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1. 发明申请

US20060293843A1 Systems, methods, and programs for determining whether a vehicle is on-road or off-road 失效
标题翻译：用于确定车辆是否在道路或越野的系统，方法和程序
公开(公告)号：US20060293843A1
公开(公告)日：2006-12-28
申请号：US11313625
申请日：2005-12-22
申请人： Hideaki Morita , Makoto Hasunuma , Yusuke Ohashi , Motohiro Nakamura
发明人： Hideaki Morita , Makoto Hasunuma , Yusuke Ohashi , Motohiro Nakamura
IPC分类号： G01C21/00
CPC分类号： G01C21/30
摘要： Systems, methods, and programs for determining whether a vehicle is off-road or on-road, store map data, determine the vehicle's current position; and obtain information about an area around the current position of the vehicle from the stored map data. The systems, methods, and programs obtain information related to a road-side zone of a road from the obtained information about the area around the current position of the vehicle, and determine that the road-side zone is crossed. The systems, methods, and programs may make an off-road determination if the determined current position of the vehicle was on-road before the crossing of the road-side zone and make an on-road determination if the current position of the vehicle was off-road before the crossing of the road-side zone.
摘要翻译：用于确定车辆是否越野或在路上的系统，方法和程序，存储地图数据，确定车辆的当前位置; 并从存储的地图数据中获取关于车辆的当前位置的区域的信息。系统，方法和程序从获得的关于车辆当前位置周围的区域的信息获取与道路侧区域有关的信息，并且确定道路侧区域是交叉的。系统，方法和程序可以进行越野的确定，如果车辆的确定的当前位置在道路侧区域的过境之前在道路上，并进行道路确定，如果车辆的当前位置是路边越过越野路边。

2. 发明申请

US20070021912A1 Current position information management systems, methods, and programs 审中-公开
标题翻译：当前位置信息管理系统，方法和程序
公开(公告)号：US20070021912A1
公开(公告)日：2007-01-25
申请号：US11322294
申请日：2006-01-03
申请人： Hideaki Morita , Makoto Hasunuma , Yusuke Ohashi , Motohiro Nakamura
发明人： Hideaki Morita , Makoto Hasunuma , Yusuke Ohashi , Motohiro Nakamura
IPC分类号： G01C21/32
CPC分类号： G01C21/12 , G01C21/3602 , G01C21/3658
摘要： Systems, methods, and programs for current position information management store map data and detect a current position of a vehicle using dead-reckoning navigation. The systems, methods, and programs monitor, based on the detected current position, a left-right position of the vehicle relative to a lane in which the vehicle is traveling. The systems, methods, and programs add up an amount of movement in the left-right direction and detect a lane change by comparing the added up amount of movement with the lane's width.
摘要翻译：用于当前位置信息管理的系统，方法和程序存储地图数据，并使用推算导航来检测车辆的当前位置。系统，方法和程序基于检测到的当前位置监视车辆相对于车辆行驶的车道的左右位置。系统，方法和程序在左右方向上相加运动量，并通过将相加的移动量与车道的宽度进行比较来检测车道变化。

3. 发明授权

US07463974B2 Systems, methods, and programs for determining whether a vehicle is on-road or off-road 失效
标题翻译：用于确定车辆是否在道路或越野的系统，方法和程序
公开(公告)号：US07463974B2
公开(公告)日：2008-12-09
申请号：US11313625
申请日：2005-12-22
申请人： Hideaki Morita , Makoto Hasunuma , Yusuke Ohashi , Motohiro Nakamura
发明人： Hideaki Morita , Makoto Hasunuma , Yusuke Ohashi , Motohiro Nakamura
IPC分类号： G01C21/00 , G06F19/00
CPC分类号： G01C21/30
摘要： Systems, methods, and programs for determining whether a vehicle is off-road or on-road, store map data, determine the vehicle's current position; and obtain information about an area around the current position of the vehicle from the stored map data. The systems, methods, and programs obtain information related to a road-side zone of a road from the obtained information about the area around the current position of the vehicle, and determine that the road-side zone is crossed. The systems, methods, and programs may make an off-road determination if the determined current position of the vehicle was on-road before the crossing of the road-side zone and make an on-road determination if the current position of the vehicle was off-road before the crossing of the road-side zone.
摘要翻译：用于确定车辆是否越野或在路上的系统，方法和程序，存储地图数据，确定车辆的当前位置; 并从存储的地图数据中获取关于车辆的当前位置的区域的信息。系统，方法和程序从获得的关于车辆当前位置周围的区域的信息获取与道路侧区域有关的信息，并且确定道路侧区域是交叉的。系统，方法和程序可以进行越野的确定，如果车辆的确定的当前位置在道路侧区域的过境之前在道路上，并进行道路确定，如果车辆的当前位置是路边越过越野路边。

4. 发明授权

US08271174B2 Support control device 有权
标题翻译：支持控制装置
公开(公告)号：US08271174B2
公开(公告)日：2012-09-18
申请号：US12300737
申请日：2007-05-15
申请人： Kiyokazu Okada , Motohiro Nakamura , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
发明人： Kiyokazu Okada , Motohiro Nakamura , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G08G1/16
CPC分类号： B60W40/10 , B60W30/00 , B60W50/0098 , B60W2550/402 , G01C21/30
摘要： An accuracy error for measuring the position of an own vehicle is calculated based on the information of an execution history of map matching and the information of an update history of a map database. In addition, a predetermined map is referred to based on the calculated accuracy error, and an accuracy error level for performing positioning is specified from among plural stepwise levels. Then, the control level of assist control executed according to the position of the own vehicle is changed so as to correspond to the specified accuracy error level.
摘要翻译：基于地图匹配的执行历史的信息和地图数据库的更新历史的信息来计算用于测量自身车辆的位置的精度误差。此外，基于所计算出的精度误差来参照预定图，并且从多个分级中指定用于执行定位的精度误差水平。然后，根据本车辆的位置执行的辅助控制的控制水平被改变以对应于指定的精度误差水平。

5. 发明申请

US20090265070A1 SUPPORT CONTROL DEVICE 有权
标题翻译：支持控制设备
公开(公告)号：US20090265070A1
公开(公告)日：2009-10-22
申请号：US12300737
申请日：2007-05-15
申请人： Kiyokazu Okada , Motohiro Nakamura , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
发明人： Kiyokazu Okada , Motohiro Nakamura , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G08G1/16
CPC分类号： B60W40/10 , B60W30/00 , B60W50/0098 , B60W2550/402 , G01C21/30
摘要： An accuracy error for measuring the position of an own vehicle is calculated based on the information of an execution history of map matching and the information of an update history of a map database. In addition, a predetermined map is referred to based on the calculated accuracy error, and an accuracy error level for performing positioning is specified from among plural stepwise levels. Then, the control level of assist control executed according to the position of the own vehicle is changed so as to correspond to the specified accuracy error level.
摘要翻译：基于地图匹配的执行历史的信息和地图数据库的更新历史的信息来计算用于测量自身车辆的位置的精度误差。此外，基于所计算出的精度误差来参照预定图，并且从多个分级中指定用于执行定位的精度误差水平。然后，根据本车辆的位置执行的辅助控制的控制水平被改变以对应于指定的精度误差水平。

6. 发明授权

US08140266B2 Vehicle positioning information updating system 有权
标题翻译：车辆定位信息更新系统
公开(公告)号：US08140266B2
公开(公告)日：2012-03-20
申请号：US12066907
申请日：2007-05-15
申请人： Motohiro Nakamura , Kiyokazu Okada , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
发明人： Motohiro Nakamura , Kiyokazu Okada , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G01C21/30
CPC分类号： G01C21/32 , B60W10/18 , B60W2050/0077 , B60W2550/00 , B60W2550/141 , B60W2550/22 , B60W2550/402 , G08G1/096716 , G08G1/09675 , G08G1/096791
摘要： Based on positioning accuracy of an own vehicle required for appropriately carrying out assistance control carried out according to a position of the own vehicle, an execution condition for map matching correcting the position of the own vehicle is set. Specifically, setting is made in such a manner that, as the positioning accuracy is higher and an error thereof is smaller, an execution frequency of map matching becomes higher. Then, map matching is carried out according to the thus-set execution condition.
摘要翻译：基于根据本车辆的位置进行适当地执行辅助控制所需的本车辆的定位精度，设定校正本车位置的地图匹配的执行条件。具体地说，以定位精度高，误差小的方式进行设定，地图匹配的执行频率变高。然后，根据这样设定的执行条件进行地图匹配。

7. 发明授权

US07898437B2 Object recognition device 有权
标题翻译：物体识别装置
公开(公告)号：US07898437B2
公开(公告)日：2011-03-01
申请号：US12067100
申请日：2007-05-15
申请人： Kiyokazu Okada , Motohiro Nakamura , Masaki Nakamura , Makoto Hasunuma
发明人： Kiyokazu Okada , Motohiro Nakamura , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G08G1/123
CPC分类号： G01C7/04 , G01C21/30 , G01C21/3602 , G06K9/00798 , G08G1/16 , G08G1/166 , G08G1/167
摘要： An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases. Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.
摘要翻译：物体识别装置基于通过GPS获得的行驶路径，车速，转向角等来检测车辆的位置，并且还基于使用拍摄图像获得的对象的识别结果来检测车辆的位置的相机。该装置在检测车辆位置时计算定位精度，随着车辆的移动距离增加，该精度大部分劣化。要识别的道路上的对象的位置数据预先存储在地图数据库中。基于检测到的车辆的位置，存储在地图数据库中的对象的位置和计算出的定位精度来设定待识别对象的道路的识别范围。通过处理摄像机的拍摄图像，可以识别出设定的识别范围。

8. 发明申请

US20100061591A1 OBJECT RECOGNITION DEVICE 有权
标题翻译：对象识别装置
公开(公告)号：US20100061591A1
公开(公告)日：2010-03-11
申请号：US12067100
申请日：2007-05-15
申请人： Kiyokazu Okada , Motohiro Nakamura , Masaki Nakamura , Makoto Hasunuma
发明人： Kiyokazu Okada , Motohiro Nakamura , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G06K9/00
CPC分类号： G01C7/04 , G01C21/30 , G01C21/3602 , G06K9/00798 , G08G1/16 , G08G1/166 , G08G1/167
摘要： An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases.Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.
摘要翻译：物体识别装置基于通过GPS获得的行驶路径，车速，转向角等来检测车辆的位置，并且还基于使用拍摄图像获得的对象的识别结果来检测车辆的位置的相机。该装置在检测车辆位置时计算定位精度，随着车辆的移动距离增加，该精度大部分劣化。要识别的道路上的对象的位置数据预先存储在地图数据库中。基于检测到的车辆的位置，存储在地图数据库中的对象的位置和计算出的定位精度来设定待识别对象的道路的识别范围。通过处理摄像机的拍摄图像，可以识别出设定的识别范围。

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