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1. 发明申请

US20150187214A1 DRIVE ASSIST DEVICE 审中-公开
标题翻译：驾驶辅助装置
公开(公告)号：US20150187214A1
公开(公告)日：2015-07-02
申请号：US14418514
申请日：2012-08-01
申请人： Kentaro Ichikawa , Toshiki Kindo , Katsuhiro Sakai , Masahiro Harada , Hiromitsu Urano
发明人： Kentaro Ichikawa , Toshiki Kindo , Katsuhiro Sakai , Masahiro Harada , Hiromitsu Urano
IPC分类号： G08G1/16 , B60R1/00
CPC分类号： G08G1/16 , B60R1/00 , G06K9/00825 , G08G1/09623 , G08G1/166
摘要： A drive assist devices include a display that displays an image around a vehicle imaged by an imaging device installed on the vehicle, a setting unit that sets a target designated by a user on the image as a recognition target, a detection unit that detects a state change of the recognition target on the image in a case where the recognition target is set, and a notification control unit that controls a notification device to notify the user of the detection result in a case where the state change of the set recognition target is detected.
摘要翻译：驱动辅助装置包括显示器，其显示由安装在车辆上的成像装置成像的车辆周围的图像;设置单元，其将由用户指定的图像设置在图像上作为识别对象;检测单元，其检测状态在设定了识别目标的情况下，图像上的识别目标的改变以及在检测到设定的识别目标的状态变化的情况下，控制通知装置通知用户检测结果的通知控制部。

2. 发明授权

US08676487B2 Apparatus for predicting the movement of a mobile body 有权
标题翻译：用于预测移动体的运动的装置
公开(公告)号：US08676487B2
公开(公告)日：2014-03-18
申请号：US13148507
申请日：2010-02-05
申请人： Katsuhiro Sakai , Kazuaki Aso , Masahiro Harada , Toshiki Kindo
发明人： Katsuhiro Sakai , Kazuaki Aso , Masahiro Harada , Toshiki Kindo
IPC分类号： G08G1/16
CPC分类号： B60W40/02 , B60W30/08
摘要： A movement region prediction apparatus includes a mobile body detection device that detects a mobile body around a host vehicle; a prediction device that predicts a movement region of the detected mobile body; and a degree-of-normality acquisition device that acquires degree of normality of a situation of movement of the detected mobile body. The prediction device has a plurality of movement prediction models for predicting the movement region of the mobile body, and selects a movement prediction model from the plurality of movement prediction models based on the degree of normality acquired by the degree-of-normality acquisition device, and predicts the movement region of the mobile body using the selected movement prediction model.
摘要翻译：运动区域预测装置包括：移动体检测装置，其检测主车辆周围的移动体; 预测装置，其预测检测到的移动体的移动区域; 以及获取检测到的移动体的移动状态的正常程度的正常度采集装置。预测装置具有用于预测移动体的移动区域的多个运动预测模型，并且基于由正常度采集装置获取的正常程度从多个运动预测模型中选择运动预测模型，并且使用所选择的运动预测模型来预测移动体的运动区域。

3. 发明授权

US08295604B2 Image search method and device using affine-invariant regions 有权
标题翻译：使用仿射不变区域的图像搜索方法和装置
公开(公告)号：US08295604B2
公开(公告)日：2012-10-23
申请号：US12065445
申请日：2006-08-31
申请人： Katsuhiro Sakai , Ondrej Chum , Jiri Matas
发明人： Katsuhiro Sakai , Ondrej Chum , Jiri Matas
IPC分类号： G06K9/46 , G06K9/00 , G06K9/62 , G06K9/36 , G09G5/00
CPC分类号： G06F17/30259 , G06K9/4671 , G06K9/6211
摘要： An image search method that is robust and fast (with computational complexity of logarithmic order relative to the number of models). The image search method including: extracting a plurality of specific regions possessing such a property that a shape can be normalized regardless of an affine transformation thereof, as affine-invariant regions from one or more learning images; calculating, with respect to a reference affine-invariant region, other neighboring affine-invariant regions as a set; deforming the neighboring affine-invariant regions by a transformation to normalize the shape of the reference affine-invariant region; and outputting the deformed shapes of the neighboring affine-invariant regions, together with combination of the reference affine-invariant region and the neighboring affine-invariant regions.
摘要翻译：一种稳健且快速的图像搜索方法（相对于模型数量的对数顺序的计算复杂度）。所述图像搜索方法包括：提取具有这样的特性的多个特定区域，即，无论其仿射变换，形状可以被归一化，作为来自一个或多个学习图像的仿射不变区域; 相对于参考仿射不变区域计算其他相邻仿射不变区域作为一组; 通过变换使邻近的仿射不变区域变形以使参考仿射不变区域的形状归一化; 并且输出相邻仿射不变区域的变形形状，以及参考仿射不变区域和相邻仿射不变区域的组合。

4. 发明申请

US20120143488A1 VEHICLE OR TRAFFIC CONTROL METHOD AND SYSTEM 审中-公开
标题翻译：车辆或交通控制方法与系统
公开(公告)号：US20120143488A1
公开(公告)日：2012-06-07
申请号：US13390567
申请日：2010-08-31
申请人： Gabriel Othmezouri , Hiromichi Yanagihara , Katsuhiro Sakai , Emmanuel Mazer , Kamel Mekhnacha , Christian Laugier , Christopher Tay Meng Keat
发明人： Gabriel Othmezouri , Hiromichi Yanagihara , Katsuhiro Sakai , Emmanuel Mazer , Kamel Mekhnacha , Christian Laugier , Christopher Tay Meng Keat
IPC分类号： G08G1/16
CPC分类号： B60W30/0956 , B60T7/22 , B60T2201/022 , G06K9/00798 , G06K9/00805 , G06K9/6297
摘要： The invention relates to a vehicle or traffic control method and to a vehicle or traffic control system. The vehicle or traffic control method comprises the steps: a) estimating actual and/or future behavior of a first traffic participant and of a second traffic participant, respectively, the second traffic participant being different from the first traffic participant, b) estimating a trajectory to be taken by the first traffic participant and/or a trajectory to be taken by the second traffic participant, c) determining risk of collision of the first traffic participant relative to the second traffic participant by calculating information adapted for risk assessment of collision of the first traffic participant relative to the second traffic participant, and d) controlling the behavior of the first traffic participant based on the information provided after step a), step b) and/or step c). In this way a probability value is determined which indicates the plausibility that a vehicle or traffic participant might enter into collision within a certain time horizon in the future.
摘要翻译：本发明涉及车辆或交通控制方法以及车辆或交通控制系统。车辆或交通控制方法包括以下步骤：a）分别估计第一交通参与者和第二交通参与者的实际和/或未来行为，第二交通参与者不同于第一交通参与者，b）估计轨迹由第一交通参与者采取和/或由第二交通参与者采取的轨迹，c）通过计算适于风险评估的风险来确定第一交通参与者相对于第二交通参与者的碰撞风险第一交通参与者相对于第二交通参与者，以及d）基于在步骤a），步骤b）和/或步骤c）之后提供的信息来控制第一交通参与者的行为。以这种方式，确定概率值，其表示车辆或交通参与者可能在将来在一定时间范围内进入碰撞的合理性。

5. 发明授权

US06715578B2 Cable steering system 失效
标题翻译：电缆转向系统
公开(公告)号：US06715578B2
公开(公告)日：2004-04-06
申请号：US10306111
申请日：2002-11-27
申请人： Yasuo Shimizu , Katsuhiro Sakai , Atsuhiko Yoneda
发明人： Yasuo Shimizu , Katsuhiro Sakai , Atsuhiko Yoneda
IPC分类号： B62D100
CPC分类号： B62D1/163 , B62D5/006 , B62D5/0409
摘要： A cable steering system is provided in which first control means controls the operation of a power steering motor disposed between Bowden cables and wheels based on a steering torque detected by a steering torque detection means disposed between a steering wheel and the Bowden cables, and a second control means controls the operation of a steering reaction force addition motor that applies a steering reaction torque to the steering wheel. It is possible to prevent deterioration of the steering feel by generating a steering reaction torque by the steering reaction force addition motor so as to compensate for a change in the steering torque while regulating the change in steering responsiveness due to expansion and contraction of the Bowden cables by generating an assist torque by the power steering motor so as to change the steering torque.
摘要翻译：提供了一种电缆转向系统，其中第一控制装置基于由设置在方向盘和鲍登电缆之间的转向转矩检测装置检测到的转向转矩来控制设置在鲍登缆线和车轮之间的动力转向电动机的操作，第二控制装置控制装置控制对方向盘施加转向反作用转矩的转向反作用力追加电动机的动作。通过由转向反作用力添加电动机产生转向反作用转矩，可以防止转向感觉的劣化，从而补偿转向转矩的变化，同时调节由于鲍登缆索的膨胀和收缩引起的转向响应性的变化通过由动力转向电动机产生辅助转矩从而改变转向转矩。

6. 发明授权

US06483442B2 Parking aid system 失效
标题翻译：停车辅助系统
公开(公告)号：US06483442B2
公开(公告)日：2002-11-19
申请号：US09905072
申请日：2001-07-16
申请人： Yasuo Shimizu , Yasuharu Ohyama , Katsuhiro Sakai
发明人： Yasuo Shimizu , Yasuharu Ohyama , Katsuhiro Sakai
IPC分类号： G08G100
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/302 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , B60T2201/10 , B62D15/027
摘要： A parking aid system having a driver initially stop the subject vehicle alongside a target parking position so that a mark provided inside a door coincides with the central line of the target parking position when assisting the driver with left reverse parking. The subject vehicle is a predetermined distance away from an entrance of the target parking position, when the driver turns the operation switch ON. A display unit then displays the target parking position, the subject vehicle position, and an expected parking position. The expected parking position is set at a position that the subject vehicle reaches when reversing with the steering wheel turned fully to the left. Therefore, when the driver moves the subject vehicle forward to a position where the expected parking position coincides with the target parking position and reverses the subject vehicle from that position through 90° while turning the steering wheel fully to the left, the subject vehicle can reliably be guided to the target parking position.
摘要翻译：具有驾驶员的停车辅助系统最初在目标停车位置旁边停止所述车辆，使得当向左驾驶员辅助驾驶员时，设在门内的标记与目标停车位置的中心线重合。目标车辆距离目标停车位置的入口预定距离，当驾驶员将操作开关打开时。然后，显示单元显示目标停车位置，目标车辆位置和预期停车位置。当方向盘完全向左转动时，预期停车位置被设定在当车辆到达时的位置。因此，当驾驶员将目标车辆向前方移动到预定停车位置与目标停车位置一致的位置时，将该车辆从该位置转过90°，同时使方向盘完全向左转动，则本车辆可靠地被引导到目标停车位置。

7. 发明授权

US06186259B1 Automatic steering device for vehicles 有权
标题翻译：汽车自动转向装置
公开(公告)号：US06186259B1
公开(公告)日：2001-02-13
申请号：US09152679
申请日：1998-09-14
申请人： Yasuo Shimizu , Katsuhiro Sakai
发明人： Yasuo Shimizu , Katsuhiro Sakai
IPC分类号： B60S900
CPC分类号： B62D15/0285 , B60T2201/10
摘要： An automatic steering device for a vehicle is provided to prevent an automatically steered vehicle from going out of its predetermined locus of movement as a result of an abnormal output of a movement distance detecting device. An actuator control device controls a steering actuator based upon the distance of movement detected by the movement distance detecting device and upon a locus of movement of the vehicle stored in a storage device. A judging device compares a vehicle speed estimated by a vehicle speed estimating device with an actual vehicle speed calculated by an actual vehicle speed detecting device from the distance of movement based upon the operating condition (shift range, accelerator opening degree and brake operating amount) of the vehicle detected by an operating condition detecting device. When the movement distance detecting device or the actual vehicle speed detecting device is judged to be abnormal, a discontinuing device discontinues the operation for controlling the steering actuator which is based on an actuator control device.
摘要翻译：提供一种用于车辆的自动转向装置，用于防止自动导向的车辆由于移动距离检测装置的异常输出而脱离其预定的运动轨迹。致动器控制装置基于由移动距离检测装置检测的移动距离和存储在存储装置中的车辆的移动轨迹来控制转向致动器。判断装置根据运行状态（换档范围，加速器开度，制动器运转量）将由车速估计装置估计的车速与实际车速检测装置计算出的实际车速与运动距离进行比较车辆由操作条件检测装置检测。当移动距离检测装置或实际车速检测装置被判断为异常时，中断装置中止基于致动器控制装置的用于控制转向致动器的操作。

8. 发明授权

US6102147A Automatic steering system for vehicle 失效
标题翻译：汽车自动转向系统
公开(公告)号：US6102147A
公开(公告)日：2000-08-15
申请号：US59390
申请日：1998-04-14
申请人： Yasuo Shimizu , Katsuhiro Sakai
发明人： Yasuo Shimizu , Katsuhiro Sakai
IPC分类号： B62D6/00 , B60W30/00 , B62D5/04 , B62D15/02 , B62D137/00 , B60S9/00
CPC分类号： B62D15/0285 , B60T2201/10
摘要： In carrying out an automatic steering control for the vehicle, a deviation between an actual locus of movement of a vehicle and a standard locus of movement is corrected, so that the vehicle can be accurately guided to a target position. An automatic steering system for a vehicle is designed so that a steering actuator is driven based on a previously stored standard steering angle, to automatically guide the vehicle to a target position. In this automatic steering system, if the deviation between an actual steering angle of the vehicle which is detected and the standard steering angle, exceeds a predetermined value, the standard steering angle is corrected, so that the deviation is decreased. If the steering actuator is driven based on the corrected standard steering angle, the actual steering angle is corrected, whereby the vehicle can accurately reach the original target position.
摘要翻译：在对车辆进行自动转向控制时，校正车辆的实际运动轨迹与标准运动轨迹之间的偏差，使得车辆能够被精确地引导到目标位置。车辆的自动转向系统被设计成基于先前存储的标准转向角来驱动转向致动器，以便自动地将车辆引导到目标位置。在该自动转向系统中，如果检测到的车辆的实际转向角与标准转向角之间的偏差超过预定值，则校正标准转向角，使得偏差减小。如果基于校正的标准转向角度来驱动转向致动器，则校正实际的转向角度，由此车辆可以准确地达到原始目标位置。

9. 发明授权

US6070684A Automatic steering system for vehicle 失效
标题翻译：汽车自动转向系统
公开(公告)号：US6070684A
公开(公告)日：2000-06-06
申请号：US111766
申请日：1998-07-08
申请人： Yasuo Shimizu , Katsuhiro Sakai
发明人： Yasuo Shimizu , Katsuhiro Sakai
IPC分类号： B62D6/00 , B60W30/00 , B62D5/04 , B62D15/02 , B62D113/00 , B62D119/00 , B62D137/00 , B62D1/00
CPC分类号： B62D15/0285 , B60T2201/10
摘要： A vehicle is prevented from being moved in an unanticipated direction at a target position or a moving direction reversing position on a locus of movement based on an automatic steering operation. When a vehicle has been moved from a start position through a moving-direction reversing position to reach a target position by automatic steering control for moving the vehicle along a previously stored locus of movement, thereby finishing the automatic steering control, a driver further moves the vehicle backwards from the target position to a parking position. At this time, if the driver has his or her hands released from a steering wheel, and the course of movement of the vehicle is disturbed due to an external disturbance such as an undulation in the road surface, the steering angle of a wheel is maintained so that it is not varied from a steering angle at the target position. Further, even when the vehicle has been moved to a position past the moving direction reversing position, the steering angle of the wheel is maintained at the steering angle at the moving direction reversing position.
摘要翻译：基于自动转向操作，防止车辆在未预期的方向上移动到目标位置或移动轨迹上的移动方向反转位置。当通过自动转向控制将车辆从起始位置移动到运动方向反转位置以达到目标位置时，沿着先前存储的运动轨迹移动车辆，从而完成自动转向控制，则驾驶员进一步移动车辆从目标位置向后退到停车位置。此时，如果驾驶员从方向盘释放他或她的手，并且由于诸如路面起伏等外部干扰，车辆的移动过程受到干扰，则保持车轮的转向角度使得其不会在目标位置处的转向角度变化。此外，即使车辆已经移动到超过移动方向反转位置的位置，车轮的转向角也保持在移动方向反转位置处的转向角。

10. 发明授权

US09601020B2 Collision determination device 有权
公开(公告)号：US09601020B2
公开(公告)日：2017-03-21
申请号：US13877337
申请日：2010-10-05
申请人： Kazuaki Aso , Toshiki Kindo , Katsuhiro Sakai , Masahiro Harada
发明人： Kazuaki Aso , Toshiki Kindo , Katsuhiro Sakai , Masahiro Harada
IPC分类号： G08G1/16 , B60W30/095
CPC分类号： G08G1/166 , B60W30/0953 , B60W30/0956 , G08G1/161
摘要： A collision determination device determines the possibility of collision between a host vehicle and the other object on the basis of a shortest arrival time calculated by a shortest arrival time calculation unit and a passage time at each point of the host vehicle acquired by a vehicle route candidate acquisition unit. In this way, even if a locus to be taken by the other object is not generated, the shortest arrival time at which the other object can arrive at each point of the route candidate of the host vehicle with a predetermined first displacement is calculated, thereby determining the possibility of collision between the host vehicle and the other object. Therefore, it is possible to reduce a computational load for determining collision and to accurately determine collision between the host vehicle and the other object.

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