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    • 1. 发明授权
    • Driving assistance apparatus
    • 驾驶辅助装置
    • US08600673B2
    • 2013-12-03
    • US12451098
    • 2008-05-29
    • Masaki NakamuraNaoto MiuraKiyokazu Okada
    • Masaki NakamuraNaoto MiuraKiyokazu Okada
    • G01S13/88
    • G06K9/00798B60R1/00B60R2300/302B60R2300/804B60R2300/806B60R2300/8086G08G1/096725G08G1/09675G08G1/096791G08G1/167
    • 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.
    • 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。
    • 2. 发明申请
    • DRIVING ASSISTANCE APPARATUS
    • 驾驶辅助装置
    • US20100299000A1
    • 2010-11-25
    • US12451098
    • 2008-05-29
    • Masaki NakamuraNaoto MiuraKiyokazu Okada
    • Masaki NakamuraNaoto MiuraKiyokazu Okada
    • G06F7/00G01C21/36
    • G06K9/00798B60R1/00B60R2300/302B60R2300/804B60R2300/806B60R2300/8086G08G1/096725G08G1/09675G08G1/096791G08G1/167
    • 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.
    • 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。
    • 9. 发明授权
    • Object recognition device
    • 物体识别装置
    • US07898437B2
    • 2011-03-01
    • US12067100
    • 2007-05-15
    • Kiyokazu OkadaMotohiro NakamuraMasaki NakamuraMakoto Hasunuma
    • Kiyokazu OkadaMotohiro NakamuraMasaki NakamuraMakoto Hasunuma
    • G08G1/123
    • G01C7/04G01C21/30G01C21/3602G06K9/00798G08G1/16G08G1/166G08G1/167
    • An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases. Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.
    • 物体识别装置基于通过GPS获得的行驶路径,车速,转向角等来检测车辆的位置,并且还基于使用拍摄图像获得的对象的识别结果来检测车辆的位置 的相机。 该装置在检测车辆位置时计算定位精度,随着车辆的移动距离增加,该精度大部分劣化。 要识别的道路上的对象的位置数据预先存储在地图数据库中。 基于检测到的车辆的位置,存储在地图数据库中的对象的位置和计算出的定位精度来设定待识别对象的道路的识别范围。 通过处理摄像机的拍摄图像,可以识别出设定的识别范围。
    • 10. 发明申请
    • OBJECT RECOGNITION DEVICE
    • 对象识别装置
    • US20100061591A1
    • 2010-03-11
    • US12067100
    • 2007-05-15
    • Kiyokazu OkadaMotohiro NakamuraMasaki NakamuraMakoto Hasunuma
    • Kiyokazu OkadaMotohiro NakamuraMasaki NakamuraMakoto Hasunuma
    • G06K9/00
    • G01C7/04G01C21/30G01C21/3602G06K9/00798G08G1/16G08G1/166G08G1/167
    • An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases.Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.
    • 物体识别装置基于通过GPS获得的行驶路径,车速,转向角等来检测车辆的位置,并且还基于使用拍摄图像获得的对象的识别结果来检测车辆的位置 的相机。 该装置在检测车辆位置时计算定位精度,随着车辆的移动距离增加,该精度大部分劣化。 要识别的道路上的对象的位置数据预先存储在地图数据库中。 基于检测到的车辆的位置,存储在地图数据库中的对象的位置和计算出的定位精度来设定待识别对象的道路的识别范围。 通过处理摄像机的拍摄图像,可以识别出设定的识别范围。