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1. 发明专利

JP2002362271A EQUIPMENT, PROGRAM, AND RECORDING MEDIUM FOR VEHICLE PARKING GUIDE 失效
公开(公告)号：JP2002362271A
公开(公告)日：2002-12-18
申请号：JP2001172730
申请日：2001-06-07
申请人： DENSO CORP , NIPPON SOKEN
发明人： ISHIKAWA TETSUTOSHI , YANAGAWA HIROHIKO , IMANISHI KATSUYUKI
IPC分类号： B60R21/00 , B60R1/00 , B62D6/00 , B62D101/00 , B62D113/00 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide vehicle parking guide equipment capable of supporting a driver so that a proper parking operation can be performed even if the level of operating skill of the driver is low. SOLUTION: This vehicle parking guide equipment 1 is so formed that a driver can set a target parking route by an input operation from a touch panel 8 and a moving route through which a vehicle actually travels can be detected based on a vehicle speed sensor 21 and a steering sensor 23. The steering load of the vehicle which is a reaction against the steering operation of the driver is controlled so that the moving route through which the vehicle actually travels becomes the target parking route. By controlling the steering load like this, the steering operation can be prevented from being performed in the direction that the moving route is apart from the target parking route to suppress the steering operation in the inappropriate direction by the driver. Thus the moving route through which the vehicle actually travels can be suppressed from being deviated from the target parking route.

2. 发明专利

JP2002283913A VEHICLE PERIPHERY INDICATION DEVICE, PROGRAM AND RECORDING MEDIUM 失效
公开(公告)号：JP2002283913A
公开(公告)日：2002-10-03
申请号：JP2001096349
申请日：2001-03-29
申请人： DENSO CORP , NIPPON SOKEN
发明人： ISHIKAWA TETSUTOSHI , YANAGAWA HIROHIKO , IMANISHI KATSUYUKI
IPC分类号： B60R21/00 , B60R1/00 , G06T1/00 , G06T7/20 , G06T17/05 , G08G1/16 , G06T17/50
摘要： PROBLEM TO BE SOLVED: To provide a vehicle periphery indication device easily loaded on an existing vehicle at a low cost, capable of expecting a predicated course of the vehicle without providing a sensor for detecting a steering angle of a steering wheel of the vehicle. SOLUTION: The vehicle periphery indication device 1 accumulates a vehicle movement parameter calculated using a bird's-eye view images at different photographed times by performing an expected course calculation processing, discriminates a movement track the vehicle C in the past based on the vehicle movement parameter accumulated and expects an expected course based on the discriminated movement track in the past. Namely, the expected course, i.e., a movement track in the future of the vehicle is expected based on the variation of the images photographed. Therefore, according to the vehicle periphery indication device 1, since a sensor such as a steering angle sensor of a steering, etc., is not necessary to be provided on the vehicle, an increase of the number of part of the device can be suppressed to suppress a cost increase. An additional device to an existing vehicle can be relatively easily realized.

3. 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

4. 发明专利

JP2003009141A Processing device for image around vehicle and recording medium 有权
标题翻译：用于车辆图像和记录介质的处理装置
公开(公告)号：JP2003009141A
公开(公告)日：2003-01-10
申请号：JP2001195135
申请日：2001-06-27
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： G01B11/26 , B60R1/00 , G06T3/00 , G06T7/20 , H04N5/225 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a processing device for an image around a vehicle and a recording medium capable of forming an image of a part outside of the visual field of a camera and reducing burden of computing. SOLUTION: In step 110, coordinate transformation is applied to an image picked up with a camera 1 to form a bird's eye view image. In step 120, a first bird's eye view image is stored in an image memory B, and a second bird's eye view image is stored in an image memory B. In step 130, motion vectors are calculated by a method for matching the divided areas using the first and second bird's eye view images. In step 150, it is determined whether the average value of the motion vectors is equal to or more than a decision value K. In step 160, the center of movement of the vehicle is calculated. In step 170, an angle θ of movement of the vehicle is calculated. In step 180, a previous combined bird's eye view image of an image memory C is moved to form a bird's eye view image after being moved. In step 200, the bird's eye view image after being moved is combined with the second bird's eye view image to form a combined bird's eye view image.
摘要翻译：要解决的问题：提供一种用于车辆周围的图像的处理装置和能够形成摄像机的视野以外的部分的图像的记录介质，并且减少计算的负担。解决方案：在步骤110中，将坐标变换应用于用相机1拍摄的图像，以形成鸟瞰图。在步骤120中，将第一鸟瞰图图像存储在图像存储器B中，并且将第二鸟瞰图图像存储在图像存储器B中。在步骤130中，通过用于使用第一只和第二只鸟瞰图。在步骤150中，确定运动矢量的平均值是否等于或大于判定值K.在步骤160中，计算车辆的运动中心。在步骤170中，计算车辆的移动角度θ。在步骤180中，移动图像存储器C的先前组合的鸟瞰图图像以在移动之后形成鸟瞰图图像。在步骤200中，将移动后的鸟瞰图与第二鸟瞰图图像组合，形成组合的鸟瞰图。

5. 发明专利

JP2003189291A IMAGE PROCESSOR FOR AREA AROUND VEHICLE AND RECORDING MEDIUM 审中-公开
公开(公告)号：JP2003189291A
公开(公告)日：2003-07-04
申请号：JP2001384587
申请日：2001-12-18
申请人： DENSO CORP , NIPPON SOKEN
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO , ISHIKAWA TETSUTOSHI
IPC分类号： B60R21/00 , B60R1/00 , G06T1/00 , G06T3/00 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide an image processor used for the area around a vehicle and capable of displaying a conspicuous image by converting a birds-eye view image to an image similar to that photographed with a camera or the like and a recording medium. SOLUTION: Step 140 moves a first birds-eye view image stored in an image memory B based on the degree of the movement of a vehicle to obtain the birds-eye view image obtained after moving the vehicle. Step 160 composites the birds-eye view image obtained after moving the vehicle and a second birds- eye view image to prepare a composite birds-eye view image. Step 180 applies reverse birds-eye view conversion to the composite birds-eye view image to prepare a projected image. Step 190 stores the projected image in an image memory C. Step 200 adds an image displaying the vehicle to display the projected image stored in the image memory C on a monitor 3. COPYRIGHT: (C)2003,JPO

6. 发明专利

JP2003006621A Vehicle periphery image processor and recording medium 有权
标题翻译：车辆外围图像处理器和记录介质
公开(公告)号：JP2003006621A
公开(公告)日：2003-01-10
申请号：JP2001186590
申请日：2001-06-20
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： YANAGAWA HIROHIKO , ISHIKAWA TETSUTOSHI , IMANISHI KATSUYUKI
IPC分类号： B60R21/00 , B60R1/00 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicle periphery image processor and a recording medium, with which the position of a vehicle on a road or the like can be easily recognized in forward traveling of the vehicle or the like.
SOLUTION: In a step 100, it is decided whether a shift position shows forward moving or not. In a step 110, the coordinates of an image photographed by a camera 1 are transformed and a back bird's-eye view image is obtained. In a step 120, processing is performed for moving the back bird's-eye view image to the front of the vehicle for a prescribed moving amount, and an estimated bird's-eye view image is prepared. In a step 130, the position of the vehicle is shifted just for the movement of the estimated bird's-eye view image and a synthetic image synthesizing the estimated bird's-eye view image and the display of the vehicle is prepared. In a step 140, the synthetic image is displayed on a monitor 3 so that the vehicle can be displayed on the center of a display picture.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：提供一种车辆周边图像处理器和记录介质，通过该车辆周边图像处理器和记录介质，可以在车辆的前进行驶等中容易地识别出道路等上的车辆的位置。解决方案：在步骤100中，确定换档位置是否显示向前移动。在步骤110中，对照相机1拍摄的图像的坐标进行变换，并且获得后鸟瞰图。在步骤120中，执行用于将后鸟瞰图图像移动到车辆前方达规定移动量的处理，并且准备估计的鸟瞰图图像。在步骤130中，车辆的位置恰好用于估计的鸟瞰图图像的移动和合成估计的鸟瞰图图像的合成图像，并准备车辆的显示。在步骤140中，将合成图像显示在监视器3上，使得车辆可以显示在显示画面的中心。

7. 发明专利

JP2002262280A DISPLAY DEVICE FOR IMAGE BEHIND VEHICLE 失效
公开(公告)号：JP2002262280A
公开(公告)日：2002-09-13
申请号：JP2001056844
申请日：2001-03-01
申请人： DENSO CORP , NIPPON SOKEN
发明人： YANAGAWA HIROHIKO , ISHIKAWA TETSUTOSHI , IMANISHI KATSUYUKI
IPC分类号： B60R21/00 , B60R1/00 , H04N5/225 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a display device for image behind vehicle that a user can select a display method in matching with a sense of a user. SOLUTION: When a shift lever is at a shift position denoting back driving, photographing image data are captured from a camera, applying coordinate conversion to the photographing image data generates display image data denoting an image viewing down a ground face in a vertical direction from the photographing image data denoting an image viewing down the ground face from an obliquely upward direction, and an image memory stores the generated display image data (S110-S130). When an operating mode designated by a changeover switch is a usual mode (S140-Y), the image is displayed in a usual mode where a back drive of the vehicle is set to an upper direction of the monitor image (S150, S160), when the mode is not the usual mode (S140-N), the image is displayed in a vertical inversion mode where the back drive of the vehicle is used for a lower direction of the monitor image (S170, S180).

8. 发明专利

JP2003030627A Vehicle peripheral image processor and recording medium 有权
标题翻译：车辆外围图像处理器和记录介质
公开(公告)号：JP2003030627A
公开(公告)日：2003-01-31
申请号：JP2001215066
申请日：2001-07-16
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 , HAYASHI IKUO , YANAGAWA HIROHIKO , ISHIKAWA TETSUTOSHI
IPC分类号： B60R21/00 , B60R1/00 , G06T1/00 , G06T3/00 , G08G1/16 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a vehicle peripheral image processor estimating and plotting a part off the visual field of a camera for instance and monitoring the periphery of a vehicle in real time, and a recording medium. SOLUTION: In a step 140, a post-movement birds-eye view image is obtained on the basis of the moving amount of the vehicle. In a step 160, the post- movement birds-eye view image and a second birds-eye view image are synthesized and a synthetic birds-eye view image is prepared. In a step 170, an obstacle is detected by an ultrasonic wave sensor 8. In a step 180, image data indicating the obstacle are written at a position where the obstacle is present in the synthetic birds-eye view image. In a step 190, the written synthetic birds-eye view image is stored in an image memory B. In a step 200, an image indicating the vehicle and the image indicating a visual field angle, etc., are taken into consideration and the written synthetic birds-eye view image is displayed on a monitor 5.
摘要翻译：要解决的问题：提供一种车辆周边图像处理器，例如估计和绘制相机视野的一部分并实时监控车辆的周边，以及记录介质。解决方案：在步骤140中，基于车辆的移动量获得后运动鸟瞰图图像。在步骤160中，合成后运动鸟瞰图图像和第二鸟瞰图图像，并且准备合成鸟瞰图图像。在步骤170中，通过超声波传感器8检测出障碍物。在步骤180中，指示障碍物的图像数据被写入合成鸟瞰图中存在障碍物的位置。在步骤190中，将书写的合成鸟瞰图图像存储在图像存储器B中。在步骤200中，考虑指示车辆的图像和指示视场角度的图像等，并且写入合成鸟瞰图图像显示在监视器5上。

9. 发明专利

JP2002373327A Apparatus for processing image around vehicle and recording medium 有权
标题翻译：用于处理车辆图像和记录介质的装置
公开(公告)号：JP2002373327A
公开(公告)日：2002-12-26
申请号：JP2001178776
申请日：2001-06-13
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： G09B29/00 , B60R1/00 , B60R21/00 , G06T1/00 , G06T3/00 , G06T7/00 , H04N5/225 , H04N7/18
CPC分类号： G06T3/00 , B60R1/00 , B60R2300/302 , B60R2300/607 , B60R2300/806 , B60T2201/10 , G06T7/30 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide an apparatus for processing images around a vehicle which draws an image of a part existing out of the visual field of a camera and which can reduce the burden of arithmetic processing, and to provide a recording medium.
SOLUTION: In step 110, an image photographed with a camera 1 is subjected to coordinate transformation to prepare a bird's-eye view. In step 120, bird's-eye view transformation is stored in an image memory A. In step 130, the amount of travel of the vehicle is calculated on the basis of a vehicle speed signal and a yaw rate signal. In step 140, the bird's-eye view stored in an image memory B is shifted to calculate a bird's-eye view image after movement on the basis of the amount of travel of the vehicle. In step 150, a new second bird's-eye view image is read from the image memory A. In step 160, the bird's-eye view image after movement is combined with the second bird's-eye view image to prepare a combined bird's-eye view image. In step 170, the combined bird's-eye view image is stored in the image memory B. In step 180, the combined bird' s-eye view image in the image memory B is displayed on a monitor 5.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：提供一种用于处理车辆周围的图像的装置，其绘制存在于摄像机的视场外的部分的图像，并且可以减轻运算处理的负担，并提供记录介质。解决方案：在步骤110中，对用照相机1拍摄的图像进行坐标变换以制作鸟瞰图。在步骤120中，鸟瞰图变换被存储在图像存储器A中。在步骤130中，基于车速信号和偏航率信号来计算车辆的行驶量。在步骤140中，存储在图像存储器B中的鸟瞰图被移动，以根据车辆的行驶量来计算移动后的鸟瞰图。在步骤150中，从图像存储器A读取新的第二鸟瞰图。在步骤160中，将移动后的鸟瞰图图像与第二鸟瞰图图像组合，以准备组合的鸟瞰图图片。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，将图像存储器B中的组合鸟瞰图图像显示在监视器5上。

10. 发明专利

JP2002262281A DISPLAY DEVICE FOR IMAGE AROUND VEHICLE 失效
公开(公告)号：JP2002262281A
公开(公告)日：2002-09-13
申请号：JP2001056845
申请日：2001-03-01
申请人： DENSO CORP , NIPPON SOKEN
发明人： YANAGAWA HIROHIKO , ISHIKAWA TETSUTOSHI , IMANISHI KATSUYUKI
IPC分类号： B60R21/00 , B60R1/00 , G06T1/00 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a display device for image around vehicle with which as many pieces of information as possible is obtained by effectively utilizing a display screen to display a behavior around a vehicle together with the vehicle. SOLUTION: Coordinate transformation is applied to photographed image data captured from a camera to generate transformed image data denoting a bird's eye view looking down at a ground face in a vertical direction. The transformed image data is compared with display image data denoting an image displayed on a monitor to extract an attached area at the outside of a visual field of the camera and the attached area is composited with a transformed image to generate a peripheral image for updating display on the monitor (S110-S150). The drawing area of the peripheral image and the image drawing position to display its own vehicle are set depending on the size of the attached area, as the size of the attached area is smaller, the area to display a real time image (conversion image) from the camera is extended, and conversely the area to display the image of the area at the outside of the visual field (attached area) is reduced (S160-S170).

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