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11. 发明授权

US4614248A Motor-driven power steering system having a stable output torque 失效
标题翻译：具有稳定输出转矩的电动机动力转向系统
公开(公告)号：US4614248A
公开(公告)日：1986-09-30
申请号：US638668
申请日：1984-08-08
申请人： Toshiaki Kakinami , Tomio Yasuda
发明人： Toshiaki Kakinami , Tomio Yasuda
IPC分类号： B62D5/04 , B62D6/00 , G05D17/02
CPC分类号： B62D5/0463
摘要： An electric motor driven power steering system is provided. The motor is prevented from operating at low torque command levels. After a first predetermined level of command torque is reached, the motor is controlled to generate torque at a predetermined rate less than the torque actually commanded by the vehicle driver. After a second predetermined level of commanded torque is reached, the motor is controlled to generate torque in accordance with the level of torque command. Thus, the phenomenon known as "hunting" and instability of the system at low torque levels are virtually eliminated. The system operates smoothly over its full range of operation and is not affected by rough road surface conditions.
摘要翻译：提供了一种电动机驱动的动力转向系统。防止电机在低扭矩指令级别下运行。在达到第一预定水平的指令扭矩之后，马达被控制以以比车辆驾驶员实际命令的转矩小的预定速度产生转矩。在达到第二预定水平的指令转矩之后，控制电动机以根据转矩指令的水平产生转矩。因此，实际上消除了以低扭矩水平被称为“狩猎”和系统的不稳定性的现象。系统运行平稳，不受路面粗糙的影响。

12. 发明申请

US20100079307A1 PARKING ASSIST DEVICE 审中-公开
标题翻译：停车辅助装置
公开(公告)号：US20100079307A1
公开(公告)日：2010-04-01
申请号：US12631480
申请日：2009-12-04
申请人： Yu Tanaka , Toshiaki Kakinami
发明人： Yu Tanaka , Toshiaki Kakinami
IPC分类号： B60Q1/48
CPC分类号： B62D15/028 , B60T2201/10 , B60W10/20 , B60W40/04 , B62D15/0275
摘要： A parking assist device detecting a parking stall line from an image, which is captured by a capturing portion; setting a parking target position on the basis of the parking stall line; and assisting the vehicle to travel to the parking target position; the parking assist device includes a vehicle detecting portion for detecting a movement of the vehicle, a memorizing portion for memorizing the movement detected by the vehicle detecting portion, as a vehicle moving trajectory, a temporary parking target position estimating portion for assuming a temporary parking target position on the basis of variations of the vehicle moving trajectory, which has been memorized by the memorizing portion, and a parking stall line searching area setting portion for setting a parking stall line searching area, within which a parking stall line is searched on the basis of the temporary parking target position.
摘要翻译：一种停车辅助装置，其从拍摄部分拍摄的图像中检测停车停车线; 基于停车线设定停车目标位置; 并协助车辆前往停车目标位置; 停车辅助装置包括用于检测车辆的移动的车辆检测部分，用于存储由车辆检测部分检测到的运动的存储部分作为车辆移动轨迹，用于假设临时停车目标的临时停车目标位置估计部分基于由记忆部分记忆的车辆移动轨迹的变化的位置，以及停车停车线搜索区域设定部分，用于设置停车停车线搜索区域，停车停车线路搜索区域基于的临时停车目标位置。

13. 发明授权

US07379564B2 Movable body circumstance monitoring apparatus 失效
标题翻译：移动体环境监测仪
公开(公告)号：US07379564B2
公开(公告)日：2008-05-27
申请号：US10738097
申请日：2003-12-18
申请人： Toshiaki Kakinami , Shuji Yamamoto
发明人： Toshiaki Kakinami , Shuji Yamamoto
IPC分类号： G06K9/00 , G01C22/00
CPC分类号： G06T7/20 , G06K9/00812 , G06T7/73 , H04N7/18
摘要： A movable body circumstance monitoring apparatus includes element for capturing an image of a surrounding of a movable body depending upon movement of the movable body, deriving at least four feature points in a specified flat at the image, tracking the feature points in response to movement of the movable body from a first state to a second state, and specifying relative position and posture of the element for capturing the image at the first and second states in response to first flat coordinates of the feature points at the first state and second flat coordinates of the feature points at the second state based upon a tracking result.
摘要翻译：可移动体环境监测装置包括用于根据可移动体的移动捕获可移动体的周围的图像的元件，导出图像中指定平面中的至少四个特征点，响应于图像的移动跟踪特征点可移动体从第一状态到第二状态，并且响应于在第一状态下的特征点的第一平面坐标和第二平面坐标来指定用于在第一状态和第二状态下拍摄图像的元素的相对位置和姿态基于跟踪结果在第二状态下的特征点。

14. 发明申请

US20070107965A1 Device for detecting a road traveling lane 有权
标题翻译：用于检测道路行车道的装置
公开(公告)号：US20070107965A1
公开(公告)日：2007-05-17
申请号：US10572957
申请日：2004-09-22
申请人： Toshiaki Kakinami , Takashi Hirakami , Takihiko Akita
发明人： Toshiaki Kakinami , Takashi Hirakami , Takihiko Akita
IPC分类号： B60T7/16
CPC分类号： G08G1/167 , G06K9/00798 , G06K9/3241 , G06K9/4647 , G06T7/12 , G06T7/73 , G06T2207/10016 , G06T2207/30256
摘要： A device for detecting a road traveling lane, which is capable of stably defining a position of a boundary of a traveling lane. The device has edge point detection means (ED) for detecting a plurality of edge points in a contour on an image, edge histogram producing means (HD) for producing a vertical edge histogram for horizontal elements of the plurality of edge points, block marking line determination means (BD) for determining presence and absence of a block-like marking line on the basis of periodicity of distribution and a combination of distributions of plus edges and minus edges in the vertical edge histogram, and lane boundary edge detection means (MD) for detecting vertical edge points present outside (relative to the center of the traveling lane) of a region where the block-like marking line is present. And, according to lane boundary position defining means (LD), it is so constituted to define a position of a curve fitted to the vertical edge points, as the position of the boundary of the traveling lane.
摘要翻译：一种用于检测道路行驶车道的装置，其能够稳定地限定行驶车道的边界的位置。该装置具有用于检测图像中的轮廓中的多个边缘点的边缘点检测装置（ED），用于产生多个边缘点的水平元素的垂直边缘直方图的边缘直方图产生装置（HD），块标记线确定装置（BD），用于基于分布的周期性和垂直边缘直方图中的正边和负边的分布的组合以及车道边界边缘检测装置（MD）确定块状标记线的存在和不存在，用于检测存在块状标记线的区域外侧（相对于行进车道的中心）的垂直边缘点。并且，根据车道边界位置限定装置（LD），将其作为行驶车道的边界的位置来定义安装在垂直边缘点上的曲线的位置。

15. 发明申请

US20060093239A1 Image processing method and image processing device 审中-公开
标题翻译：图像处理方法及图像处理装置
公开(公告)号：US20060093239A1
公开(公告)日：2006-05-04
申请号：US11259079
申请日：2005-10-27
申请人： Toshiaki Kakinami
发明人： Toshiaki Kakinami
IPC分类号： G06K9/40
CPC分类号： G06T3/0018
摘要： An image processing method processes a captured image, which is captured by a capturing means includes an image processing method for generating a corrected captured image by correcting a distortion appearing within the captured image by use of a MMF model.
摘要翻译：处理由捕捉装置拍摄的拍摄图像的图像处理方法包括：图像处理方法，用于通过使用MMF模型校正出现在拍摄图像内的失真来生成校正的拍摄图像。

16. 发明授权

US06487481B2 Parking assisting apparatus 有权
公开(公告)号：US06487481B2
公开(公告)日：2002-11-26
申请号：US09866757
申请日：2001-05-30
申请人： Yuu Tanaka , Toshiaki Kakinami , Yoshifumi Iwata , Kazushi Konno , Toshiyasu Katsuno , Yuichi Kubota , Osamu Okazaki
发明人： Yuu Tanaka , Toshiaki Kakinami , Yoshifumi Iwata , Kazushi Konno , Toshiyasu Katsuno , Yuichi Kubota , Osamu Okazaki
IPC分类号： G06F700
CPC分类号： B62D15/0275 , B60T2201/10 , B62D15/028
摘要： A parking assisting apparatus displays an image of a rear view from a vehicle, which is acquired by a camera, on a display located in a passenger compartment, thus assisting in a parking procedure. The parking procedure assisted by the parking assisting apparatus is, for example, a parallel parking procedure in which the rotating direction of the steering wheel must be switched. An assumed path along which the vehicle is moved during the parking procedure is determined in accordance with the steering angle of the steering wheel when the parking procedure is started. In the parking procedure, the display indicates a steering information that informs the driver of a timing at which the rotating direction of the steering wheel must be switched, in accordance with the assumed path.

17. 发明授权

US06476730B2 Assistant apparatus and method for a vehicle in reverse motion 有权
标题翻译：用于车辆反向运动的辅助装置和方法
公开(公告)号：US06476730B2
公开(公告)日：2002-11-05
申请号：US09794322
申请日：2001-02-28
申请人： Toshiaki Kakinami , Shoji Kawata
发明人： Toshiaki Kakinami , Shoji Kawata
IPC分类号： B60Q148
CPC分类号： B60R1/00 , B60Q9/005 , B60R2300/302 , B60R2300/305 , B60R2300/806 , B60R2300/8086 , B60T2201/10 , B62D15/0275 , B62D15/028 , H04N7/183
摘要： A parking assist apparatus which enables even an inexperienced driver to park with no difficulty or anxiety assists the parking operation by taking an image rearwardly of a vehicle during the parking operation by a camera, indicating an estimated locus of the vehicle overlapping with the rearward images on a display, indicating a first estimated locus in accordance with a steering angle of the vehicle at an initial stage of the parking operation on the display, fixing the first estimated locus at a predetermined condition to have the locus as an target locus, indicating the second estimated locus varied in accordance with the change of the steering angle during the parking operation on the display, and guiding the second estimated locus to be in accord with a fixed target locus.
摘要翻译：一种停车辅助装置，即使没有经验的驾驶员也能够在没有困难或焦虑的情况下停放，通过摄像机在驻车操作期间通过拍摄车辆后方的图像来辅助驻车操作，指示与后方图像重叠的车辆的估计轨迹显示器，其在显示器上的停车操作的初始阶段指示根据车辆的转向角的第一估计轨迹，将第一估计轨迹固定在预定条件下，使轨迹作为目标轨迹，指示第二估计轨迹根据在显示器上的停车操作期间的转向角的变化而变化，并且引导第二估计轨迹与固定目标轨迹相一致。

18. 发明授权

US08872920B2 Camera calibration apparatus 有权
标题翻译：相机校准装置
公开(公告)号：US08872920B2
公开(公告)日：2014-10-28
申请号：US13256593
申请日：2009-12-18
申请人： Toshiaki Kakinami
发明人： Toshiaki Kakinami
IPC分类号： H04N17/00 , G06T7/00
CPC分类号： G06T7/002 , G06T7/85 , G06T2207/10012 , G06T2207/10048 , G06T2207/20016 , G06T2207/30208 , G06T2207/30256
摘要： A captured image including a preferential calibration index arranged in an exclusive region in a first plane and a non-preferential calibration index arranged in a common region is obtained. First, the coordinate position of the preferential calibration index is detected, and then the coordinate position of the non-preferential calibration index is calculated based on the positional relationship with the detected preferential calibration index. A homography between a captured-image surface of the image surface and the first plane is calculated based on the actual coordinate positions and the calculated coordinate positions representing the coordinates of at least four points, and camera calibration is performed using the homography.
摘要翻译：获得包括布置在第一平面中的专有区域中的优先校准索引和布置在公共区域中的非优先校准索引的捕获图像。首先，检测优先校准指标的坐标位置，然后基于与检测到的优先校准指数的位置关系来计算非优先校准指标的坐标位置。基于实际的坐标位置和表示至少四点的坐标的计算的坐标位置来计算图像表面的拍摄图像表面与第一平面之间的单应性，并且使用单应性来执行相机校准。

19. 发明授权

US08269848B2 Camera calibration method and camera calibration device 有权
标题翻译：相机校准方法和相机校准装置
公开(公告)号：US08269848B2
公开(公告)日：2012-09-18
申请号：US11791282
申请日：2005-11-07
申请人： Toshiaki Kakinami
发明人： Toshiaki Kakinami
IPC分类号： H04N5/228
CPC分类号： G06T7/80
摘要： Planar calibration indices (c1) including coordinate information of at least four points are placed on a first plane (S1), and an image plane of the camera image including the calibration indices is input as a second plane (S2). Points (c2) existing on the second plane and corresponding to predetermined portions of the calibration indices are specified, and homography between the first plane and the second plane is computed, on the basis of the corresponding relationship of the at least four points included commonly in the first plane and the second plane, so that the camera image is calibrated. For example, a device is mounted on a vehicle, and four points, whose arrangement on a plane in 3D space is known, are used as calibration indices, and corresponding four points on the camera image, which correspond to them respectively, is achieved automatically.
摘要翻译：将包括至少四个点的坐标信息的平面校准指标（c1）放置在第一平面（S1）上，并且将包括校准索引的摄像机图像的像平面输入作为第二平面（S2）。指定存在于第二平面上并对应于校准索引的预定部分的点（c2），并且基于通常包括的至少四个点的对应关系来计算第一平面和第二平面之间的单应性第一平面和第二平面，使得相机图像被校准。例如，将装置安装在车辆上，将在3D空间中的平面上的布置已知的四个点用作校准索引，并且分别对应于它们的相机图像上的相应的四个点被自动实现。

20. 发明申请

US20120002057A1 CAMERA CALIBRATION APPARATUS 有权
标题翻译：相机校准装置
公开(公告)号：US20120002057A1
公开(公告)日：2012-01-05
申请号：US13256593
申请日：2009-12-18
申请人： Toshiaki Kakinami
发明人： Toshiaki Kakinami
IPC分类号： H04N17/00
CPC分类号： G06T7/002 , G06T7/85 , G06T2207/10012 , G06T2207/10048 , G06T2207/20016 , G06T2207/30208 , G06T2207/30256
摘要： A captured image including a preferential calibration index arranged in an exclusive region in a first plane and a non-preferential calibration index arranged in a common region is obtained. First, the coordinate position of the preferential calibration index is detected, and then the coordinate position of the non-preferential calibration index is calculated based on the positional relationship with the detected preferential calibration index. A homography between a captured-image surface of the image surface and the first plane is calculated based on the actual coordinate positions and the calculated coordinate positions representing the coordinates of at least four points, and camera calibration is performed using the homography.
摘要翻译：获得包括布置在第一平面中的专有区域中的优先校准索引和布置在公共区域中的非优先校准索引的捕获图像。首先，检测优先校准指标的坐标位置，然后基于与检测到的优先校准指数的位置关系来计算非优先校准指标的坐标位置。基于实际的坐标位置和表示至少四点的坐标的计算的坐标位置来计算图像表面的拍摄图像表面与第一平面之间的单应性，并且使用单应性来执行相机校准。

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