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1. 发明授权

US08682033B2 Boundary detection device for vehicles 有权
标题翻译：车辆边界检测装置
公开(公告)号：US08682033B2
公开(公告)日：2014-03-25
申请号：US13347825
申请日：2012-01-11
申请人： Hiroki Nakano , Katsuhiko Hibino
发明人： Hiroki Nakano , Katsuhiko Hibino
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： In a lane boundary detection device, a plurality of edge components are extracted from a captured image capturing the periphery of the own vehicle. Candidates of a curve (including straight lines) that is to be the boundary of a driving area are extracted as boundary candidates based on the placement of the plurality of edge components. Then, an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image is calculated. Boundary candidates of which the formed angle is less than an angle reference value are set to have low probability. The boundary candidate having the highest probability among the boundary candidates is set as the boundary of the driving area.
摘要翻译：在车道边界检测装置中，从捕获本车辆的周边的拍摄图像中提取多个边缘成分。基于多个边缘分量的位置，提取作为驱动区域的边界的曲线（包括直线）的候选者作为边界候选。然后，计算由所提取的边界候补的预定部分中的切线和拍摄图像中的垂直线形成的角度。形成角度小于角度参考值的边界候选者被设置为具有低概率。边界候选中概率最高的边界候选被设定为驱动区域的边界。

2. 发明授权

US5684473A Measuring apparatus for detecting distance between vehicles and related warning system 失效
标题翻译：用于检测车辆间距离和相关警告系统的测量装置
公开(公告)号：US5684473A
公开(公告)日：1997-11-04
申请号：US409528
申请日：1995-03-24
申请人： Katsuhiko Hibino , Noriaki Shirai , Takao Nishimura
发明人： Katsuhiko Hibino , Noriaki Shirai , Takao Nishimura
IPC分类号： B60R21/00 , B60K28/00 , B60K31/00 , B60Q1/52 , B60Q9/00 , B60T7/22 , B60T17/18 , B60W30/00 , B60W30/16 , B60W40/08 , B60W50/08 , G01C21/10 , G01C23/00 , G01P15/00 , G01S7/497 , G01S7/51 , G01S13/93 , G01S17/88 , G01S17/93 , G08B21/00 , G08G1/16
CPC分类号： G01S17/936 , B60K31/0008 , B60Q9/008 , B60T7/22 , B60W30/16 , B60T2220/02 , B60W2050/143 , B60W2540/12 , B60W2540/22 , B60W2540/30 , B60W2710/0605 , B60W2750/308 , B60W40/09 , G01S2013/9325
摘要： A measuring apparatus for measuring an actual distance between vehicles and comparing the measured distance with a reference distance. The reference distance (SL) is obtained on the basis of: a personal space (VR.multidot.TIMEK) being an uneasy distance peculiar to a driver and obtained in accordance with the own vehicle speed; a free running distance (VRR.multidot.TIMEN) corresponding to a response time of a driver's braking operation and a relative speed between two vehicles; a braking distance (VRR.sup.2 /(2.multidot.GR)) corresponding to a depressing strength of a braking pedal in the driver's braking operation and the relative speed; and an acceleration change distance (.alpha.G.multidot.GA) corresponding to a relative acceleration between the two vehicles, using the following equation: SL=VR.multidot.TIMEK-VRR.multidot.TIMEN+VRR.sup.2 /(2.multidot.GR)-.alpha.G.multidot.GA where VR represents the own vehicle speed, TIMEK represents an uneasy factor, VRR represents the relative speed, TIMEN represents a response factor of the driver's braking operation, GR represents a braking deceleration factor, .alpha.G represents a preceding vehicle acceleration, and GA represents a preceding vehicle deceleration factor.
摘要翻译：一种用于测量车辆之间的实际距离并将测量距离与参考距离进行比较的测量装置。基于以下方式获得参考距离（SL）：个人空间（VRxTIMEK）是驾驶员特有的并且根据本车速度而获得的不安的距离; 对应于驾驶员的制动操作的响应时间和两个车辆之间的相对速度的自由运行距离（VRRxTIMEN）; 与驾驶员的制动操作中的制动踏板的下压强度相对应的制动距离（VRR2 /（2xGR））和相对速度; 和两个车辆之间的相对加速度对应的加速度变化距离（alpha GxGA），使用以下公式：SL = VRxTIMEK-VRRxTIMEN + VRR2 /（2xGR）-αGxGA其中VR表示本车速，TIMEK表示不安的因素 VRR表示相对速度，TIMEN表示驾驶员的制动操作的响应系数，GR表示制动减速系数，α表示前一车辆加速度，GA表示前一车辆减速系数。

3. 发明授权

US5485155A Radar system detecting plural obstacles and measuring distance based on full gain and automatic gain control 失效
标题翻译：雷达系统基于全增益和自动增益控制检测多个障碍物和测量距离
公开(公告)号：US5485155A
公开(公告)日：1996-01-16
申请号：US346297
申请日：1994-11-23
申请人： Katsuhiko Hibino
发明人： Katsuhiko Hibino
IPC分类号： G01S7/285 , G01S7/489 , G01S7/497 , G01S13/10 , G01S17/10 , G01S17/93 , G01S13/93
CPC分类号： G01S17/936 , G01S17/10 , G01S7/489 , G01S7/497
摘要： First, a variable gain amplifier amplifies an output of a light-receiving element with the gain fixed at the maximum value and a laser diode is repeatedly actuated. Distance data obtained in each measurement is stored in a RAM. Second, the measurement is executed by varying the gain of the variable gain amplifier based on automatic gain control AGC technology. Meanwhile, a full gain distance calculation and a full gain relative speed calculation are carried out based on the distance data stored during the first step. Furthermore, in a third step, an AGC distance calculation and an AGC relative speed calculation are carried out based on the distance data stored during the second step. The full-gain based detection and the AGC based detection are alternately repeated, thereby accurately and reliably detecting a plurality of obstacles in a radar detection area.
摘要翻译：首先，可变增益放大器以增益固定为最大值放大光接收元件的输出，并且激光二极管被重复地致动。在每个测量中获得的距离数据存储在RAM中。第二，通过基于自动增益控制AGC技术改变可变增益放大器的增益来执行测量。同时，基于在第一步骤期间存储的距离数据，进行全增益距离计算和全增益相对速度计算。此外，在第三步骤中，基于在第二步骤期间存储的距离数据来执行AGC距离计算和AGC相对速度计算。交替地重复基于全增益检测和基于AGC的检测，从而准确可靠地检测雷达检测区域中的多个障碍物。

4. 发明授权

US5004264A Position control device and automotive suspension system employing same 失效
标题翻译：位置控制装置和采用其的汽车悬架系统
公开(公告)号：US5004264A
公开(公告)日：1991-04-02
申请号：US386041
申请日：1989-07-27
申请人： Tetsuji Kozaki , Hiroshi Ishikawa , Hideaki Yasui , Mamoru Shimamoto , Katsuhiko Hibino , Motoshi Suzuki
发明人： Tetsuji Kozaki , Hiroshi Ishikawa , Hideaki Yasui , Mamoru Shimamoto , Katsuhiko Hibino , Motoshi Suzuki
IPC分类号： B60G17/018 , B60G17/019 , B60G21/055 , G05D1/08
CPC分类号： G05D1/0891 , B60G17/018 , B60G17/019 , B60G21/0555 , B60G2202/135 , B60G2202/413 , B60G2400/204 , B60G2400/412 , B60G2600/16 , B60G2600/22 , B60G2800/012
摘要： A position control device includes a fluid-operated directional control valve for controlling the position of the piston of a cylinder assembly under fluid pressure in response to a control signal from an electronic controller. The position of the piston is predicted based on the control signal. A position detector detects when the piston has actually reached a predetermined position. When it is detected that the piston has actually reached the predetermined position, the predicted position of the piston is corrected. The electronic controller applies a control signal to the directional control valve so that the predicted position as corrected will be equalized to a target position for the piston. The predetermined position is a substantially intermediate position of the stroke of the piston. The directional control valve comprises a solenoid-controlled valve for controlling the flow rate of the fluid depending on the magnitude of a current supplied to the solenoid-operated valve. The position of the piston is calculated based on the magnitude of the current and a period of time during which the current is supplied to the solenoid-operated valve. An automotive suspension system incorporating the position control device is also disclosed.
摘要翻译：位置控制装置包括流体操作的方向控制阀，用于响应于来自电子控制器的控制信号，在液压下控制气缸组件的活塞的位置。基于控制信号预测活塞的位置。位置检测器检测活塞何时已经实际到达预定位置。当检测到活塞实际上达到预定位置时，校正活塞的预测位置。电子控制器向方向控制阀施加控制信号，使得校正的预测位置将与活塞的目标位置相等。预定位置是活塞行程的大致中间位置。方向控制阀包括用于根据提供给电磁阀的电流的大小来控制流体的流量的电磁阀。活塞的位置基于电流的大小和向电磁阀提供电流的时间段来计算。还公开了一种结合了位置控制装置的汽车悬架系统。

5. 发明申请

US20120177250A1 BOUNDARY DETECTION DEVICE FOR VEHICLES 有权
标题翻译：车辆边界检测装置
公开(公告)号：US20120177250A1
公开(公告)日：2012-07-12
申请号：US13347825
申请日：2012-01-11
申请人： Hiroki Nakano , Katsuhiko Hibino
发明人： Hiroki Nakano , Katsuhiko Hibino
IPC分类号： G06K9/46
CPC分类号： G06K9/00798
摘要： In a lane boundary detection device, a plurality of edge components are extracted from a captured image capturing the periphery of the own vehicle. Candidates of a curve (including straight lines) that is to be the boundary of a driving area are extracted as boundary candidates based on the placement of the plurality of edge components. Then, an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image is calculated. Boundary candidates of which the formed angle is less than an angle reference value are set to have low probability. The boundary candidate having the highest probability among the boundary candidates is set as the boundary of the driving area.
摘要翻译：在车道边界检测装置中，从捕获本车辆的周边的拍摄图像中提取多个边缘成分。基于多个边缘分量的位置，提取作为驱动区域的边界的曲线（包括直线）的候选者作为边界候选。然后，计算由所提取的边界候补的预定部分中的切线和拍摄图像中的垂直线形成的角度。形成角度小于角度参考值的边界候选者被设置为具有低概率。边界候选中概率最高的边界候选被设定为驱动区域的边界。

6. 发明授权

US5818355A Automotive anti-collision and alarm system 失效
标题翻译：汽车防碰撞报警系统
公开(公告)号：US5818355A
公开(公告)日：1998-10-06
申请号：US780182
申请日：1996-12-26
申请人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
发明人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
IPC分类号： B60R21/00 , B60K28/10 , B60Q5/00 , B60W30/00 , B60W40/10 , B60W40/109 , F16H59/66 , G01S7/295 , G01S13/60 , G01S13/93 , G01S17/88 , G01S17/93 , G08B21/00 , G08G1/16 , B60Q1/00
CPC分类号： G01S13/931 , B60K28/10 , B60W30/095 , G08G1/165 , G08G1/166 , B60W2050/143 , B60W2550/10 , F16H59/66 , G01S2013/9321 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375
摘要： An estimated travelling curve La (radius Rea) of a system vehicle is obtained based on a first group of sampling data (X1, Y1) through (X5, Y5). Alarm area WA1a is set as a region surrounded by a pair of circular arcs parallel shifted from curve La by .+-.1 m and a pair of straight lines (Y=Y1 and Y=Y5). Similarly, an estimated travelling curve Lb (radius Reb) is obtained based on a second group of sampling data (X3, Y3) through (X5, Y5). Alarm area WA1b is set as a region surrounded by a pair of circular arcs parallel shifted from curve Lb by .+-.1 m and straight lines (Y=Y1 and Y=Y5). At the entrance and exit of a curved road, values of radii Rea and Reb are differentiated. Hence, the collision judgement is performed by using different alarm areas WA1a and WA1b.
摘要翻译：基于第一组采样数据（X1，Y1）至（X5，Y5）获得系统车辆的估计行驶曲线La（半径Rea）。报警区域WA1a设置为由曲线La平行偏移+/- 1m的一对圆弧和一对直线（Y = Y1和Y = Y5）包围的区域。类似地，基于第二组采样数据（X3，Y3）至（X5，Y5）获得估计行进曲线Lb（半径Reb）。报警区域WA1b设定为由曲线Lb平行移动+/- 1m的一对圆弧和直线（Y = Y1，Y = Y5）包围的区域。在弯曲的道路的入口和出口处，半径Rea和Reb的值是有区别的。因此，通过使用不同的报警区域WA1a和WA1b执行碰撞判断。

7. 发明授权

US5574463A Obstacle recognition system for a vehicle 失效
标题翻译：车辆障碍物识别系统
公开(公告)号：US5574463A
公开(公告)日：1996-11-12
申请号：US449116
申请日：1995-05-24
申请人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
发明人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
IPC分类号： B60R21/00 , B60W30/00 , G01S7/41 , G01S7/48 , G01S7/481 , G01S13/93 , G01S17/93 , G08G1/16 , G01S13/60
CPC分类号： G01S17/936 , G01S13/93 , G01S7/4802 , G01S7/4817 , G01S7/412 , G01S7/481
摘要： A radar device emits a wave beam into a given angular range outside a vehicle, and scans the given angular range by the wave beam. The radar device detects a reflected wave beam. A recognizing device is operative for recognizing an obstacle with respect to the vehicle on the basis of the result of detection of the reflected wave beam by the radar device. In the recognizing device, a point recognizing section recognizes obstacles as points, and a uniting section is operative for uniting adjacent points among the points provided by the point recognizing section. The uniting section provides sets each having adjacent points. A line-segment recognizing section is operative for detecting a specific set or specific sets of adjacent points among the adjacent-point sets provided by the uniting section, and for recognizing every detected specific set as a line segment having a length only along a width direction of the vehicle. Every specific set has a length smaller than a given length along a longitudinal direction of the vehicle. A position estimating section estimates the position of a line segment, which will be provided by the line-segment recognizing section, in response to the position of a previously-provided line segment. An identity judging section is operative for comparing the line-segment position estimated by the position estimating section and the position of a line segment currently provided by the line-segment recognizing section to judge whether or not the line segment currently provided by the line-segment recognizing section and the previously-provided line segment are the same.
摘要翻译：雷达装置将波束发射到车辆外部的给定角度范围内，并通过波束扫描给定的角度范围。雷达装置检测反射波束。基于由雷达装置检测出的反射波束的结果，识别装置用于识别相对于车辆的障碍物。在识别装置中，点识别部将障碍物识别为点，并且联合部分用于将由点识别部分提供的点之间的相邻点组合起来。联合部分提供各具有相邻点的集合。线段识别部分用于检测由联合部分提供的相邻点集合中的特定集合或特定的相邻点集合，并且用于将每个检测到的特定集合识别为仅沿着宽度方向具有长度的线段的车辆。每个特定组具有沿着车辆的纵向方向小于给定长度的长度。位置估计部分响应于先前提供的线段的位置来估计将由线段识别部分提供的线段的位置。一个身份判断部分，用于比较由位置估计部分估计的线段位置和由线段识别部分当前提供的线段的位置，以判断当前由线段提供的线段识别部分和先前提供的线段是相同的。

8. 发明授权

US5751211A Obstacle warning system for a vehicle 失效
标题翻译：车辆障碍物预警系统
公开(公告)号：US5751211A
公开(公告)日：1998-05-12
申请号：US777196
申请日：1996-12-27
申请人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
发明人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
IPC分类号： B60R21/00 , B60K28/10 , B60Q1/00 , B60W30/00 , B60W40/10 , B60W40/109 , G01S7/295 , G01S13/44 , G01S13/60 , G01S13/93 , G01S17/88 , G01S17/93 , G03C1/16 , G08G1/16
CPC分类号： G01S17/936 , B60K28/10 , B60W10/04 , B60W10/10 , B60W30/18 , B60W30/1819 , G01S13/931 , G03C1/16 , B60W2550/10 , B60W2550/143 , G01S13/44 , G01S2013/9321 , G01S2013/9325 , G01S2013/9339 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9364 , G01S2013/9375 , Y10S367/909
摘要： As provided here, an obstacle warning system for a vehicle is capable of issuing an alarm accurately according to the curved state of a road. When the road is curved, the system sets the correction time counter on the basis of the following conditions: whether or not the curvature radius of the curved road is small; whether or not a guardrail is detected immediately ahead of the vehicle; whether or not an erroneously-recognized object, such as a set of guardrail reflectors exhibiting large relative acceleration is immediately ahead of the vehicle; and whether or not the number of obstacles recognized reaches a value indicating that the vehicle is approaching a curved section of the road. When a stationary object enters the field of view indicating that there is a possibility of a collision, the obstacle warning system corrects the warning distance in response to the value of the correction time counter, thus making it possible to avoid a false alarm during cornering.
摘要翻译：如这里所提供的，车辆的障碍物报警系统能够根据道路的弯曲状态准确地发出报警。当道路弯曲时，系统基于以下条件设置校正时间计数器：曲面道路的曲率半径是否小; 是否立即在车辆前方检测到护栏; 是否在车辆之前立即将诸如表现出相对加速度较大的一组护栏反射器的错误识别的物体，以及所识别的障碍物的数量是否达到表示车辆正在接近道路的弯曲部分的值。当静止物体进入指示存在碰撞的可能性的视场时，障碍物报警系统响应于校正时间计数器的值来校正警告距离，从而可以避免转弯期间的假警报。

9. 发明授权

US5529139A Vehicle speed control system 失效
标题翻译：车速控制系统
公开(公告)号：US5529139A
公开(公告)日：1996-06-25
申请号：US204572
申请日：1994-03-02
申请人： Akira Kurahashi , Katsuhiko Hibino , Mamoru Shimamoto , Mitsufumi Hashimoto
发明人： Akira Kurahashi , Katsuhiko Hibino , Mamoru Shimamoto , Mitsufumi Hashimoto
IPC分类号： B60K31/00 , B60R21/00 , B60W30/00 , G01S13/93 , G01S17/93 , G05D13/62 , B60K31/08
CPC分类号： B60W30/16 , B60K31/0008 , B60W2550/308 , G01S17/936 , G01S2013/9321
摘要： A vehicle speed control system for controlling the speed of a controlled vehicle to follow a preceding vehicle detected at a constant interval is provided. In this system, when a preceding vehicle traveling ahead of the controlled vehicle is detected, it is checked if the preceding vehicle detected meets a given tracking condition. When the tracking condition is encountered, it is reported to a driver. The system is responsive to a manual operation of the driver after the driver has perceived that the preceding vehicle can be tracked to initiate constant inter-vehicle distance control.
摘要翻译：提供了一种用于控制受控车辆跟随前一车辆以一定间隔检测的速度的车速控制系统。在该系统中，当检测到在受控车辆前方行驶的前一车辆时，检查前面的车辆是否满足给定的跟踪条件。当遇到跟踪条件时，会向驱动程序报告。在驾驶员已经认识到可以跟踪前面的车辆以启动恒定的车间距离控制之后，系统响应于驾驶员的手动操作。

10. 发明授权

US06591000B1 Apparatus and method for preprocessing a picked-up image, lane mark recognizing system, related vehicle traveling control system, and recording media 失效
标题翻译：用于预处理拾取图像的装置和方法，车道标识识别系统，相关车辆行驶控制系统和记录介质
公开(公告)号：US06591000B1
公开(公告)日：2003-07-08
申请号：US09294907
申请日：1999-04-20
申请人： Tatsuya Oike , Katsuhiko Hibino , Masayuki Imanishi
发明人： Tatsuya Oike , Katsuhiko Hibino , Masayuki Imanishi
IPC分类号： G06K900
CPC分类号： G06K9/00798 , G06K9/4609 , G06K2209/23 , G08G1/04
摘要： An image filter 1 produces an emphasized output in response to a brightness change between a dark portion and a bright portion of a picked-up image, with a sign of the emphasized output reversing according to a transitional direction of the brightness change between the dark portion and the bright portion. An image filter 2 produces an output representing an angular momentum of respective pixels about a central pixel in a predetermined processing zone set on the picked-up image. The angular momentum is defined by vectorial quantities of pixel values. An image filter 3 produces an output representing an accumulative absolute value of the respective pixels in the predetermined processing zone. An output difference between the image filters 2 and 3 is obtained as an index representing a lane mark.
摘要翻译：图像滤波器1响应于拾取图像的暗部分和亮部分之间的亮度变化产生强调输出，其中强调输出的符号根据黑暗部分之间的亮度变化的过渡方向反转和亮部分。图像滤波器2产生表示在拾取图像上设置的预定处理区域中的围绕中心像素的各个像素的角动量的输出。角动量由像素值的矢量量定义。图像滤波器3产生表示预定处理区域中的各个像素的累积绝对值的输出。获得图像滤波器2和3之间的输出差作为表示车道标记的索引。

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