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1. 发明专利

JP2007112297A System for avoiding collision of vehicle with obstacle 审中-公开
标题翻译：用于避免车辆碰撞的系统
公开(公告)号：JP2007112297A
公开(公告)日：2007-05-10
申请号：JP2005305801
申请日：2005-10-20
申请人： Advics:Kk , Denso Corp , 株式会社アドヴィックス , 株式会社デンソー
发明人： SHIMIZU HIROAKI , YANAGAWA HIROHIKO , MORI YUKIO , KAMIYA KAZUHIRO
IPC分类号： B60T7/12 , B60R1/00 , B60R21/00 , B60T8/171 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To smoothly avoid the collision of a vehicle with an obstacle in the case of stopping the vehicle in a short distance, for example, in driving the vehicle in reverse.
SOLUTION: The system 1 for avoiding the collision of the vehicle with the obstacle is mounted on the vehicle 2, and comprises a control unit 3, an acoustic wave sonar 4, a steering sensor 5, a display device 6, and a brake control section 7. The acoustic wave sonar 4 can detect the existence of the obstacle within the range behind the vehicle 2, and can detect the distance from the vehicle to the obstacle. The control unit 3 predicts the course of the vehicle 2 based on the detected signal of a steering angle output from the steering sensor 5, and judges the risk of the collision of the own vehicle 2 with the obstacle based on the distance from the vehicle to the obstacle and the predicted course, and sets the vehicle speed according to the risk, and further carries out the brake control so as to achieve the set vehicle speed.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：例如在反向驾驶车辆时，为了平稳地避免车辆在短距离停车的情况下车辆与障碍物的碰撞。解决方案：用于避免车辆与障碍物碰撞的系统1安装在车辆2上，并且包括控制单元3，声波声纳4，转向传感器5，显示装置6和制动控制部分7.声波声纳4可以在车辆2后方的范围内检测到障碍物的存在，并且可以检测从车辆到障碍物的距离。控制单元3基于从转向传感器5输出的转向角的检测信号来预测车辆2的行驶路径，并且基于从车辆到车辆的距离来判断本车辆2与障碍物的碰撞的风险障碍物和预测过程，并根据风险设定车速，并进一步执行制动控制，以达到设定的车速。版权所有（C）2007，JPO＆INPIT

2. 发明专利

JP2013211035A Vehicle periphery display device 审中-公开
标题翻译：车辆外围显示设备
公开(公告)号：JP2013211035A
公开(公告)日：2013-10-10
申请号：JP2013105974
申请日：2013-05-20
申请人： Denso Corp , 株式会社デンソー
发明人： YANAGAWA HIROHIKO , HATTORI TOSHIHIRO
IPC分类号： G06T1/00 , B60R1/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicle periphery display device which clearly indicates the correspondence between the right and left in an image of the own vehicle seen from in front of the own vehicle and the real right and left, and displays a synthesis image which allows the correspondence to be more intuitively understood.SOLUTION: A periphery image creating part 21 creates the normal image of a periphery of the own vehicle seen from a view point at in front of the forward direction of the own vehicle, using a rightward image, a leftward image, and a backward image. An illustrated normal image of the own vehicle creating part 22 creates an illustrated normal image of the own vehicle on the basis of the vehicle body information and driving information of the own vehicle, including right-left asymmetrical parts and right-left asymmetrical characters, and indicating the movement of parts moving right-left asymmetrically. A synthesis image outputting part 23 directly synthesizes the normal illustrated image of the own vehicle and the normal periphery image and then transforms the synthesized image into a mirror image. Consequently the periphery image (mirror image) and the illustrated image of the own vehicle (mirror image) are superimposed to create a synthesis image. The created synthesis image is outputted to a monitor 30.
摘要翻译：要解决的问题：提供一种车辆周边显示装置，其清楚地表示从本车辆的前方看到的本车辆的图像和左右的左右对应关系，并且显示合成图像，其中允许对应性更直观地理解。解决方案：周边图像创建部分21使用向右的图像创建从本车前方的视点看到的本车辆的周边的正常图像，向左图像和后向图像。本车辆制造部22的图示的正常图像根据车身信息和本车辆的驾驶信息，包括左右不对称部分和左右不对称角色，形成本车辆的图示正常图像，以及指示部件左右不对称运动。合成图像输出部23直接合成本车辆的正常图示图像和正常周围图像，然后将合成图像变换为镜像。因此，叠加了周边图像（镜像）和自身车辆的图示（镜像）以产生合成图像。所创建的合成图像被输出到监视器30。

3. 发明专利

JP2013186245A 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：JP2013186245A
公开(公告)日：2013-09-19
申请号：JP2012050454
申请日：2012-03-07
申请人： Denso Corp , 株式会社デンソー
发明人： O HEISHIN , YANAGAWA HIROHIKO , TAKEICHI MASAKAZU
IPC分类号： G03B15/00 , B60R1/00 , G03B17/00 , G03B37/00 , H04N5/225 , H04N5/232
CPC分类号： G06K9/00791 , B60R2300/402 , G08G1/16 , G08G1/165
摘要： PROBLEM TO BE SOLVED: To prevent distortion of a composite image due to a change in the attitude of a vehicle mounted with an on-vehicle camera thereon.SOLUTION: Amount of change in position and direction of an on-vehicle camera 20 in a state in which the attitude of a vehicle to a road surface becomes abnormal is estimated (S110). When it is determined that the attitude of the vehicle to the road surface is abnormal, a second parameter showing the real position and direction of the on-vehicle camera 20 is specified from the amount of change in the position and direction of the on-vehicle camera 20 in the state in which the attitude of the vehicle to the road surface becomes abnormal, and video conversion of an image photographed by the on-vehicle camera 20 into an image which looks as if it were photographed by a virtual camera is performed using the second parameter (S112).
摘要翻译：要解决的问题：为了防止由于车载摄像机在其上安装的车辆的姿势的变化而导致的合成图像的变形。解决方案：在状态下的车载照相机20的位置和方向的变化量估计车辆对路面的姿态变得异常的情况（S110）。当确定车辆对路面的姿态异常时，根据车载位置和方向的变化量来指定显示车载照相机20的实际位置和方向的第二参数在车辆对路面的姿势变得异常的状态下，摄像机20进行视频转换，将由车载摄像机20拍摄的图像转换为仿佛由虚拟摄像机拍摄的图像，使用第二参数（S112）。

4. 发明专利

JP2012198857A Approaching object detector and approaching object detection method 有权
标题翻译：接近目标检测器和对象检测方法
公开(公告)号：JP2012198857A
公开(公告)日：2012-10-18
申请号：JP2011064048
申请日：2011-03-23
申请人： Denso It Laboratory Inc , Denso Corp , 株式会社デンソー , 株式会社デンソーアイティーラボラトリ
发明人： SATO IKURO , YAMANO CHIHARU , YANAGAWA HIROHIKO
IPC分类号： G06T7/20 , B60R1/00 , B60R21/00 , G06T1/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide an approaching object detector capable of detecting an approaching object with a light processing load irrespective of a positional relation between an own vehicle and the approaching object and whether or not the own vehicle moves.SOLUTION: An approaching object detector includes: a feature point extraction unit (432) for extracting feature points from two images obtained by imaging the surroundings of a vehicle (10) by an imaging unit (2) at different time; an observation movement vector calculation unit (435) for calculating an observation movement vector, on the images, of the same object between the two images from a feature point of the object; a minimum apparent movement vector calculation unit (434) for calculating the minimum value of an apparent movement vector of an object corresponding to each feature point caused by the movement of the imaging unit (2); a movement vector correction unit (436) for calculating a correction movement vector by subtracting the minimum value of the apparent movement vector from the observation movement vector for each feature point; and a determination unit (437) for determining whether an object corresponding to the correction movement vector is a moving object approaching the vehicle (10).
摘要翻译：要解决的问题：提供一种接近的物体检测器，其能够利用光处理负载检测接近物体，而与本车辆和接近物体之间的位置关系无关，以及本车辆是否移动。一种接近对象检测器，包括：特征点提取单元，用于从不同时间由成像单元（2）对车辆周围环境进行成像获得的两个图像中提取特征点; 观察运动矢量计算单元，用于从所述对象的特征点计算所述两个图像之间的相同对象的图像上的观察运动矢量; 用于计算由所述摄像单元（2）的移动引起的与每个特征点对应的物体的视在运动矢量的最小值的最小视在运动矢量计算单元（434）。运动矢量校正单元，用于通过从每个特征点的观察运动矢量中减去视在运动矢量的最小值来计算校正运动矢量; 以及确定单元（437），用于确定与所述校正运动矢量相对应的对象是否是接近所述车辆（10）的运动物体。版权所有（C）2013，JPO＆INPIT

5. 发明专利

JP2012146146A Moving object detection apparatus 有权
标题翻译：移动物体检测装置
公开(公告)号：JP2012146146A
公开(公告)日：2012-08-02
申请号：JP2011004358
申请日：2011-01-12
申请人： Denso Corp , Denso It Laboratory Inc , 株式会社デンソー , 株式会社デンソーアイティーラボラトリ
发明人： SATO IKURO , YAMANO CHIHARU , YANAGAWA HIROHIKO
IPC分类号： G08G1/16 , G01B11/00 , G06T7/20
摘要： PROBLEM TO BE SOLVED: To accurately detect a moving object traversing a travel direction of a vehicle from an image photographed by photographing means mounted on the vehicle, without using a radar.SOLUTION: An angle between a line segment, which corresponds to a travel direction of a vehicle and connects the infinite point of an image and the focal point of a video camera 10, and a line segment, which corresponds to the direction of a real motion vector of a moving object viewed from the vehicle and connects the disappearance point of each feature point and the focal point of the video camera 10, is calculated as a relative approach angle of each feature point with respect to the travel direction of the vehicle. Then, it is determined whether the moving object is an object traversing a route of the vehicle, depending on whether the calculated relative approach angle of each feature point is equal to or more than a prescribed threshold value θ.
摘要翻译：要解决的问题：不使用雷达，从安装在车辆上的拍摄装置拍摄的图像精确地检测从车辆的行驶方向行驶的移动物体。解决方案：对应于车辆的行进方向并且连接图像的无限点和摄像机10的焦点的线段之间的角度和对应于视频照相机10的方向的线段计算从车辆观察并连接每个特征点的消失点和摄像机10的焦点的运动物体的实际运动矢量，作为每个特征点相对于摄像机10的行进方向的相对接近角度车辆。然后，根据所计算出的各特征点的相对接近角度是否为规定的阈值θ，确定移动物体是否是穿过车辆的路线的物体。个。版权所有（C）2012，JPO＆INPIT

6. 发明专利

JP2009288152A Calibration method of on-vehicle camera 有权
标题翻译：车载摄像机校准方法
公开(公告)号：JP2009288152A
公开(公告)日：2009-12-10
申请号：JP2008142665
申请日：2008-05-30
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO
IPC分类号： G01B11/26 , B60R1/00 , G06T1/00 , H04N5/232 , H04N7/18
CPC分类号： H04N17/002 , G06K9/00791 , G06K9/209 , G06T1/0007 , G06T7/80 , G06T2207/30208 , G06T2207/30252 , H04N5/247
摘要： PROBLEM TO BE SOLVED: To provide a calibration method of an on-vehicle camera for easily adjusting the on-vehicle camera, and dispensing with a large-scale environmental facility. SOLUTION: A plurality of installation patterns 13 whose shapes or position relations are determined beforehand are provided on the ground, and a vehicle is stopped near the installation patterns 13. Then, the installation patterns 13 are photographed by cameras 1 in the vehicle, and a relation between the cameras 1 in the vehicle and the installation patterns 13 or the like is determined by utilizing an image obtained by performing bird's-eye view conversion of the photographed image, to thereby determine automatically the attitude of each camera 1. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种车载摄像机的校准方法，用于容易地调整车载摄像机，并且分配大型环境设施。解决方案：将地面上确定了其形状或位置关系的多个安装图案13设置在地面上，并且车辆在安装图案13附近停止。然后，车辆中的照相机1拍摄安装图案13 ，并且通过利用通过执行拍摄图像的鸟瞰图转换获得的图像来确定车辆中的照相机1与安装图案13等之间的关系，从而自动确定每个照相机1的姿态。 P>版权所有（C）2010，JPO＆INPIT

7. 发明专利

JP2006252577A Map data generating apparatus 审中-公开
标题翻译：地图数据生成装置
公开(公告)号：JP2006252577A
公开(公告)日：2006-09-21
申请号：JP2006132441
申请日：2006-05-11
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO , ISHIKAWA TETSUTOSHI
IPC分类号： G06T3/00 , B60R1/00 , G06T1/00 , G08G1/16 , H04N5/225 , H04N5/232
摘要： PROBLEM TO BE SOLVED: To provide a vehicle surrounding image processor and recording medium capable of drawing a part outside a visual field of a camera and reducing loads on arithmetic processing. SOLUTION: In a step 110, coordinate transformation of an image photographed by the camera 1 is performed to create a bird's-eye view image. In a step 120, the bird's-eye view conversion is stored in an image memory A. In a step 130, a moving amount of a vehicle is obtained on the basis of a vehicle speed signal and a yaw rate signal. In a step 140, an moved bird's-eye view image is obtained by moving the bird's-eye view being stored into an image memory B on the basis of the moving amount of the vehicle. In a step 150, a new second bird's-eye view image is read from the image memory A. In a step 160, the moved bird's-eye view image and the second bird's-eye view image are synthesized to create a composed bird's-eye view. In a step 170, the synthesized bird's-eye view image is stored in the image memory B. In a step 180, the synthesized bird's-eye view image is displayed to a monitor 5 together with an image showing the vehicle and an image showing an angle of field of the camera 1. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够在摄像机的视野外部绘制一部分的图像处理器和记录介质的车辆，并减少算术处理的负担。解决方案：在步骤110中，执行由照相机1拍摄的图像的坐标变换以创建鸟瞰图图像。在步骤120中，鸟瞰图转换被存储在图像存储器A中。在步骤130中，基于车速信号和横摆率信号获得车辆的移动量。在步骤140中，通过基于车辆的移动量将存储在图像存储器B中的鸟瞰视图移动来获得移动的鸟瞰图。在步骤150中，从图像存储器A中读取新的第二鸟瞰图图像。在步骤160中，合成移动的鸟瞰图图像和第二鸟瞰图图像，以创建组合的鸟瞰图视图。在步骤170中，将合成的鸟瞰图图像存储在图像存储器B中。在步骤180中，将合成的鸟瞰图图像与显示车辆的图像一起显示给监视器5，摄像机的视场角度1.版权所有（C）2006，JPO＆NCIPI

8. 发明专利

JP2006203817A Multicamera system 审中-公开
标题翻译： MULTICAMERA系统
公开(公告)号：JP2006203817A
公开(公告)日：2006-08-03
申请号：JP2005016064
申请日：2005-01-24
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： MIMA NORIO , YANAGAWA HIROHIKO , FUJITA MITSURU
IPC分类号： H04N7/18 , H04N5/225 , H04N5/232
摘要： PROBLEM TO BE SOLVED: To provide a multicamera system in which various operations of a plurality of IEEE1394 cameras can be synchronized via a network connected by IEEE1394.
SOLUTION: A display issues an isochronous packet (Vsync packet) for synchronization for all the 1394 cameras connected to the network synchronously with a vertical synchronizing signal (Vsync) of the display and transmits the Vsync packet onto the network. Each of the 1394 cameras carries out processing for synchronizing a shutter timing and a video data transmission timing with a reception timing of the Vsync packet as a criterion.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种多摄像机系统，其中多个IEEE1394摄像机的各种操作可以经由IEEE1394连接的网络同步。解决方案：显示器同时显示连接到网络的所有1394摄像机的等时数据包（Vsync数据包），与显示器的垂直同步信号（Vsync）同步，并将Vsync数据包发送到网络上。 1394相机中的每一个执行用于使快门时序和视频数据发送定时与Vsync分组的接收定时同步的处理作为标准。版权所有（C）2006，JPO＆NCIPI

9. 发明专利

JP2006160126A Vehicle information collection system 有权
标题翻译：车辆信息采集系统
公开(公告)号：JP2006160126A
公开(公告)日：2006-06-22
申请号：JP2004356028
申请日：2004-12-08
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： FUKUI SHINJI , HATTORI TOSHIHIRO , IMANISHI KATSUYUKI , YANAGAWA HIROHIKO
IPC分类号： B60R16/023 , B60R1/00 , B60R11/02 , B62D41/00 , H04L12/28 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a vehicle information collection system capable of reducing the cost when the system is mounted on a vehicle. SOLUTION: Network information transmitted on a vehicular network 203 is transmitted to a terminal side communication IF 105 of a communication terminal 100 with an image recorder via a network IF 205 and a vehicle side communication IF 201. The vehicle side communication IF 201 and the terminal side communication IF 105 perform transmission and reception through non-contact radio waves (for example, radio waves and infrared rays). COPYRIGHT: (C)2006,JPO&NCIPI

10. 发明专利

JP2005142657A Apparatus for controlling display of surrounding of vehicle 有权
标题翻译：用于控制车辆周边显示的装置
公开(公告)号：JP2005142657A
公开(公告)日：2005-06-02
申请号：JP2003374595
申请日：2003-11-04
申请人： Denso Corp , 株式会社デンソー
发明人： YANAGAWA HIROHIKO
IPC分类号： B60R11/02 , B60R1/00 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide an image processing unit which displays a photographed image around a vehicle and an image of its own vehicle on an on-vehicle monitor and is capable of changing the form of the displayed image of its own vehicle.
SOLUTION: The image processing unit accepts settings as to the form of its own vehicle such as a vehicle model, the total length, total width, and propriety of display magnification of the vehicle and generates an image of its own vehicle to be displayed on a display apparatus on the basis of the accepted settings. Then the image processing unit displays the photographed image of the surroundings of the vehicle and the generated image of its own vehicle on an on-vehicle monitor. Further, in the case of parking, the image processing unit displays the image of the vehicle whose door is open on the on-vehicle monitor.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种图像处理单元，其在车载监视器上显示车辆周围的拍摄图像和其本车辆的图像，并且能够改变其本车辆的显示图像的形式。
解决方案：图像处理单元接受关于车辆形式的车辆模型，总长度，总宽度和车辆显示放大率的适当性的设置，并且生成其本身的车辆的图像基于接受的设置在显示装置上显示。然后，图像处理单元在车载监视器上显示车辆周围环境的拍摄图像和其自身车辆的生成图像。此外，在停车的情况下，图像处理单元在车载监视器上显示门打开的车辆的图像。版权所有（C）2005，JPO＆NCIPI

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