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1. 发明授权

US6020844A Car on-board radar axis adjusting method 失效
标题翻译：车载雷达轴调整方法
公开(公告)号：US6020844A
公开(公告)日：2000-02-01
申请号：US225475
申请日：1999-01-06
申请人： Jie Bai , Mitsuru Nakamura , Kazuhiko Hanawa , Tatsuhiko Monji , Kazuaki Takano , Noriharu Sato
发明人： Jie Bai , Mitsuru Nakamura , Kazuhiko Hanawa , Tatsuhiko Monji , Kazuaki Takano , Noriharu Sato
IPC分类号： B60R21/00 , B60R11/02 , B60W30/00 , G01S7/03 , G01S7/40 , G01S13/93 , H01Q3/02
CPC分类号： G01S7/4026 , H01Q3/02 , G01S2007/403 , G01S2007/4034 , G01S2007/4086 , G01S7/4972
摘要： In a method of adjusting the axis of a car on-board radar, especially, a car on-board mono-pulse radar having the function of transmitting radio waves, light or ultrasonic waves, a car axis and an offset axis are set and the mount angle of an antenna offset-mounted on the offset axis can be adjusted with high precision and with ease through a reduced number of process steps. In the method, at least two points are set on the car, at least two isosceles triangles having a common base defined by a line connecting the setting points and sides of different lengths are drawn, a line connecting vertexes on the same plane of the obtained isosceles triangles and an extension of that line are determined as the car axis, the radar antenna is mounted on the car at an offset position which is apart from the car axis by a constant distance in the horizontal direction, a straight line parallel to the car axis and passing through the offset position is determined as the offset axis, a reflector is disposed in a direction at a constant azimuth angle as viewed from the offset position of the antenna, and the reflector is used as a detection target of the radar to adjust the mount angle of the radar antenna such that an azimuth angle detection value of the reflector detected by the radar equals a setting value of the azimuth angle.
摘要翻译：在调整车载雷达的轴线的方法中，特别地，设置具有发射无线电波，光或超声波，汽车轴和偏移轴的功能的车载单脉冲雷达，偏移安装在偏移轴上的天线的安装角度可以通过减少数量的工艺步骤以高精度和容易地调节。在该方法中，在轿厢上设置至少两个点，至少两个具有由连接不同长度的设定点和侧面的线限定的公共基座的等腰三角形，连接顶点在所获得的相同平面上的线将等腰三角形和该线的延伸线确定为轿厢轴线，雷达天线以与水平方向一定距离的偏离位置安装在轿厢上，平行于轿厢的直线被确定为偏移位置时，从天线的偏移位置观察，将反射器设置在恒定方位角的方向上，并且将反射器用作雷达的检测对象以进行调整雷达天线的安装角度使得由雷达检测的反射器的方位角检测值等于方位角的设定值。

2. 发明授权

US5987174A Image processing apparatus for vehicles 失效
标题翻译：车辆图像处理装置
公开(公告)号：US5987174A
公开(公告)日：1999-11-16
申请号：US750988
申请日：1996-12-24
申请人： Kazuto Nakamura , Kazuaki Takano , Tatsuhiko Monji , Eiryo Ondo , Yasunari Tanaka , Kazuhiko Hanawa
发明人： Kazuto Nakamura , Kazuaki Takano , Tatsuhiko Monji , Eiryo Ondo , Yasunari Tanaka , Kazuhiko Hanawa
IPC分类号： G06K9/00 , G06K9/46 , G06T5/00 , G06K9/48
CPC分类号： G06K9/00798 , G06K9/4604 , G06K9/4652 , G06T7/0083 , G06T2207/10016 , G06T2207/30256
摘要： An image pickup unit (2) mounted on a vehicle shoots an image in front thereof to attain image information. An edge pixel extraction section (40202 to 40206) scans the obtained image information for each line and then checks boundaries between a particular color and the other colors to extract pixels having the particular color as edge pixels. Moreover, a candidate line extraction section (40208 to 40212) references position coordinates of the extracted edge pixels such that assuming the edge pixels to be classified to configure straight lines, the edge pixels are coupled with each other to configure straight lines according to the classification so as to obtain the straight lines as candidate lines.Thereafter, a line selection section (40212) selects a left line and a right line in front of the vehicle from the plural candidate lines, thereby attaining the left and right lines.
摘要翻译： PCT No.PCT / JP96 / 01133 Sec。 371日期：1996年12月24日 102（e）1996年12月24日PCT PCT 1996年4月25日PCT公布。 WO96 / 34363 PCT出版物日期1996年10月31日安装在车辆上的摄像单元（2）在其前方拍摄图像以获得图像信息。边缘像素提取部分（40202至40206）扫描所获取的每一行的图像信息，然后检查特定颜色和其它颜色之间的边界，以提取具有特定颜色的像素作为边缘像素。此外，候选行提取部分（40208至40212）参考提取的边缘像素的位置坐标，使得假定要分类的边缘像素构成直线，边缘像素彼此耦合以根据分类来配置直线以获得作为候选行的直线。此后，线路选择部（40212）从多条候补线选择车辆前方的左线和右线，从而实现左右线。

3. 发明授权

US08873803B2 Road-shoulder detecting device and vehicle using road-shoulder detecting device 有权
标题翻译：路肩检测装置和车辆使用路肩检测装置
公开(公告)号：US08873803B2
公开(公告)日：2014-10-28
申请号：US13519347
申请日：2010-08-09
申请人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji , Takuya Naka
发明人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji , Takuya Naka
IPC分类号： G06K9/00 , G06T7/00 , B60W30/12 , G08G1/16
CPC分类号： G06T7/0081 , B60W30/12 , G06K9/00798 , G06T7/11 , G06T7/136 , G06T7/174 , G06T2207/10021 , G06T2207/30256 , G08G1/165 , G08G1/166 , G08G1/167
摘要： Disclosed is a road-shoulder detecting device including a distance-information calculating portion for calculating the presence of a physical object and the distance from the subject vehicle to the object from input three-dimensional image information relating to an environment around the vehicle, a vehicular road surface detecting portion for detecting a vehicular road surface with the subject vehicle from a distance image, a height difference calculating portion for measuring height difference between the detected vehicular road and an off-road region, and a road shoulder decision portion for deciding height difference as to whether the road shoulder is boundary between the surface and the region in a case where there is an off-road region lower than the vehicular road surface.
摘要翻译：公开了一种路肩检测装置，其包括距离信息计算部分，用于计算物体的存在以及从主车辆到物体的距离，输入与车辆周围环境有关的三维图像信息，车辆路面检测部，用于从远距离图像检测与本车辆的车辆路面，用于测量检测到的车辆道路与越野区域之间的高度差的高度差计算部，以及用于判定高度差的道路肩部判定部关于在越野区域低于车辆路面的情况下，路肩是否是表面与区域之间的边界。

4. 发明申请

US20140028873A1 IMAGE PROCESSING APPARATUS 有权
标题翻译：图像处理设备
公开(公告)号：US20140028873A1
公开(公告)日：2014-01-30
申请号：US14110679
申请日：2012-04-04
申请人： Mirai Higuchi , Masahiro Kiyohara , Takeshi Shima , Tatsuhiko Monji
发明人： Mirai Higuchi , Masahiro Kiyohara , Takeshi Shima , Tatsuhiko Monji
IPC分类号： H04N5/235
CPC分类号： H04N5/2352 , G06K9/2054 , G08B13/19647 , H04N5/232 , H04N5/23229 , H04N5/2353
摘要： There is provided an image processing apparatus that can implement image recognition processing on all of objects to be recognized, and can reduce a load of capturing and transferring images. The image processing apparatus includes: an image capturing unit that captures image information picked up by an imaging element; a processing region setting unit that sets a plurality of processing regions for the image information; a processing sequence/frequency determination unit that determines at least any one of a sequence, a frequency, and a timing of capturing the respective image information in a plurality of set processing regions, and at least any one of a sequence, a frequency, and a timing of processing the respective image information; and an image processing unit that captures the image information for each of the processing regions according to the sequence, the frequency, or the timing which has been determined, and processes the captured image information according to the sequence, the frequency, or the timing which has been determined.
摘要翻译：提供了一种能够对要被识别的所有对象执行图像识别处理的图像处理装置，并且可以减少捕获和传送图像的负担。该图像处理设备包括：图像捕获单元，其捕获由成像元件拾取的图像信息; 处理区域设定单元，对所述图像信息设定多个处理区域; 处理序列/频率确定单元，其确定在多个集合处理区域中捕获各个图像信息的序列，频率和定时中的至少一个，以及序列，频率和处理各图像信息的定时; 以及图像处理单元，其根据已经确定的顺序，频率或定时捕获每个处理区域的图像信息，并且根据序列，频率或时间来处理所捕获的图像信息已经确定

5. 发明授权

US08452056B2 Image-processing camera with application processing using acquired image data 有权
标题翻译：使用获取的图像数据进行应用处理的图像处理相机
公开(公告)号：US08452056B2
公开(公告)日：2013-05-28
申请号：US13358596
申请日：2012-01-26
申请人： Shoji Muramatsu , Yuuji Otsuka , Hiroshi Takenaga , Tatsuhiko Monji , Jiro Takezaki , Isao Furusawa
发明人： Shoji Muramatsu , Yuuji Otsuka , Hiroshi Takenaga , Tatsuhiko Monji , Jiro Takezaki , Isao Furusawa
IPC分类号： G06K9/00
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/105 , B60R2300/108 , B60R2300/207 , B60R2300/301 , B60R2300/302 , B60R2300/70 , B60R2300/804 , B60R2300/806 , B60R2300/8073 , B60R2300/8093 , G07C5/0866 , G07C5/0891 , G08G1/14 , G08G1/167 , H04N5/232 , H04N5/23206 , H04N5/23225 , H04N7/181 , H04N7/183
摘要： An image pickup device that acquires images is controlled by an image pickup device controller that accepts image acquisition requests from multiple application programs, and an application scheduler selects application programs to be executed. Information indicative of the image data volumes and image data acquisition rates required for each of the multiple application programs is stored and used to select multiple concurrently executable application programs on the basis of the image data volumes and image data acquisition rates. An image acquisition scheduler determines the timing and intervals at which the multiple executable application programs repeat receiving image data from the image pickup device, without overlapping in terms of time. In addition, an operations section, which explicitly presents concurrently executable application programs to a user and commands the startup of these programs, is displayed on a navigation screen menu.
摘要翻译：获取图像的图像拾取装置由接受来自多个应用程序的图像获取请求的图像拾取装置控制器控制，并且应用程序调度器选择要执行的应用程序。存储指示多个应用程序中的每个应用程序所需的图像数据量和图像数据获取率的信息，并且用于基于图像数据量和图像数据获取速率来选择多个并发可执行的应用程序。图像采集调度器确定多个可执行应用程序重复从图像拾取装置接收图像数据的时间和间隔，而不会在时间上重叠。此外，在导航画面菜单上显示向用户显示同时执行应用程序并命令启动这些程序的操作部分。

6. 发明申请

US20120185167A1 Road Shape Recognition Device 有权
标题翻译：道路形状识别装置
公开(公告)号：US20120185167A1
公开(公告)日：2012-07-19
申请号：US13387137
申请日：2010-07-23
申请人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
发明人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： G06K9/00 , G01C21/26
CPC分类号： G01C21/3602 , G06K9/00798 , G06T7/70 , G06T2207/10021 , G06T2207/30256 , G08G1/167
摘要： A road shape recognition device capable of accurately recognizing the road shape of a road that lies ahead in the travel direction of a vehicle is provided. A road shape recognition device 1 detects a road region of the road based on an image capturing a scene ahead in the travel direction of the vehicle, and estimates the shape of the road based on that road region. Thus, it is possible to accurately recognize road shapes over distances ranging from short to long.
摘要翻译：提供一种能够准确地识别在车辆的行进方向前方的道路的道路形状的道路形状识别装置。道路形状识别装置1基于在车辆的行进方向上拍摄场景的图像来检测道路的道路区域，并且基于该道路区域来估计道路的形状。因此，可以精确地识别从短到长的距离。

7. 发明授权

US08212878B2 Calibration apparatus of on-vehicle camera, program, and car navigation system 有权
标题翻译：车载相机，程序和汽车导航系统的校准装置
公开(公告)号：US08212878B2
公开(公告)日：2012-07-03
申请号：US11769986
申请日：2007-06-28
申请人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Tatsuhiko Monji , Kota Irie
发明人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Tatsuhiko Monji , Kota Irie
IPC分类号： H04N5/225
CPC分类号： G06T7/80 , G06T2207/30252
摘要： An on-vehicle camera calibration apparatus includes: an on-vehicle camera; a camera parameter calculation unit configured to calculate camera parameters from a characteristic amount of a road surface sign photographed by the on-vehicle camera and recognized by an image processing and to output the camera parameters, wherein the camera parameters include an installation height and installation angle of the on-vehicle camera in photographing; and a camera parameter calibration unit configured to perform optical axis calibration control of the on-vehicle camera by the camera parameters output from the camera parameter calculation unit.
摘要翻译：车载摄像机校准装置包括：车载摄像机; 摄像机参数计算单元，被配置为根据由车载摄像机拍摄并通过图像处理识别的路面符号的特征量来计算摄像机参数并输出摄像机参数，其中摄像机参数包括安装高度和安装角度的车载摄像头; 以及相机参数校准单元，被配置为通过从相机参数计算单元输出的相机参数来执行车载摄像机的光轴校准控制。

8. 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。

9. 发明授权

US08081800B2 Detection device of vehicle interior condition 有权
标题翻译：车辆内部状况检测装置
公开(公告)号：US08081800B2
公开(公告)日：2011-12-20
申请号：US11655151
申请日：2007-01-19
申请人： Kota Irie , Isao Furusawa , Tatsuhiko Monji
发明人： Kota Irie , Isao Furusawa , Tatsuhiko Monji
IPC分类号： G06K9/00
CPC分类号： B60R21/01538 , G06K9/00362 , G06K9/2027
摘要： A detection system of vehicle interior condition includes an illumination unit for illuminating a plurality of mutually different illumination regions including at least one seat of a vehicle and a surrounding region thereof so as to have different illumination time durations shifted by a predetermined time. An imaging unit photographs an occupant and/or an object on the seat upon each illumination of the illumination unit. A control processor compares a plurality of images photographed by the imaging unit, and generates information indicative of a condition of the occupant or object, based on the result of the comparison.
摘要翻译：车辆内部状态的检测系统包括照明单元，用于照亮多个彼此不同的照明区域，所述照明区域包括车辆的至少一个座椅及其周围区域，以便具有偏移了预定时间的不同的照明时间持续时间。成像单元在照明单元的每次照明时照射座椅上的乘员和/或物体。控制处理器根据比较结果，比较由摄像部拍摄的多张图像，生成表示乘员或者对象的状态的信息。

10. 发明申请

US20110074957A1 Apparatus for Vehicle Surroundings Monitorings 有权
标题翻译：车辆环境监测装置
公开(公告)号：US20110074957A1
公开(公告)日：2011-03-31
申请号：US12859020
申请日：2010-08-18
申请人： Masahiro Kiyohara , Ryo Yumiba , Kota Irie , Tatsuhiko Monji
发明人： Masahiro Kiyohara , Ryo Yumiba , Kota Irie , Tatsuhiko Monji
IPC分类号： H04N7/18
CPC分类号： G06T3/4038 , G06K9/00798 , G06K9/00805 , G06K9/342
摘要： There is provided apparatus for vehicle surroundings monitorings that assists so as to make it possible for a driver to check the periphery of the vehicle with ease. Plural images are obtained by capturing the periphery of the vehicle with mutually differing exposure. A process of image recognition is then performed for a target within the thus obtained images. The images are then compared, and images for which the accuracy of image recognition of the target is favorable are selected from among the images. The selected images are joined and composited to generate a host vehicle periphery composite image. Thus, an image with a wide dynamic range and high visibility is generated, thereby making it easier for the driver to check the periphery of the vehicle.
摘要翻译：提供了用于车辆环境监测的装置，其有助于使驾驶员容易地检查车辆周边。通过以相互不同的曝光捕获车辆的周边来获得多个图像。然后对由此获得的图像中的目标执行图像识别的处理。然后比较图像，从图像中选择目标图像识别的准确性有利的图像。所选择的图像被连接并合成以产生主车辆周边合成图像。因此，产生具有宽动态范围和高可见度的图像，从而使驾驶员更容易地检查车辆的周边。

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