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21. 发明专利

JP2010267078A Apparatus for identifying awake state, driving support device, and program for identifying awake state 审中-公开
标题翻译：识别AWAKE状态，驱动支持设备的装置和用于识别AWAKE状态的程序
公开(公告)号：JP2010267078A
公开(公告)日：2010-11-25
申请号：JP2009117907
申请日：2009-05-14
申请人： Toyota Central R&D Labs Inc , 株式会社豊田中央研究所
发明人： KURAHASHI TETSUO
IPC分类号： G08G1/16 , B60R1/00 , B60R21/00 , G08B21/06
摘要： PROBLEM TO BE SOLVED: To identify an awake state of a driver with high accuracy, even with a small number of data.
SOLUTION: A lane detection unit 52 detects a lane specifying a lane of travel on which one's own vehicle travels, based on an image captured by an image capturing apparatus 20. A ΔE calculation unit 54 calculates a value (ΔE) obtained when an integrated value of horizontal distances between a lane in the direction of a Y'-axis perpendicular to an X'-axis (direction of travel of the vehicle) and the vehicle about a period of time from the current time to a predetermined time is divided by the predetermined time. Based on a sensor value of a steering angle sensor, an avoidance behavior decision unit 56 determines whether there is avoidance behavior, i.e., a steering operation in a direction opposite to the direction of the vehicle veering from the lane, and sets ΔE when there is the avoidance behavior as ΔE'. An awake state identifying unit 58 identifies the awake state of the driver depending on whether the ratio Δα of the time during which ΔE exceeds ΔE
st , the ratio Δβ of the number of times that ΔE' exceeds ΔE
st , and the maximum value Δγ of the time ΔRT from when ΔE exceeds ΔE
st until the avoidance behavior is effected have exceeded their respective thresholds.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：即使使用少量数据，也可以高精度地识别驱动器的唤醒状态。车道检测单元52基于由摄像设备20拍摄的图像来检测指定自己的车辆行驶的行车道的车道.ΔE计算单元54计算当（i 在从当前时间到预定时间的一段时间内，在与X'轴垂直的Y'轴方向（车辆行驶方向）和车辆之间的车道之间的水平距离的积分值为除以预定时间。基于转向角传感器的传感器值，回避行为判定部56判定是否存在回避行为，即与车道向车道方向相反的方向的转向操作，并且当存在时设定ΔE 避免行为为ΔE'。清醒状态识别单元58根据ΔE超过ΔE st 的时间的比Δα，ΔE'超过ΔE<3的次数的比ΔΔ来识别驾驶员的唤醒状态， SB> st ，并且从ΔE超过ΔE st 到达到回避行为之前的时间ΔRT的最大值Δγ已经超过它们各自的阈值。版权所有（C）2011，JPO＆INPIT

22. 发明专利

JP2010221810A Visual recognition support evaluation device and program 有权
标题翻译：视觉识别支持评估设备和程序
公开(公告)号：JP2010221810A
公开(公告)日：2010-10-07
申请号：JP2009070399
申请日：2009-03-23
申请人： Toyota Central R&D Labs Inc , 株式会社豊田中央研究所
发明人： MACHIDA TAKASHI , KURAHASHI TETSUO
IPC分类号： B60R1/00 , B60R11/02 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To evaluate the visibility of a driver objectively by a visual recognition support.
SOLUTION: A visual recognition support evaluation device includes: a two-dimensional environmental data generation section 2 which generates two-dimensional environment data for drawing a virtual environment illuminated by the visual recognition support in a two-dimensional way; an image processing section 4 which processes images for the generated two-dimensional environment data according to visual recognition characteristics of a driver; and a visibility evaluation section 5 which evaluates the visibility of a subject based on each feature amount of the whole images of the image-processed two-dimensional environment data and images of a subject of the corresponding entire images.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：通过视觉识别支持客观地评估驾驶员的可视性。解决方案：视觉识别支持评估装置包括：二维环境数据生成部分2，其生成用于以二维方式绘制由视觉识别支持物照亮的虚拟环境的二维环境数据; 图像处理部分4，根据驾驶员的视觉识别特征处理所生成的二维环境数据的图像; 以及可视性评价部5，其基于图像处理的二维环境数据的全部图像的每个特征量和对应的整个图像的被摄体的图像来评估被摄体的可视性。版权所有（C）2011，JPO＆INPIT

23. 发明专利

JP2009265916A Sensor characteristic simulation device, program, visual characteristic simulation device, and program 审中-公开
标题翻译：传感器特征仿真器件，程序，视觉特征仿真器件及程序
公开(公告)号：JP2009265916A
公开(公告)日：2009-11-12
申请号：JP2008114269
申请日：2008-04-24
申请人： Toyota Central R&D Labs Inc , 株式会社豊田中央研究所
发明人： MACHIDA TAKASHI , KURAHASHI TETSUO
IPC分类号： G06T15/00
摘要： PROBLEM TO BE SOLVED: To easily evaluate the performance of a sensor. SOLUTION: A simulation device is provided with: an illumination setting part 1 for setting the illuminating characteristics of the light source of a virtual environment; a two-dimensional environment data generation part 2 for generating two-dimensional environment data for two-dimensionally plotting a virtual environment on which the illuminating characteristics of the light source are reflected based on the set illuminating characteristics of the light source and three-dimensional environment data for three-dimensionally plotting the virtual environment; a camera characteristic setting part 3 for setting the characteristics of a camera to detect the state of the virtual environment; and an image conversion part 4 for generating detection data when the camera has detected the state of the virtual environment based on the generated two-dimensional environment data and the characteristics of the camera set by the camera characteristic setting part 3. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了便于评估传感器的性能。解决方案：模拟装置设置有：用于设定虚拟环境的光源的照明特性的照明设定部1; 二维环境数据生成部2，用于生成二维环境数据，用于二维地绘制基于光源的设定的照明特性和三维环境反射光源的照明特性的虚拟环境用于三维绘制虚拟环境的数据; 相机特性设定部3，其设定摄像机的特性，检测虚拟环境的状态; 以及图像转换部分4，用于当相机已经基于生成的二维环境数据和由相机特征设置部分3设置的相机的特性来检测到虚拟环境的状态时产生检测数据。
版权：（C）2010，JPO＆INPIT

24. 发明专利

JP2009258785A Video image generation apparatus and program 审中-公开
标题翻译：视频图像生成装置和程序
公开(公告)号：JP2009258785A
公开(公告)日：2009-11-05
申请号：JP2008103680
申请日：2008-04-11
申请人： Toyota Central R&D Labs Inc , 株式会社豊田中央研究所
发明人： MACHIDA TAKASHI , KURAHASHI TETSUO
IPC分类号： G06T15/80
摘要： PROBLEM TO BE SOLVED: To generate a high-quality video image in real time without using high-speed computing hardware.
SOLUTION: A real-time video image generation apparatus includes: a photon scattering computation unit 11 performing computation of scattering photons from a light source; a photon recovery computation unit 12 performing computation of recovering photon information including position information and reflection information when scattered each photon collides with an object surface in a virtual environment; a photon retrieval unit 22 retrieving photons at an appearance portion and a concealed portion when a mobile body moves into a generated virtual environment video image; an illuminance calculation unit 23 tracing the retrieved photons to generate a color signal of each pixel of the appearance portion and the concealed portion; and a synthetic processing unit 24 generating a virtual environment video image by using the color signal generated by the calculation unit 23 for each pixel of the appearance portion and the concealed portion, and by using the color signal generated by the computation unit 12 for each pixel at a portion other than the appearance portion and the concealed portion.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：在不使用高速计算硬件的情况下实时生成高质量的视频图像。解决方案：实时视频图像生成装置包括：光子散射计算单元11，执行来自光源的散射光子的计算; 光子恢复计算单元12执行计算，当散射每个光子在虚拟环境中与物体表面相撞时，回收包括位置信息和反射信息的光子信息; 光子检索单元22，当移动体移动到生成的虚拟环境视频图像中时，在外观部分和隐藏部分检索光子; 跟踪检索到的光子以产生外观部分和隐藏部分的每个像素的颜色信号的照度计算单元23; 以及合成处理单元24，通过使用由计算单元23对出现部分和隐藏部分的每个像素产生的颜色信号，并且通过使用由计算单元12为每个像素生成的颜色信号来生成虚拟环境视频图像在外观部分和隐蔽部分之外的部分。版权所有（C）2010，JPO＆INPIT

25. 发明专利

JP2009093341A Recognition reproduction device and program, and traffic flow simulation device and program 审中-公开
标题翻译：识别生成设备和程序，以及交通流程仿真设备和程序
公开(公告)号：JP2009093341A
公开(公告)日：2009-04-30
申请号：JP2007262177
申请日：2007-10-05
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： MACHIDA TAKASHI , KURAHASHI TETSUO , AGA MASAMI , SAKAI HIDEKI , SATOMI YOHEI
IPC分类号： G08G1/00
摘要： PROBLEM TO BE SOLVED: To faithfully reproduce recognition of a driver by using an active and passive viewing action.
SOLUTION: A traffic flow simulation device is provided with: an active visual behavior reproduction part 12 for determining a plurality of viewing directions to be viewed by a driver based on the combination of estimated vehicle action, a positional relation between a vehicle and an intersection and vehicle behavior; and a state determination part 11 for determining timing to decide the optimal visual line direction from among a plurality of visual lines determined by the active visual behavior reproduction part 12 based on driver characteristics showing the driving characteristics of the driver and the behavior state of a traveling object to be reproduced.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过使用主动和被动观察动作来忠实地再现驾驶员的识别。解决方案：交通流模拟装置具有：主动视觉行为再现部分12，用于基于估计的车辆动作，车辆和车辆的位置关系的组合来确定驾驶员要观看的多个观察方向; 交叉路口和车辆行为; 以及状态判定部11，其基于表示驾驶员的驾驶特性的驾驶员特性和行驶状态的行为状态，确定从由活动视觉行为再现部12确定的多个视线中确定最佳视线方向的定时对象被复制。版权所有（C）2009，JPO＆INPIT

26. 发明专利

JP2008217113A Accident occurrence prediction simulation device, method and program, and security system evaluation device and accident alarm device 有权
标题翻译：事故发生预测模拟装置，方法和程序以及安全系统评估装置和事故报警装置
公开(公告)号：JP2008217113A
公开(公告)日：2008-09-18
申请号：JP2007050059
申请日：2007-02-28
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： MORI HIROKO , KURAHASHI TETSUO , KITAOKA HIRONOBU , IWASE TATSUYA , INAMORI MINORU , MACHIDA TAKASHI , OBANA MASUMI , SASAKI KAZUYA , UECHI MASAAKI , YONEKAWA TAKASHI
IPC分类号： G08G1/00
摘要： PROBLEM TO BE SOLVED: To perform the simulation of a traffic accident by making an accident occur based on the accident factor of a real accident.
SOLUTION: An error induction event generation part 22 acquires an environment or circumstances from a road environment preparation part 21, and acquires driver attributes from a driver model part 24. The error induction event generation part 22 extracts an "external/internal phenomenon" and "basic generation frequency" corresponding to the acquired environment, circumstances and driver attributes by referring to an error induction event database 13, and decides whether or not an error induction event is generated by using the extracted information. When the error induction event is generated, an error induction event and its duration are determined. An event-classified driver capability setting part 23 extracts the event (external/internal event) corresponding to an error induction event from a driver capability database, and sets driver capability based on the event, and controls the driver model part 24. The driver model part 24 controls the behavior of a vehicle based on the driver capability.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：根据真实事故的事故因素，发生意外事故进行交通事故模拟。解决方案：误差感应事件产生部分22从道路环境准备部分21获取环境或环境，并从驾驶员模型部分24获取驾驶员属性。误差感应事件产生部分22提取“外部/内部现象参照误差感应事件数据库13对应于所获取的环境，环境和驾驶员属性的“基本生成频率”，并且通过使用所提取的信息来判定是否生成错误感应事件。当产生误差感应事件时，确定误差感应事件及其持续时间。事件分类驾驶员能力设定部23从驾驶员能力数据库中提取与错误感应事件对应的事件（外部/内部事件），并根据事件设定驾驶员能力，并控制驾驶员模型部分24.驾驶员模型第24部分基于驾驶员能力来控制车辆的行为。版权所有（C）2008，JPO＆INPIT

27. 发明专利

JP2008171358A Traffic simulation device 有权
标题翻译：交通模拟装置
公开(公告)号：JP2008171358A
公开(公告)日：2008-07-24
申请号：JP2007006311
申请日：2007-01-15
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： KITAOKA HIRONOBU , MORI HIROKO , IWASE TATSUYA , KURAHASHI TETSUO , YONEKAWA TAKASHI , SASAKI KAZUYA , UECHI MASAAKI , OBANA MASUMI
IPC分类号： G08G1/00
摘要： PROBLEM TO BE SOLVED: To provide a traffic simulation device allowing easy simulation of various road situations.
SOLUTION: An operation range derivation rule program for deriving an operation range selectable as operation of a vehicle model when an attention target is recognized by the vehicle model is previously stored in a rule information storage part 22, the operation range derivation rule program of the attention target recognized from the virtually traveling vehicle model is read from the rule information storage part 22 by a rule information reading part 26 according to the road situation set as a simulation target, the operation range selectable as the operation of the vehicle model is derived by an operation range derivation part 30 based on the read operation range derivation rule program, and the operation of the vehicle model is determined by an operation determination part 42 based on the derived operation range.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种允许容易地模拟各种道路情况的交通模拟装置。解决方案：当在车辆模型识别到注意目标时，导出可选择作为车辆模型的操作的操作范围导出规则程序预先存储在规则信息存储部分22中，操作范围导出规则程序根据设定为模拟目标的道路情况，通过规则信息读取部26从规则信息存储部22读取从虚拟行驶车辆型号识别出的关注对象的情况下，作为车辆型号的操作而选择的操作范围为基于读取操作范围导出规则程序由操作范围推导部分30导出，并且基于导出的操作范围由操作确定部分42确定车辆模型的操作。版权所有（C）2008，JPO＆INPIT

28. 发明专利

JP2008171357A Traffic simulation device 有权
标题翻译：交通模拟装置
公开(公告)号：JP2008171357A
公开(公告)日：2008-07-24
申请号：JP2007006310
申请日：2007-01-15
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： KITAOKA HIRONOBU , MORI HIROKO , IWASE TATSUYA , KURAHASHI TETSUO , YONEKAWA TAKASHI , SASAKI KAZUYA , UECHI MASAAKI , OBANA MASUMI
IPC分类号： G08G1/00
CPC分类号： G08G1/166 , G08G1/165
摘要： PROBLEM TO BE SOLVED: To provide a traffic simulation device allowing highly accurate simulation of a traffic state. SOLUTION: An attention target to be paid with attention when a driver travels a vehicle model is retrieved by an attention target retrieval part 60, an attention target recognized by the driver is selected from the retrieved attention targets by a recognition attention target selection part 64 and a driver recognition attention target selection part 68 based on ability information of the driver set by a data generation part 13, and operation of the vehicle model is determined by an operation determination part 42 based on the selected attention target. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供允许对交通状态的高精度模拟的交通模拟装置。解决方案：当驾驶员行驶在车辆模型时要关注的注意目标由注意目标检索部分60检索，通过识别注意目标选择从所检索的注意目标中选择驾驶员识别的注意目标基于由数据生成部13设定的驾驶员的能力信息，驾驶员识别注意目标选择部68，基于所选择的关注对象，由操作判定部42确定车辆模型的动作。版权所有（C）2008，JPO＆INPIT

29. 发明专利

JP2012198774A Normative vehicle speed calculating device and program 有权
标题翻译：正常车速计算装置和程序
公开(公告)号：JP2012198774A
公开(公告)日：2012-10-18
申请号：JP2011062698
申请日：2011-03-22
申请人： Toyota Central R&D Labs Inc , 株式会社豊田中央研究所
发明人： SHIMIZU TSUKASA , OHAMA YOSHIKO , KURAHASHI TETSUO
IPC分类号： G08G1/16
摘要： PROBLEM TO BE SOLVED: To calculate a normative vehicle speed which is tough even to an unknown scene.SOLUTION: An intersection detecting section 36 detects an intersection and a shape of the intersection within an object area in front of a self vehicle. When the intersection is detected, a road environment detecting section 40 detects, on the detected intersection, a road environment feature amount related to the shape of the intersection and road environment in the periphery of the intersection. A normative vehicle speed calculating section 44 calculates a weighted linear sum using the detected road environment feature amount and a predetermined weighting and calculates a vehicle speed to be a norm when passing the intersection.
摘要翻译：要解决的问题：计算即使对于未知场景也是艰难的标准车速。解决方案：交叉路口检测部36检测自车前方的物体区域内的交点和交叉路口的形状。当检测到交点时，道路环境检测部40在检测到的交叉路口上检测与交叉路口周围的交叉路口的形状和道路环境有关的道路环境特征量。规范车速计算部44使用检测到的道路环境特征量和规定的权重来计算加权线性和，并且在通过交叉路口时将车速计算为范数。版权所有（C）2013，JPO＆INPIT

30. 发明专利

JP2009282702A Driving support device 审中-公开
标题翻译：驱动支持设备
公开(公告)号：JP2009282702A
公开(公告)日：2009-12-03
申请号：JP2008133444
申请日：2008-05-21
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： MORI HIROKO , KITAOKA HIRONOBU , KURAHASHI TETSUO , AGA MASAMI , SAKAI HIDEKI , SATOMI YOHEI
IPC分类号： G08G1/16 , B60R21/00
CPC分类号： G08G1/166
摘要： PROBLEM TO BE SOLVED: To avoid an accident by performing suitable driving support in consideration of operating characteristics of a driver. SOLUTION: Operating characteristics of the driver for its own-vehicle are stored in a characteristic memory 20, and operating characteristics of drivers of surrounding vehicles and behavior characteristics of pedestrians are acquired by a surrounding vehicle characteristic acquisition section 18. Surrounding environment information is acquired by a surrounding environment collection section 12, and own-vehicle information is acquired by an own-vehicle information collection section 14. Surrounding vehicle information is acquired by a surrounding vehicle information collection section 16. A operation condition optimization section 22 determines operation conditions for operating a driving support on the basis of the operating characteristics stored in the characteristic memory 20 and the operating characteristics or the behavior characteristics acquired by the surrounding vehicle characteristics acquisition section 18. A driving support control section 28 determines whether or not the acquired surrounding environment information, own-vehicle information, and surrounding vehicle information satisfy operation conditions. When the operation conditions are satisfied, driving support is performed by a driving control section 24 or a warning output section 26. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了通过考虑驾驶员的操作特性来执行适当的驾驶支持来避免事故。解决方案：本车辆的驾驶员的操作特性被存储在特征存储器20中，周围车辆的驾驶员的行驶特性和行人的行为特性由周围车辆特性获取部分18获取。环境信息由周边环境收集部12获取，并且本车信息由本车信息收集部14获取。周围车辆信息由周围车辆信息收集部16获取。运转条件优化部22判定运转条件用于基于存储在特征存储器20中的操作特性和由周围车辆特性获取部分18获取的操作特性或行为特性来操作驾驶支持。驾驶支持控制部分28确定是否 e获取周边环境信息，本车信息和周围车辆信息满足运行条件。当满足操作条件时，驾驶支持由驾驶控制部分24或警告输出部分26执行。版权所有：（C）2010，JPO＆INPIT

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