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1. 发明申请

US20090265061A1 DRIVING ASSISTANCE DEVICE, DRIVING ASSISTANCE METHOD, AND PROGRAM 审中-公开
标题翻译：驾驶辅助设备，驾驶辅助方法和程序
公开(公告)号：US20090265061A1
公开(公告)日：2009-10-22
申请号：US12441281
申请日：2007-11-09
申请人： Kazuya Watanabe , Masaya Otokawa , Yu Tanaka , Tsuyoshi Kuboyama , Kosuke Sato , Jun Kadowaki
发明人： Kazuya Watanabe , Masaya Otokawa , Yu Tanaka , Tsuyoshi Kuboyama , Kosuke Sato , Jun Kadowaki
IPC分类号： G08G1/16 , G06F7/00
CPC分类号： G08G1/167 , G08G1/165 , G08G1/166
摘要： Driving assistance is provided to a vehicle driver in a manner that is easy to understand and at a low cost. At a driving assistance device (100), an image processing unit (103) sets a cut-out region within image data photographed by a camera (121) and extracts cut-out image data. A control unit (107) generates information indicating risk to the rear of the vehicle based on the position and speed of other vehicle measured by a distance measuring unit. The image processing unit (103) then outputs information indicating the cut-out image data and the risk to a monitor (123). The image processing unit (103) then moves the cut-out region to a direction in which a vehicle route has changed when a receiving unit (105) receives notification to the effect that the route of the vehicle has changed.
摘要翻译：以易于理解和低成本的方式向车辆驾驶员提供驾驶辅助。在驾驶辅助装置（100）中，图像处理单元（103）设置由照相机（121）拍摄的图像数据内的切出区域，并提取切出的图像数据。控制单元（107）基于由距离测量单元测量的其他车辆的位置和速度来生成指示车辆后方的风险的信息。然后，图像处理单元（103）向监视器（123）输出指示切出的图像数据和风险的信息。然后，当接收单元（105）接收到车辆的路线变化的通知时，图像处理单元（103）将切出区域移动到车辆路线已经改变的方向。

2. 发明授权

US08275518B2 Parking assist apparatus 有权
标题翻译：停车辅助装置
公开(公告)号：US08275518B2
公开(公告)日：2012-09-25
申请号：US12528161
申请日：2008-02-18
申请人： Kazuya Watanabe , Jun Kadowaki , Tsuyoshi Kuboyama , Yu Tanaka , Yoichi Iwata , Tetsunori Haraguchi , Masahiko Yanagihara
发明人： Kazuya Watanabe , Jun Kadowaki , Tsuyoshi Kuboyama , Yu Tanaka , Yoichi Iwata , Tetsunori Haraguchi , Masahiko Yanagihara
IPC分类号： B62D6/00
CPC分类号： B60R1/00 , B60R2300/302 , B60R2300/305 , B60R2300/806 , B60W30/06 , B62D15/027
摘要： A target parking position setting section (23) is adapted to temporarily set a target parking position (p31, p32, p33) for the vehicle for each parking mode in a predetermined stop position. A parking mode determining section (25) is adapted to determine the parking mode and the target parking position corresponding to the parking mode based on an operation of a steering wheel performed by a driver after the target parking position (p31, p32, p33) is set. A guiding section (29) is adapted to guide the vehicle (1) to the determined target parking position (P3).
摘要翻译：目标停车位置设定部（23）适于在规定的停止位置暂时设定车辆的目标停车位置（p31，p32，p33）。停车模式确定部分（25）适于基于驾驶员在目标停车位置（p31，p32，p33）之后执行的方向盘的操作来确定对应于停车模式的停车模式和目标停车位置组。引导部分（29）适于将车辆（1）引导到确定的目标停车位置（P3）。

3. 发明申请

US20100049401A1 PARKING ASSIST APPARATUS 有权
标题翻译：停车辅助装置
公开(公告)号：US20100049401A1
公开(公告)日：2010-02-25
申请号：US12528161
申请日：2008-02-18
申请人： Kazuya Watanabe , Jun Kadowaki , Tsuyoshi Kuboyama , Yu Tanaka , Yoichi Iwata , Tetsunori Haraguchi , Masahiro Yanagihara
发明人： Kazuya Watanabe , Jun Kadowaki , Tsuyoshi Kuboyama , Yu Tanaka , Yoichi Iwata , Tetsunori Haraguchi , Masahiro Yanagihara
IPC分类号： B62D6/00
CPC分类号： B60R1/00 , B60R2300/302 , B60R2300/305 , B60R2300/806 , B60W30/06 , B62D15/027
摘要： A target parking position setting section (23) is adapted to temporarily set a target parking position (p31, p32, p33) for the vehicle for each parking mode in a predetermined stop position. A parking mode determining section (25) is adapted to determine the parking mode and the target parking position corresponding to the parking mode based on an operation of a steering wheel performed by a driver after the target parking position (p31, p32, p33) is set. A guiding section (29) is adapted to guide the vehicle (1) to the determined target parking position (P3).
摘要翻译：目标停车位置设定部（23）适于在规定的停止位置暂时设定车辆的目标停车位置（p31，p32，p33）。停车模式确定部分（25）适于基于驾驶员在目标停车位置（p31，p32，p33）之后执行的方向盘的操作来确定对应于停车模式的停车模式和目标停车位置组。引导部分（29）适于将车辆（1）引导到确定的目标停车位置（P3）。

4. 发明申请

US20100110189A1 VEHICLE PERIPHERY MONITORING DEVICE 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20100110189A1
公开(公告)日：2010-05-06
申请号：US12531164
申请日：2008-06-12
申请人： Tsuyoshi Kuboyama , Kazuya Watanabe
发明人： Tsuyoshi Kuboyama , Kazuya Watanabe
IPC分类号： H04N5/222
CPC分类号： B60R1/00 , B60R1/12 , B60R11/04 , B60R2001/1253 , B60R2300/30 , B60R2300/8066
摘要： An object is to provide a vehicle periphery monitoring device wherein distortions in a captured image containing an edge of the vehicle body can be corrected so that parallel perception is the same as in actual space, and wherein images readily discernible to the driver can be displayed. The edge of the vehicle body is included in the image captured by a camera provided to the vehicle. A Y-axis along the edge of the vehicle body and an X-axis orthogonal to the Y-axis are set in the captured image. Distortions are corrected so that the X-axis is enlarged at a magnification ratio γ that increases in a nonlinear fashion that depends of the distance from the X-axis while the Y-axis is kept substantially fixed. The captured image thus corrected for distortion is displayed on an onboard monitor.
摘要翻译：本发明的目的是提供一种车辆周边监视装置，其中可以校正包含车体边缘的捕获图像中的失真，使得平行感知与实际空间相同，并且可以显示驾驶员容易识别的图像。车体的边缘被包括在由提供给车辆的照相机拍摄的图像中。沿着车体边缘的Y轴和与Y轴正交的X轴被设置在捕获的图像中。校正失真，使得X轴以以与X轴的距离取决于非线性方式增加的放大率γ放大，同时Y轴保持基本上固定。由此校正失真的拍摄图像显示在车载显示器上。

5. 发明授权

US08977446B2 Driving support device 有权
标题翻译：驾驶辅助装置
公开(公告)号：US08977446B2
公开(公告)日：2015-03-10
申请号：US13384776
申请日：2009-07-22
申请人： Tsuyoshi Kuboyama , Akira Someya , Keiichi Nakamura , Ryosuke Sasaki , Kazuya Watanabe , Daisuke Ohashi
发明人： Tsuyoshi Kuboyama , Akira Someya , Keiichi Nakamura , Ryosuke Sasaki , Kazuya Watanabe , Daisuke Ohashi
IPC分类号： G06F7/00 , B62D15/02
CPC分类号： B62D15/0295 , B62D15/0275
摘要： Provided is a driving support device that allows a driver to confirm the travelling routes of the wheels of a vehicle from an image indicating the circumference of the vehicle.The driving support device includes: an imaging unit which takes a travelling direction image by shooting in the travelling direction of a vehicle; a steering angle detection unit which detects the steering angle of the vehicle; a route image generation unit which predicts travelling routes of wheels provided on the travelling direction side of the vehicle, and generates a route image that indicates the travelling routes of the wheels as seen from the viewpoint of the imaging unit; a superimposed image generation unit which generates a superimposed image by superimposing the route image on the travelling direction image; and an image display unit which displays the superimposed image.
摘要翻译：提供了一种驾驶支持装置，其允许驾驶员从指示车辆的周长的图像确认车辆的车轮的行驶路线。驾驶辅助装置包括：成像单元，其通过在车辆的行进方向上拍摄来取得行驶方向图像; 转向角检测单元，其检测车辆的转向角; 路线图像生成单元，其预测设置在车辆的行驶方向侧的车轮的行驶路线，并且生成表示从所述摄像单元的视点观察的所述车轮的行驶路线的路线图像; 叠加图像生成单元，其通过将路线图像叠加在行进方向图像上来生成叠加图像; 以及显示叠加图像的图像显示单元。

6. 发明授权

US08049778B2 Parking assistance device 有权
标题翻译：停车辅助装置
公开(公告)号：US08049778B2
公开(公告)日：2011-11-01
申请号：US12531391
申请日：2008-05-20
申请人： Tsuyoshi Kuboyama , Kazuya Watanabe
发明人： Tsuyoshi Kuboyama , Kazuya Watanabe
IPC分类号： H04N7/00 , H04N7/18
CPC分类号： B62D15/0275 , B60W30/06 , G06K9/00812 , G06T1/0007
摘要： An imaging device mounted on a vehicle (30) acquires image data resulting from capturing an image of a scene around the vehicle (30). A parking section (E) corresponding to the desired parking position is set. The image data is subjected to an image-converting process that includes at least one of viewpoint conversion and distortion correction. A deflection angle (λ) between the vehicle (30) and the parking section (E) is calculated. The image data is outputted until the deflection angle (λ) becomes equal to or less than a predetermined reference deflection angle, the image data being outputted to a display adapted for installation in the vehicle (30). Once the deflection angle (λ) has become equal to or less than the reference deflection angle, converted image data that has been subjected to the image-converting process is outputted.
摘要翻译：安装在车辆（30）上的成像装置获取通过捕获车辆周围的场景的图像而产生的图像数据。设置与期望的停车位置对应的停车部（E）。对图像数据进行包括视点转换和失真校正中的至少一个的图像转换处理。计算车辆（30）与停车部（E）之间的偏转角（λ）。输出图像数据直到偏转角（λ）变得等于或小于预定的参考偏转角，图像数据被输出到适于安装在车辆（30）中的显示器。一旦偏转角（λ）变得等于或小于参考偏转角，则输出已经经过图像转换处理的转换图像数据。

7. 发明申请

US20100066825A1 PARKING ASSISTANCE DEVICE 有权
标题翻译：停车辅助装置
公开(公告)号：US20100066825A1
公开(公告)日：2010-03-18
申请号：US12531391
申请日：2008-05-20
申请人： Tsuyoshi Kuboyama , Kazuya Watanabe
发明人： Tsuyoshi Kuboyama , Kazuya Watanabe
IPC分类号： H04N7/18
CPC分类号： B62D15/0275 , B60W30/06 , G06K9/00812 , G06T1/0007
摘要： An imaging device mounted on a vehicle (30) acquires image data resulting from capturing an image of a scene around the vehicle (30). A parking section (E) corresponding to the desired parking position is set. The image data is subjected to an image-converting process that includes at least one of viewpoint conversion and distortion correction. A deflection angle (λ) between the vehicle (30) and the parking section (E) is calculated. The image data is outputted until the deflection angle (λ) becomes equal to or less than a predetermined reference deflection angle, the image data being outputted to a display adapted for installation in the vehicle (30). Once the deflection angle (λ) has become equal to or less than the reference deflection angle, converted image data that has been subjected to the image-converting process is outputted.
摘要翻译：安装在车辆（30）上的成像装置获取通过捕获车辆周围的场景的图像而产生的图像数据。设置与期望的停车位置对应的停车部（E）。对图像数据进行包括视点转换和失真校正中的至少一个的图像转换处理。计算车辆（30）与停车部（E）之间的偏转角（λ）。输出图像数据直到偏转角（λ）变得等于或小于预定的参考偏转角，图像数据被输出到适于安装在车辆（30）中的显示器。一旦偏转角（λ）变得等于或小于参考偏转角，则输出已经经过图像转换处理的转换图像数据。

8. 发明授权

US08675041B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08675041B2
公开(公告)日：2014-03-18
申请号：US12531164
申请日：2008-06-12
申请人： Tsuyoshi Kuboyama , Kazuya Watanabe
发明人： Tsuyoshi Kuboyama , Kazuya Watanabe
IPC分类号： H04N7/00 , H04N7/18
CPC分类号： B60R1/00 , B60R1/12 , B60R11/04 , B60R2001/1253 , B60R2300/30 , B60R2300/8066
摘要： An object is to provide a vehicle periphery monitoring device wherein distortions in a captured image containing an edge of the vehicle body can be corrected so that parallel perception is the same as in actual space, and wherein images readily discernible to the driver can be displayed. The edge of the vehicle body is included in the image captured by a camera provided to the vehicle. A Y-axis along the edge of the vehicle body and an X-axis orthogonal to the Y-axis are set in the captured image. Distortions are corrected so that the X-axis is enlarged at a magnification ratio γ that increases in a nonlinear fashion that depends of the distance from the X-axis while the Y-axis is kept substantially fixed. The captured image thus corrected for distortion is displayed on an onboard monitor.
摘要翻译：本发明的目的是提供一种车辆周边监视装置，其中可以校正包含车体边缘的捕获图像中的失真，使得平行感知与实际空间相同，并且可以显示驾驶员容易识别的图像。车体的边缘被包括在由提供给车辆的照相机拍摄的图像中。沿着车体边缘的Y轴和与Y轴正交的X轴被设置在捕获的图像中。校正失真，使得X轴以以与X轴的距离取决于非线性方式增加的放大率γ放大，同时Y轴保持基本上固定。由此校正失真的拍摄图像显示在车载显示器上。

9. 发明申请

US20120274737A1 VEHICLE PERIPHERY MONITORING DEVICE 审中-公开
标题翻译：车辆周边监控装置
公开(公告)号：US20120274737A1
公开(公告)日：2012-11-01
申请号：US12531572
申请日：2008-05-20
申请人： Tsuyoshi Kuboyama , Kazuya Watanabe , Takashi Yamanaka , Yumi Yamanaka
发明人： Tsuyoshi Kuboyama , Kazuya Watanabe , Takashi Yamanaka , Yumi Yamanaka
IPC分类号： H04N7/18 , H04N7/00
CPC分类号： B60R1/00 , B60R2300/102 , B60R2300/70 , B60R2300/8026 , G06T3/0018 , H04N7/181
摘要： Wide-angle imaging data obtained by capturing a view of a vehicle periphery can be converted into wide-angle display data for displaying the view in the same field of view on a display device, and into enlarged display data for enlarging and displaying a portion of the wide-angle imaging data. When the image on the screen of the display is switched between wide-angle display and enlarged display, the target region corresponding to the post-switching display data is set, highlighted, and displayed as the highlighted region (E) on the screen on the pre-switching display data (V1). The surface area of the highlighted region (E) is varied until the surface area highlighted region (E) is the same as the surface area of the target region on the post-switching display data. Lastly, the post-switching display data is displayed in the highlighted region (E).
摘要翻译：通过捕获车辆周边视图而获得的广角成像数据可以被转换成用于在显示装置上以相同视野显示视图的广角显示数据，并将其转换为放大显示部分的广角显示数据广角成像数据。当在广角显示和放大显示之间切换显示器屏幕上的图像时，将与切换后显示数据相对应的目标区域设置，突出显示并显示为屏幕上的突出显示区域（E）预切换显示数据（V1）。改变突出显示区域（E）的表面积，直到表面区域突出显示区域（E）与切换后显示数据上目标区域的表面积相同。最后，在突出显示区域（E）中显示切换后显示数据。

10. 发明申请

US20120158256A1 DRIVING SUPPORT DEVICE 有权
标题翻译：驱动支持设备
公开(公告)号：US20120158256A1
公开(公告)日：2012-06-21
申请号：US13384776
申请日：2009-07-22
申请人： Tsuyoshi Kuboyama , Akira Someya , Keiichi Nakamura , Ryosuke Sasaki , Kazuya Watanabe , Daisuke Ohashi
发明人： Tsuyoshi Kuboyama , Akira Someya , Keiichi Nakamura , Ryosuke Sasaki , Kazuya Watanabe , Daisuke Ohashi
IPC分类号： G06F7/00
CPC分类号： B62D15/0295 , B62D15/0275
摘要： Provided is a driving support device that allows a driver to confirm the travelling routes of the wheels of a vehicle from an image indicating the circumference of the vehicle.The driving support device includes: an imaging unit which takes a travelling direction image by shooting in the travelling direction of a vehicle; a steering angle detection unit which detects the steering angle of the vehicle; a route image generation unit which predicts travelling routes of wheels provided on the travelling direction side of the vehicle, and generates a route image that indicates the travelling routes of the wheels as seen from the viewpoint of the imaging unit; a superimposed image generation unit which generates a superimposed image by superimposing the route image on the travelling direction image; and an image display unit which displays the superimposed image.
摘要翻译：提供了一种驾驶支持装置，其允许驾驶员从指示车辆的周长的图像确认车辆的车轮的行驶路线。驾驶辅助装置包括：成像单元，其通过在车辆的行进方向上拍摄来取得行驶方向图像; 转向角检测单元，其检测车辆的转向角; 路线图像生成单元，其预测设置在车辆的行进方向侧的车轮的行驶路线，并且生成表示从所述摄像单元的视点观察的所述车轮的行驶路线的路线图像; 叠加图像生成单元，其通过将路线图像叠加在行进方向图像上来生成叠加图像; 以及显示叠加图像的图像显示单元。

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