of the respective lanes shown in the feature information F5 in accordance with a level of possibility where each of the feature types FtI to Ft4 of the target feature of the respective lanes is recognized as the type of the recognized feature fa.
摘要翻译：车道确定装置包括：特征信息获取单元，用于基于车辆位置信息获得车辆30的行驶方向上存在于每个车道中的目标特征的特征信息F; 图像识别单元，用于相对于图像信息进行车道中的目标特征的特征类型的图像识别处理; 以及车道精度确定单元，用于基于图像识别结果中所示的识别特征fa的类型来确定各车道的车道精度，特征信息中所示的各车道的目标特征的特征类型FtI至Ft4 F5根据可能性的水平，其中各个通道的目标特征的每个特征类型FtI至Ft4被识别为识别的特征fa的类型。

4. 发明申请

WO2008146949A1 DRIVING ASSISTANCE APPARATUS 审中-公开
标题翻译：驾驶辅助装置
公开(公告)号：WO2008146949A1
公开(公告)日：2008-12-04
申请号：PCT/JP2008/060327
申请日：2008-05-29
申请人： AISIN AW CO., LTD. , TOYOTA JIDOSHA KABUSHIKI KAISHA , NAKAMURA, Masaki , MIURA, Naoto , OKADA, Kiyokazu
发明人： NAKAMURA, Masaki , MIURA, Naoto , OKADA, Kiyokazu
IPC分类号： G08G1/16 , B60R1/00 , G06K9/00 , G08G1/0967
CPC分类号： G06K9/00798 , B60R1/00 , B60R2300/302 , B60R2300/804 , B60R2300/806 , B60R2300/8086 , G08G1/096725 , G08G1/09675 , G08G1/096791 , G08G1/167
摘要： A driving assistance apparatus is configured such that, in a case in which determination has been made there is a road marking within a predetermined range from a vehicle, the road marking is detected based upon an image acquired by a rear-side camera. In a case in which there is a single control target solely associated with the road marking thus detected, or in a case in which there are multiple control targets associated with the road marking, and the difference in the marking-target distance is equal to or greater than a driving control threshold distance, the target-vehicle distance, which is the distance between the vehicle and the control target that is a target for guidance and vehicle control, is calculated. The driving assistance apparatus performs guidance and vehicle control according to the control target based upon the target-vehicle distance thus calculated.
摘要翻译：驾驶辅助装置被构造成使得在已经进行了确定的情况下，在来自车辆的预定范围内存在道路标记的情况下，基于由后侧摄像机获取的图像来检测道路标记。在这样的情况下，仅存在与所检测到的道路标记完全相关联的单个控制目标，或者在与道路标记相关联的多个控制目标的情况下，并且标记 - 目标距离的差等于或等于计算大于驱动控制阈值距离的目标车辆距离，即作为引导和车辆控制的目标的车辆与控制目标之间的距离。驾驶辅助装置基于由此计算的目标车辆距离，根据控制对象进行引导和车辆控制。

5. 发明申请

WO2008139928A1 ROUTE GUIDANCE SYSTEM AND ROUTE GUIDANCE METHOD 审中-公开
标题翻译：路由指导系统和路由指导方法
公开(公告)号：WO2008139928A1
公开(公告)日：2008-11-20
申请号：PCT/JP2008/058235
申请日：2008-04-22
申请人： AISIN AW CO., LTD. , TOYOTA JIDOSHA KABUSHIKI KAISHA , TANIZAKI, Daisuke , KATO, Kiyohide , MURATA, Kenichi , OKADA, Kiyokazu
发明人： TANIZAKI, Daisuke , KATO, Kiyohide , MURATA, Kenichi , OKADA, Kiyokazu
IPC分类号： G01C21/34
CPC分类号： G01C21/3658
摘要： A route guidance system includes: a current position detecting unit; a display condition determination processing unit that determines, for each of pieces of lane data that correspond to a lane list display section set in a forward direction of a vehicle position, whether a display condition for creating a lane list is satisfied, based on the pieces of lane data; a display setting processing unit that sets a piece of the lane data that satisfies the display condition as a display target; and a list display processing unit that displays the lane list based on the piece of the lane data that has been set as the display target. Thus, the piece of the lane data that satisfies the display condition is set as the display target, and the lane list is displayed based on the piece of the lane data that has been set as the display target. Consequently, the size of the lane list can be prevented from becoming too large.
摘要翻译：路线引导系统包括：当前位置检测单元; 一个显示条件确定处理单元，基于这些块，确定对于与车辆位置的正向设置的车道列表显示部分相对应的车道数据的每一条车道数据是否满足用于创建车道列表的显示条件车道数据; 显示设置处理单元，将满足显示条件的一条车道数据设置为显示目标; 以及列表显示处理单元，其基于已经被设置为显示目标的车道数据段来显示车道列表。因此，将满足显示条件的车道数据段设置为显示目标，并且基于已经被设置为显示目标的车道数据段来显示车道列表。因此，可以防止车道列表的尺寸变得太大。

6. 发明授权

EP2019287B1 VEHICLE POSITIONING INFORMATION UPDATE DEVICE 有权
标题翻译： DEVICE FOR UPDATE车辆定位数据的
公开(公告)号：EP2019287B1
公开(公告)日：2016-11-16
申请号：EP07743413.2
申请日：2007-05-15
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , Aisin AW Co., Ltd.
发明人： NAKAMURA, Motohiro , OKADA, Kiyokazu , SUZUKI, Hidenobu , NAKAMURA, Masaki , HASUNUMA, Makoto
IPC分类号： G01C21/00 , G01C21/32 , B60R16/02 , B60R21/00 , G08G1/0967 , G08G1/0969 , G08G1/16 , B60W10/18 , B60W40/072 , B60W40/076 , B60W50/00
CPC分类号： G01C21/32 , B60W10/18 , B60W2050/0077 , B60W2550/00 , B60W2550/141 , B60W2550/22 , B60W2550/402 , G08G1/096716 , G08G1/09675 , G08G1/096791

7. 发明公开

EP2019382A1 SUPPORT CONTROL DEVICE 有权
标题翻译： TRÄGERSTEUEREINRICHTUNG
公开(公告)号：EP2019382A1
公开(公告)日：2009-01-28
申请号：EP07743412.4
申请日：2007-05-15
申请人： Toyota Jidosha Kabushiki Kaisha , Aisin AW Co., Ltd.
发明人： OKADA, Kiyokazu , NAKAMURA, Motohiro , SUZUKI, Hidenobu , NAKAMURA, Masaki , HASUNUMA, Makoto
IPC分类号： G08G1/16 , B60R21/00 , B60W30/00 , G01C21/00 , G08G1/0969
CPC分类号： B60W40/10 , B60W30/00 , B60W50/0098 , B60W2550/402 , G01C21/30
摘要： An accuracy error for measuring the position of an own vehicle is calculated based on the information of an execution history of map matching and the information of an update history of a map database. In addition, a predetermined map is referred to based on the calculated accuracy error, and an accuracy error level for performing positioning is specified from among plural stepwise levels. Then, the control level of assist control executed according to the position of the own vehicle is changed so as to correspond to the specified accuracy error level.
摘要翻译：基于地图匹配的执行历史的信息和地图数据库的更新历史的信息来计算用于测量自身车辆的位置的精度误差。另外，基于计算出的精度误差来参照预定图，并且从多个逐级指定了用于进行定位的精度误差等级。然后，根据本车辆的位置执行的辅助控制的控制水平被改变以对应于指定的精度误差水平。

8. 发明公开

EP2118872A1 DRIVING ASSISTANCE APPARATUS 有权
标题翻译：驾驶辅助装置
公开(公告)号：EP2118872A1
公开(公告)日：2009-11-18
申请号：EP08765140.2
申请日：2008-05-29
申请人： Aisin AW Co., Ltd. , Toyota Jidosha Kabushiki Kaisha
发明人： NAKAMURA, Masaki , MIURA, Naoto , OKADA, Kiyokazu
IPC分类号： G08G1/16 , B60R1/00 , G06K9/00 , G08G1/0967
CPC分类号： G06K9/00798 , B60R1/00 , B60R2300/302 , B60R2300/804 , B60R2300/806 , B60R2300/8086 , G08G1/096725 , G08G1/09675 , G08G1/096791 , G08G1/167
摘要： A driving assistance apparatus is configured such that, in a case in which determination has been made there is a road marking within a predetermined range from a vehicle, the road marking is detected based upon an image acquired by a rear-side camera. In a case in which there is a single control target solely associated with the road marking thus detected, or in a case in which there are multiple control targets associated with the road marking, and the difference in the marking-target distance is equal to or greater than a driving control threshold distance, the target-vehicle distance, which is the distance between the vehicle and the control target that is a target for guidance and vehicle control, is calculated. The driving assistance apparatus performs guidance and vehicle control according to the control target based upon the target-vehicle distance thus calculated.
摘要翻译：驾驶辅助设备被配置为使得在已经进行确定的情况下，在距离车辆的预定范围内存在道路标记，基于由后侧摄像头获取的图像来检测道路标记。在仅存在与检测出的道路标识相关联的单一控制对象的情况下，或者存在与道路标识相关联的多个控制对象的情况下，标记对象距离的差分等于大于驾驶控制阈值距离，则计算作为用于引导和车辆控制的目标的控制目标与车辆之间的距离即目标车辆距离。驾驶辅助设备基于如此计算的目标车辆距离根据控制目标执行引导和车辆控制。

9. 发明公开

EP2115392A1 ROUTE GUIDANCE SYSTEM AND ROUTE GUIDANCE METHOD 有权
标题翻译：路径导航系统，路径向导方法
公开(公告)号：EP2115392A1
公开(公告)日：2009-11-11
申请号：EP08752236.3
申请日：2008-04-22
申请人： Aisin AW Co., Ltd. , Toyota Jidosha Kabushiki Kaisha
发明人： TANIZAKI, Daisuke , KATO, Kiyohide , MURATA, Kenichi , OKADA, Kiyokazu
IPC分类号： G01C21/34
CPC分类号： G01C21/3658
摘要： A route guidance system includes: a current position detecting unit; a display condition determination processing unit that determines, for each of pieces of lane data that correspond to a lane list display section set in a forward direction of a vehicle position, whether a display condition for creating a lane list is satisfied, based on the pieces of lane data; a display setting processing unit that sets a piece of the lane data that satisfies the display condition as a display target; and a list display processing unit that displays the lane list based on the piece of the lane data that has been set as the display target. Thus, the piece of the lane data that satisfies the display condition is set as the display target, and the lane list is displayed based on the piece of the lane data that has been set as the display target. Consequently, the size of the lane list can be prevented from becoming too large.

10. 发明授权

EP2019287B8 VEHICLE POSITIONING INFORMATION UPDATING SYSTEM 有权
标题翻译： DEVICE FOR UPDATE车辆定位数据的
公开(公告)号：EP2019287B8
公开(公告)日：2017-03-29
申请号：EP07743413.2
申请日：2007-05-15
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , Aisin AW Co., Ltd.
发明人： NAKAMURA, Motohiro , OKADA, Kiyokazu , SUZUKI, Hidenobu , NAKAMURA, Masaki , HASUNUMA, Makoto
IPC分类号： G01C21/00 , G01C21/32 , B60R16/02 , B60R21/00 , G08G1/0967 , G08G1/0969 , G08G1/16 , B60W10/18 , B60W40/072 , B60W40/076 , B60W50/00
CPC分类号： G01C21/32 , B60W10/18 , B60W2050/0077 , B60W2550/00 , B60W2550/141 , B60W2550/22 , B60W2550/402 , G08G1/096716 , G08G1/09675 , G08G1/096791

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