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1. 发明授权

US07266219B2 Monitoring system 有权
标题翻译：监视系统
公开(公告)号：US07266219B2
公开(公告)日：2007-09-04
申请号：US10088606
申请日：2001-07-19
申请人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura , Nobuhiko Yasui , Akira Ishida , Atsushi Iisaka , Takashi Yoshida
发明人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura , Nobuhiko Yasui , Akira Ishida , Atsushi Iisaka , Takashi Yoshida
IPC分类号： G06K9/36 , H04N7/18 , H04N9/47 , B60Q1/48 , G08G1/14
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/207 , B60R2300/30 , B60R2300/305 , B60R2300/404 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , G06T15/10
摘要： For supporting a complicated driving operation, a synthesized image is presented to the driver. The driver can view this image and thus drive with a sense of security. The synthesized image may include an image of at least one tire and may have an enlargement/reduction ratio that is relatively higher in a nearby area of the vehicle, including a grounding portion of at least one tire of the vehicle, as compared with a peripheral area of the vehicle.
摘要翻译：为了支持复杂的驾驶操作，向驾驶员呈现合成图像。司机可以查看此图像，从而以安全感驱动。合成图像可以包括至少一个轮胎的图像，并且可以具有在车辆的附近区域中相对较高的放大/缩小比率，包括车辆的至少一个轮胎的接地部分，与外围设备相比车辆区域。

2. 发明授权

US06999602B2 Image generation for assistance of drivers of vehicles 失效
标题翻译：为车辆司机提供帮助的图像生成
公开(公告)号：US06999602B2
公开(公告)日：2006-02-14
申请号：US09892741
申请日：2001-06-28
申请人： Takashi Yoshida , Nobuhiko Yasui , Atsushi Iisaka , Akira Ishida
发明人： Takashi Yoshida , Nobuhiko Yasui , Atsushi Iisaka , Akira Ishida
IPC分类号： G06K9/00
CPC分类号： G06T11/00 , B60R1/00 , B60R2300/105 , B60R2300/302 , B60R2300/305 , B60R2300/607 , B60R2300/8086
摘要： In a rendering device Urnd1, a CPU 7 receives a captured image each from two image capture devices 1 and 2. The CPU 7 then receives a steering angle of a steering wheel of a vehicle from a steering angle sensor 3. Based on the steering angle, the CPU 7 derives an estimated trajectory for the vehicle to take in the course of time. Then, with reference to the estimated trajectory, the CPU 7 selects several pixels each from the captured images, and then generates a drive assistant image based on those pixels. In this manner, the drive assistant image generated by the rendering device Urnd1 hardly causes the driver to feel strange.
摘要翻译：在渲染设备Urnd 1中，CPU7从两个图像捕获设备1和2接收捕获的图像。然后，CPU 7从转向角传感器3接收车辆的方向盘的转向角。基于转向角度，CPU 7导出车辆在时间过程中估计的轨迹。然后，参考估计的轨迹，CPU7从捕获的图像中选择几个像素，然后基于这些像素生成驱动辅助图像。以这种方式，由渲染装置Urnd 1生成的驱动辅助图像几乎不会使驾驶员感到奇怪。

3. 发明申请

US20050002545A1 Image processor 审中-公开
标题翻译：图像处理器
公开(公告)号：US20050002545A1
公开(公告)日：2005-01-06
申请号：US10492214
申请日：2002-10-08
申请人： Nobuhiko Yasui , Takashi Yoshida , Atsushi Iisaka , Akira Ishida
发明人： Nobuhiko Yasui , Takashi Yoshida , Atsushi Iisaka , Akira Ishida
IPC分类号： B60R1/00 , H04N7/18 , G06K9/00
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/30 , B60R2300/8006
摘要： An image processor has two types of image pickup devices connected thereto. One image pickup device shoots the state of the surroundings of a vehicle, and the other shoots the state of the inside of the vehicle. A processor uses images from the image pickup devices to generate a driving assist image representing both of the state of the surroundings of the vehicle and the state of the inside thereof. With this, it is possible to provide an image processor which generates a driving assist image capable of providing more information to a driver.
摘要翻译：图像处理器具有与其连接的两种类型的图像拾取装置。一个图像拾取装置拍摄车辆的周围环境，另一个拍摄车辆内部的状态。处理器使用来自图像拾取装置的图像来产生表示车辆的周围状态和其内部的状态的驾驶辅助图像。由此，能够提供能够向驾驶员提供更多信息的驾驶辅助图像的图像处理装置。

4. 发明授权

US06825779B2 Rendering device 有权
标题翻译：渲染设备
公开(公告)号：US06825779B2
公开(公告)日：2004-11-30
申请号：US09885095
申请日：2001-06-21
申请人： Nobuhiko Yasui , Takashi Yoshida , Atsushi Iisaka , Akira Ishida
发明人： Nobuhiko Yasui , Takashi Yoshida , Atsushi Iisaka , Akira Ishida
IPC分类号： G08G1123
CPC分类号： G06T11/00 , B60W2420/42 , G08G1/166
摘要： In a rendering device, a processor derives an estimated path to be traced by the left- and right-rear wheels of a vehicle based on a rudder angle that is provided by a rudder angle sensor. The processor then determines positions for overlaying indicators on the derived estimated path. The processor then renders the indicators on the determined points in a captured image which is provided by an image capture device, and generates a display image. In the display image, the indicators move along the estimated path in the direction the vehicle is heading towards. In this manner, the estimated path in the display image that is generated by the rendering device becomes noticeable for a driver of the vehicle.
摘要翻译：在再现装置中，处理器基于由舵角传感器提供的方向舵角度，导出由车辆的左后轮和右后轮跟踪的估计路径。然后处理器确定在导出的估计路径上覆盖指示符的位置。然后，处理器在由图像捕获设备提供的捕获图像中的确定的点上呈现指示符，并且生成显示图像。在显示图像中，指示器沿着车辆朝向的方向沿估计路径移动。以这种方式，由该再现装置生成的显示图像中的估计路径对于车辆的驾驶员而言是显而易见的。

5. 发明授权

US06366221B1 Rendering device 有权
标题翻译：渲染设备
公开(公告)号：US06366221B1
公开(公告)日：2002-04-02
申请号：US09892744
申请日：2001-06-28
申请人： Atsushi Iisaka , Nobuhiko Yasui , Akira Ishida , Takashi Yoshida
发明人： Atsushi Iisaka , Nobuhiko Yasui , Akira Ishida , Takashi Yoshida
IPC分类号： B60Q148
CPC分类号： B60R1/00 , B60Q9/005 , B60R2300/105 , B60R2300/30 , B60R2300/302 , B60R2300/304 , B60R2300/305 , B60R2300/806 , B60R2300/8086 , B60T2201/10 , B62D15/0275
摘要： In a rendering device 10, ROM 4 stores a vehicle model. A rudder angle sensor 3 detects a rudder angle of the vehicle, and based thereon, CPU 6 calculates an estimated path for the vehicle. The CPU 6 receives captured images from cameras 21 to 2N. The CPU 6 generates a display image based on those captured images, the estimated path, and the vehicle model. This display image includes the vehicle model arranged on the estimated path, and displayed on a display device 8 placed in the vehicle. In this manner, the display image generated by the rendering device 10 is indicative and helpful for a driver of the vehicle to exactly figure out a parking space available for the vehicle.
摘要翻译：在再现装置10中，ROM4存储车辆模型。方向舵角传感器3检测车辆的舵角，并且基于此，CPU6计算车辆的估计路径。 CPU6从摄像机21至2N接收捕获的图像。 CPU6基于这些拍摄图像，估计路径和车辆模型生成显示图像。该显示图像包括布置在估计路径上的车辆模型，并且显示在放置在车辆中的显示装置8上。以这种方式，由再现装置10生成的显示图像是对车辆的驾驶者进行准确地确定可用于车辆的停车空间的指示和帮助。

6. 发明授权

US06369701B1 Rendering device for generating a drive assistant image for drive assistance 有权
标题翻译：用于产生用于驱动器辅助的驱动辅助图像的渲染装置
公开(公告)号：US06369701B1
公开(公告)日：2002-04-09
申请号：US09892740
申请日：2001-06-28
申请人： Takashi Yoshida , Nobuhiko Yasui , Atsushi Iisaka , Akira Ishida
发明人： Takashi Yoshida , Nobuhiko Yasui , Atsushi Iisaka , Akira Ishida
IPC分类号： B60Q100
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/105 , B60R2300/107 , B60R2300/305 , B60R2300/60 , B60R2300/802 , B60R2300/806 , B60R2300/8086 , G06T5/006 , G06T15/20
摘要： In a rendering device Urnd, a CPU generates a lower viewpoint image based on captured images captured by image capture devices both securely mounted to a vehicle. Here, the lower viewpoint image shows a region rear of the vehicle viewed from those image capture devices. Then, the CPU executes viewpoint conversion processing onto the captured images, and generates an upper viewpoint image. Here, the upper viewpoint image shows also the region rear of the vehicle but viewed from a camera virtually placed above the vehicle. The CPU then stitches the upper and lower viewpoint images together to generate a drive assistant image. In such manner, the drive assistant image generated by the rendering device Urnd becomes informative enough for a driver of the vehicle.
摘要翻译：在渲染设备Urnd中，CPU基于被牢固地安装到车辆的图像捕获设备捕获的捕获图像来生成较低的视点图像。这里，下视点图像示出从那些图像捕获装置观看的车辆后方的区域。然后，CPU对拍摄图像执行视点转换处理，并生成上视点图像。这里，上视点图像还示出了车辆的区域后方，但是从实际上放置在车辆上方的相机观察。然后，CPU将上下视点图像缝合在一起以产生驱动辅助图像。以这种方式，由渲染设备Urnd生成的驱动辅助图像对于车辆的驾驶者来说变得足够信息。

7. 发明授权

US06539288B2 Vehicle rendering device for generating image for drive assistance 失效
标题翻译：用于产生用于驾驶辅助的图像的车辆渲染装置
公开(公告)号：US06539288B2
公开(公告)日：2003-03-25
申请号：US09862312
申请日：2001-05-23
申请人： Akira Ishida , Atsushi Iisaka , Takashi Yoshida
发明人： Akira Ishida , Atsushi Iisaka , Takashi Yoshida
IPC分类号： G05D100
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/105 , B60R2300/30 , B60R2300/302 , B60R2300/304 , B60R2300/404 , B60R2300/70 , B60R2300/802 , H04N7/181
摘要： In a rendering device, a processor receives surrounding images from image capture devices placed in a vehicle, and based thereon, generates a vehicle overlaid image. The processor also receives a rudder angle &thgr; from a rudder angle sensor placed in the vehicle. Then, based on the received rudder angle &thgr;, the processor calculates a 3D predictive trajectory of the vehicle, and on the vehicle overlaid image, renders the calculated 3D predictive trajectories thereby generating a display image. Therefore, the display image generated by the rendering device is driver-friendly.
摘要翻译：在再现装置中，处理器从放置在车辆中的图像捕获装置接收周围图像，并且基于此，生成车辆重叠图像。处理器还从放置在车辆中的舵角传感器接收舵角θ。然后，基于接收到的方向舵角θ，处理器计算车辆的3D预测轨迹，并且在车辆重叠图像上，呈现所计算的3D预测轨迹从而生成显示图像。因此，由再现装置生成的显示图像是驾驶者友好的。

8. 发明授权

US07304651B2 Rendering device for generating a display image for drive assistance 失效
标题翻译：用于生成用于驾驶辅助的显示图像的渲染装置
公开(公告)号：US07304651B2
公开(公告)日：2007-12-04
申请号：US09861548
申请日：2001-05-22
申请人： Akira Ishida , Atsushi Iisaka , Takashi Yoshida
发明人： Akira Ishida , Atsushi Iisaka , Takashi Yoshida
IPC分类号： G09G5/00 , B60Q1/00 , G09F9/00 , G08G1/00 , G08G1/017 , G08G1/054 , H04N7/18 , H04N9/47
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/105 , B60R2300/30 , B60R2300/302 , B60R2300/304 , B60R2300/404 , B60R2300/70 , B60R2300/802 , H04N7/181
摘要： In a rendering device Urnd1, a processor 1 receives a front-left image Sfl and a front-right image Sfr at regular intervals, and therefrom, cuts out a partial front-left image and a partial front-right image for overlay onto a mask image. The processor 1 then overlays, with a predetermined timing, any one of vehicle model images varying in size onto the mask image. Here, the vehicle model image is overlaid in such manner as to create a moving picture as if the vehicle model image is moving forward. With such vehicle model image, a driver of a vehicle can instantaneously recognize that a drive assistant device is now showing the front side of the vehicle.
摘要翻译：在渲染设备Urnd 1中，处理器1以规则的间隔接收前左图像Sfl和前右图像Sfr，并从中切出部分前左图像和部分右前图像以覆盖到掩模图像。然后，处理器1以预定的定时将大小变化的车辆模型图像中的任何一个叠加到掩模图像上。这里，车辆模型图像以如同车辆模型图像向前移动的方式创建运动图像的方式被覆盖。利用这种车辆模型图像，车辆的驾驶员可以立即识别出驾驶辅助装置正在显示车辆的前侧。

9. 发明授权

US07230524B2 Obstacle detection device 失效
标题翻译：障碍物检测装置
公开(公告)号：US07230524B2
公开(公告)日：2007-06-12
申请号：US10524208
申请日：2004-03-09
申请人： Yutaka Watanabe , Takashi Yoshida , Akira Ishida
发明人： Yutaka Watanabe , Takashi Yoshida , Akira Ishida
IPC分类号： B60Q1/00
CPC分类号： G06K9/00812 , B60T2201/10 , B62D15/027 , G01S13/931 , G01S2013/9314 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385 , G05D1/0238 , G05D2201/0213
摘要： An obstacle detection device includes: an obstacle detection section (11) for emitting beams having a predetermined divergence angle consecutively in a plurality of different directions, receiving a reflected wave from an obstacle for each direction, and detecting the obstacle existing within an emission angle range of the beam for the direction; a distance calculation section (12) for calculating a distance representative of an interspace between the obstacle and the vehicle for each direction based on a received signal of the reflected wave for the direction outputted from the obstacle detection section; an obstacle image creation section (14) for creating, as an obstacle image, a figure two-dimensionally developed in the emission angle range of the beam emitted in each direction while treating, as a basis for image creation, the distance calculated by the distance calculation section for the direction, and for creating and outputting image data for displaying the obstacle image; and a display section (15) for receiving the image data created by the obstacle image creation section and displaying an image showing a positional relationship between the obstacle and the vehicle.
摘要翻译：障碍物检测装置包括：障碍物检测部（11），用于在多个不同的方向上连续地发射具有预定发散角的光束，从每个方向接收来自障碍物的反射波，并且检测存在于发射角范围内的障碍物的梁的方向; 距离计算部分，用于根据从障碍物检测部分输出的方向的反射波的接收信号，计算表示每个方向上的障碍物与车辆之间的空间的距离; 用于在处理作为图像创建的基础的距离计算出的距离的同时，在以每个方向发射的光束的发射角范围内形成二维显影的图像作为障碍物图像的障碍物图像创建部分（14）计算部分，用于创建和输出用于显示障碍物图像的图像数据; 以及显示部（15），用于接收由障碍物图像创建部创建的图像数据，并且显示示出障碍物和车辆之间的位置关系的图像。

10. 发明申请

US20050225439A1 Obstacle detection device 失效
标题翻译：障碍物检测装置
公开(公告)号：US20050225439A1
公开(公告)日：2005-10-13
申请号：US10524208
申请日：2004-03-09
申请人： Yutaka Watanabe , Takashi Yoshida , Akira Ishida
发明人： Yutaka Watanabe , Takashi Yoshida , Akira Ishida
IPC分类号： B62D15/02 , G01S13/93 , G05D1/02 , B60Q1/00
CPC分类号： G06K9/00812 , B60T2201/10 , B62D15/027 , G01S13/931 , G01S2013/9314 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385 , G05D1/0238 , G05D2201/0213
摘要： An obstacle detection device includes: an obstacle detection section (11) for emitting beams having a predetermined divergence angle consecutively in a plurality of different directions, receiving a reflected wave from an obstacle for each direction, and detecting the obstacle existing within an emission angle range of the beam for the direction; a distance calculation section (12) for calculating a distance representative of an interspace between the obstacle and the vehicle for each direction based on a received signal of the reflected wave for the direction outputted from the obstacle detection section; an obstacle image creation section (14) for creating, as an obstacle image, a figure two-dimensionally developed in the emission angle range of the beam emitted in each direction while treating, as a basis for image creation, the distance calculated by the distance calculation section for the direction, and for creating and outputting image data for displaying the obstacle image; and a display section (15) for receiving the image data created by the obstacle image creation section and displaying an image showing a positional relationship between the obstacle and the vehicle.
摘要翻译：障碍物检测装置包括：障碍物检测部（11），用于在多个不同的方向上连续地发射具有预定发散角的光束，从每个方向接收来自障碍物的反射波，并且检测存在于发射角范围内的障碍物的梁的方向; 距离计算部分，用于根据从障碍物检测部分输出的方向的反射波的接收信号，计算表示每个方向上的障碍物与车辆之间的空间的距离; 用于在处理作为图像创建的基础的距离计算出的距离的同时，在以每个方向发射的光束的发射角范围内形成二维显影的图像作为障碍物图像的障碍物图像创建部分（14）计算部分，用于创建和输出用于显示障碍物图像的图像数据; 以及显示部（15），用于接收由障碍物图像创建部创建的图像数据，并且显示示出障碍物和车辆之间的位置关系的图像。

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