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1. 发明授权

US5369580A Yawing-momentum detecting apparatus for a vehicle, a detecting method thereof, and motion controlling apparatus for a vehicle, utilizing the detecting apparatus 失效
标题翻译：利用该检测装置的车辆的动摇检测装置及其检测方法以及车辆的运动控制装置
公开(公告)号：US5369580A
公开(公告)日：1994-11-29
申请号：US851664
申请日：1992-03-16
申请人： Tatsuhiko Monji , Shigeru Horikoshi , Kousaku Shimada , Hayato Sugawara
发明人： Tatsuhiko Monji , Shigeru Horikoshi , Kousaku Shimada , Hayato Sugawara
IPC分类号： B62D6/00 , B60T8/1755 , B60T8/84 , B60W40/10 , B60W40/109 , B62D6/04 , B62D7/15 , B62D101/00 , B62D103/00 , B62D105/00 , B62D113/00 , G01P15/00 , G01P15/125 , G01P15/13 , G01P21/00
CPC分类号： B60T8/17551 , B62D6/04 , B62D7/159 , G01P15/18 , B60T2250/062 , B60T2260/022 , G01P2015/0828
摘要： A novel yawing-momentum detecting apparatus, and yawing-detecting method for a vehicle, and also a motion controlling apparatus for the vehicle with employment of this yawing-momentum detecting apparatus. The yawing-momentum detecting apparatus for the vehicle comprises: a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis passing through a gravity center of the vehicle within a plane perpendicular the vertical axis; units for calculating yawing momentum of the vehicle occurring around the vertical axis based upon outputs from the plural acceleration sensors; and characteristic correcting units for correcting output characteristics of the plural acceleration sensors under known acceleration values to coincide with reference output characteristic values when the known acceleration values are obtained under a certain vehicle operating condition. A further embodiment of the present invention further includes: units for calculating target yawing momentum based on a vehicle speed and a steering angle of a steering wheel while a car driver manipulates the steering wheel; and units for adjusting a steering apparatus and/or a braking apparatus of the vehicle in such a manner that the yawing momentum obtained by the yawing-momentum calculating units is coincident with the target yawing momentum.
摘要翻译：一种用于车辆的新型偏航动量检测装置和偏航检测方法，以及使用该偏航动量检测装置的车辆的运动控制装置。用于车辆的偏转动量检测装置包括：多个加速度传感器，其相对于在垂直于垂直轴的平面内通过车辆重心的垂直轴设置在所述车辆的对称位置; 用于基于来自所述多个加速度传感器的输出计算出围绕所述垂直轴线发生的所述车辆的横摆动量的单元; 以及特征校正单元，用于在已知的加速度值下校正多个加速度传感器的输出特性，以在已知的加速度值在特定的车辆操作条件下获得时与参考输出特性值一致。本发明的另一实施例还包括：在汽车驾驶员操纵方向盘的同时，基于车速和方向盘的转向角计算目标横摆动量的单元; 以及用于调整车辆的转向装置和/或制动装置的单元，使得由偏航动量计算单元获得的偏航动量与目标横摆动量一致。

2. 发明授权

US5247466A Angular rate detection apparatus, acceleration detection apparatus and movement control apparatus, of moving body 失效
标题翻译：角速度检测装置，加速检测装置和运动控制装置
公开(公告)号：US5247466A
公开(公告)日：1993-09-21
申请号：US674692
申请日：1991-03-25
申请人： Kousaku Shimada , Yozo Nakamura , Shigeru Horikoshi , Hayato Sugawara , Tatsuhiko Monji
发明人： Kousaku Shimada , Yozo Nakamura , Shigeru Horikoshi , Hayato Sugawara , Tatsuhiko Monji
IPC分类号： G01P13/00 , B60G17/00 , B60G17/019 , B60T8/172 , B60T8/1755 , B62D6/04 , G01P3/44 , G01P7/00 , G01P15/00 , G01P21/00
CPC分类号： B60T8/17551 , B60T8/172 , B62D6/04 , G01P15/00 , G01P21/00 , G01P3/44 , B60G2400/1042 , B60G2400/1062 , B60T2250/03
摘要： An apparatus for detecting an angular rate of a moving body has first and second sensors each of which has a detection direction, the first and second acceleration sensors are mounted at fixed locations on a moving body so that the first and second acceleration sensors have substantially the same detection direction on a plane and a fixed distance therebetween in the detection direction, and the angular rate (.omega.) of the moving body is detected according to the following equation: ##EQU1## wherein .DELTA.G is an acceleration difference and R is the distance between the first and second acceleration sensors in the detection direction.
摘要翻译：一种用于检测移动体的角速率的装置具有第一和第二传感器，每个具有检测方向，第一和第二加速度传感器安装在移动体上的固定位置，使得第一和第二加速度传感器具有基本上在检测方向上在平面上相同的检测方向和它们之间的固定距离，并且根据以下等式检测移动体的角速率（ω）：其中DELTA G是加速度差，R是距离在检测方向上在第一和第二加速度传感器之间。

3. 发明授权

US5219212A Anti-skid control system for vehicle 失效
标题翻译：车辆防滑控制系统
公开(公告)号：US5219212A
公开(公告)日：1993-06-15
申请号：US888612
申请日：1992-05-27
申请人： Kousaku Shimada , Shigeru Horikoshi , Tatsuhiko Monji
发明人： Kousaku Shimada , Shigeru Horikoshi , Tatsuhiko Monji
IPC分类号： B60T8/1755 , B60T8/62 , B60T8/88 , B60T8/92
CPC分类号： B60T8/885 , B60T8/1755 , B60T2270/406
摘要： An anti-skid control system of a vehicle comprising a yaw motion sensing device of the vehicle, a device for calculating target slip rates of the wheels according to the yaw motion, a wheel speed detecting device for detecting actual speeds of the wheels, a control device for generating a control signals based on the target slip rates and the actual speeds of the wheels, a control valve for controlling braking oil pressure according to the control signals, a first failure detecting device for detecting an abnormality relating to the yaw motion sensing device, a second failure detecting device for detecting an abnormality relating to the control valve, and a failsafe control device for keeping the target slip rates from the calculating device constant and when the abnormality relating to the yaw motion sensing device is detected and for bringing the control valve into a non-operating state when the abnormality relating to the control valve is detected.
摘要翻译：一种车辆的防滑控制系统，包括车辆的偏航运动感测装置，根据偏航运动计算车轮的目标滑移率的装置，用于检测车轮的实际速度的车轮速度检测装置，控制装置基于目标滑移率和车轮的实际速度产生控制信号的装置，用于根据控制信号控制制动油压的控制阀，用于检测与偏航运动感测装置有关的异常的第一故障检测装置用于检测与控制阀相关的异常的第二故障检测装置，以及用于保持来自计算装置的目标滑移速率恒定的故障保护控制装置，并且当检测到与偏航运动感测装置有关的异常并且用于使控制当检测到与控制阀相关的异常时，阀进入非操作状态。

4. 发明授权

US5207483A Anti-skid control system for automotive vehicle 失效
标题翻译：汽车防滑控制系统
公开(公告)号：US5207483A
公开(公告)日：1993-05-04
申请号：US854831
申请日：1992-03-20
申请人： Kousaku Shimada , Shigeru Horikoshi , Tatsuhiko Monji , Hayato Sugawara
发明人： Kousaku Shimada , Shigeru Horikoshi , Tatsuhiko Monji , Hayato Sugawara
IPC分类号： B60T8/172 , B60T8/1755 , B60T8/1764 , B60T8/84
CPC分类号： B60T8/1764 , B60T8/1755 , B60T2210/124
摘要： The invention relates to an anti-skid control system for an automotive vehicle, which includes devices provided independently for respective wheels of the vehicle and for controlling the brake fluid pressure of respective wheels, device for detecting a vehicle speed and a rotation speed of the wheel and deriving slip ratio on the wheel on the basis of the detected values, device for detecting actual yawing angular acceleration on the vehicle, device for setting a target value of the slip ratio on the wheel based on the yawing angular acceleration for each wheel independently of the other, and control signal unit for providing the control signal to the brake fluid pressure controlling unit so as to adjust the derived slip ratio toward the target value.
摘要翻译：本发明涉及一种用于机动车辆的防滑控制系统，其包括为车辆的各个车轮独立设置并用于控制各车轮的制动液压力的装置，用于检测车速的装置和车轮的转速基于检测值导出车轮上的滑移比，用于检测车辆上的实际偏航角加速度的装置，用于基于每个车轮的偏航角加速度来设定车轮上的打滑比的目标值的装置，另一个和控制信号单元，用于向制动液压控制单元提供控制信号，以便将导出的滑移率调整到目标值。

5. 发明授权

US08873803B2 Road-shoulder detecting device and vehicle using road-shoulder detecting device 有权
标题翻译：路肩检测装置和车辆使用路肩检测装置
公开(公告)号：US08873803B2
公开(公告)日：2014-10-28
申请号：US13519347
申请日：2010-08-09
申请人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji , Takuya Naka
发明人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji , Takuya Naka
IPC分类号： G06K9/00 , G06T7/00 , B60W30/12 , G08G1/16
CPC分类号： G06T7/0081 , B60W30/12 , G06K9/00798 , G06T7/11 , G06T7/136 , G06T7/174 , G06T2207/10021 , G06T2207/30256 , G08G1/165 , G08G1/166 , G08G1/167
摘要： Disclosed is a road-shoulder detecting device including a distance-information calculating portion for calculating the presence of a physical object and the distance from the subject vehicle to the object from input three-dimensional image information relating to an environment around the vehicle, a vehicular road surface detecting portion for detecting a vehicular road surface with the subject vehicle from a distance image, a height difference calculating portion for measuring height difference between the detected vehicular road and an off-road region, and a road shoulder decision portion for deciding height difference as to whether the road shoulder is boundary between the surface and the region in a case where there is an off-road region lower than the vehicular road surface.
摘要翻译：公开了一种路肩检测装置，其包括距离信息计算部分，用于计算物体的存在以及从主车辆到物体的距离，输入与车辆周围环境有关的三维图像信息，车辆路面检测部，用于从远距离图像检测与本车辆的车辆路面，用于测量检测到的车辆道路与越野区域之间的高度差的高度差计算部，以及用于判定高度差的道路肩部判定部关于在越野区域低于车辆路面的情况下，路肩是否是表面与区域之间的边界。

6. 发明申请

US20140028873A1 IMAGE PROCESSING APPARATUS 有权
标题翻译：图像处理设备
公开(公告)号：US20140028873A1
公开(公告)日：2014-01-30
申请号：US14110679
申请日：2012-04-04
申请人： Mirai Higuchi , Masahiro Kiyohara , Takeshi Shima , Tatsuhiko Monji
发明人： Mirai Higuchi , Masahiro Kiyohara , Takeshi Shima , Tatsuhiko Monji
IPC分类号： H04N5/235
CPC分类号： H04N5/2352 , G06K9/2054 , G08B13/19647 , H04N5/232 , H04N5/23229 , H04N5/2353
摘要： There is provided an image processing apparatus that can implement image recognition processing on all of objects to be recognized, and can reduce a load of capturing and transferring images. The image processing apparatus includes: an image capturing unit that captures image information picked up by an imaging element; a processing region setting unit that sets a plurality of processing regions for the image information; a processing sequence/frequency determination unit that determines at least any one of a sequence, a frequency, and a timing of capturing the respective image information in a plurality of set processing regions, and at least any one of a sequence, a frequency, and a timing of processing the respective image information; and an image processing unit that captures the image information for each of the processing regions according to the sequence, the frequency, or the timing which has been determined, and processes the captured image information according to the sequence, the frequency, or the timing which has been determined.
摘要翻译：提供了一种能够对要被识别的所有对象执行图像识别处理的图像处理装置，并且可以减少捕获和传送图像的负担。该图像处理设备包括：图像捕获单元，其捕获由成像元件拾取的图像信息; 处理区域设定单元，对所述图像信息设定多个处理区域; 处理序列/频率确定单元，其确定在多个集合处理区域中捕获各个图像信息的序列，频率和定时中的至少一个，以及序列，频率和处理各图像信息的定时; 以及图像处理单元，其根据已经确定的顺序，频率或定时捕获每个处理区域的图像信息，并且根据序列，频率或时间来处理所捕获的图像信息已经确定

7. 发明授权

US08452056B2 Image-processing camera with application processing using acquired image data 有权
标题翻译：使用获取的图像数据进行应用处理的图像处理相机
公开(公告)号：US08452056B2
公开(公告)日：2013-05-28
申请号：US13358596
申请日：2012-01-26
申请人： Shoji Muramatsu , Yuuji Otsuka , Hiroshi Takenaga , Tatsuhiko Monji , Jiro Takezaki , Isao Furusawa
发明人： Shoji Muramatsu , Yuuji Otsuka , Hiroshi Takenaga , Tatsuhiko Monji , Jiro Takezaki , Isao Furusawa
IPC分类号： G06K9/00
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/105 , B60R2300/108 , B60R2300/207 , B60R2300/301 , B60R2300/302 , B60R2300/70 , B60R2300/804 , B60R2300/806 , B60R2300/8073 , B60R2300/8093 , G07C5/0866 , G07C5/0891 , G08G1/14 , G08G1/167 , H04N5/232 , H04N5/23206 , H04N5/23225 , H04N7/181 , H04N7/183
摘要： An image pickup device that acquires images is controlled by an image pickup device controller that accepts image acquisition requests from multiple application programs, and an application scheduler selects application programs to be executed. Information indicative of the image data volumes and image data acquisition rates required for each of the multiple application programs is stored and used to select multiple concurrently executable application programs on the basis of the image data volumes and image data acquisition rates. An image acquisition scheduler determines the timing and intervals at which the multiple executable application programs repeat receiving image data from the image pickup device, without overlapping in terms of time. In addition, an operations section, which explicitly presents concurrently executable application programs to a user and commands the startup of these programs, is displayed on a navigation screen menu.
摘要翻译：获取图像的图像拾取装置由接受来自多个应用程序的图像获取请求的图像拾取装置控制器控制，并且应用程序调度器选择要执行的应用程序。存储指示多个应用程序中的每个应用程序所需的图像数据量和图像数据获取率的信息，并且用于基于图像数据量和图像数据获取速率来选择多个并发可执行的应用程序。图像采集调度器确定多个可执行应用程序重复从图像拾取装置接收图像数据的时间和间隔，而不会在时间上重叠。此外，在导航画面菜单上显示向用户显示同时执行应用程序并命令启动这些程序的操作部分。

8. 发明申请

US20120185167A1 Road Shape Recognition Device 有权
标题翻译：道路形状识别装置
公开(公告)号：US20120185167A1
公开(公告)日：2012-07-19
申请号：US13387137
申请日：2010-07-23
申请人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
发明人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： G06K9/00 , G01C21/26
CPC分类号： G01C21/3602 , G06K9/00798 , G06T7/70 , G06T2207/10021 , G06T2207/30256 , G08G1/167
摘要： A road shape recognition device capable of accurately recognizing the road shape of a road that lies ahead in the travel direction of a vehicle is provided. A road shape recognition device 1 detects a road region of the road based on an image capturing a scene ahead in the travel direction of the vehicle, and estimates the shape of the road based on that road region. Thus, it is possible to accurately recognize road shapes over distances ranging from short to long.
摘要翻译：提供一种能够准确地识别在车辆的行进方向前方的道路的道路形状的道路形状识别装置。道路形状识别装置1基于在车辆的行进方向上拍摄场景的图像来检测道路的道路区域，并且基于该道路区域来估计道路的形状。因此，可以精确地识别从短到长的距离。

9. 发明授权

US08212878B2 Calibration apparatus of on-vehicle camera, program, and car navigation system 有权
标题翻译：车载相机，程序和汽车导航系统的校准装置
公开(公告)号：US08212878B2
公开(公告)日：2012-07-03
申请号：US11769986
申请日：2007-06-28
申请人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Tatsuhiko Monji , Kota Irie
发明人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Tatsuhiko Monji , Kota Irie
IPC分类号： H04N5/225
CPC分类号： G06T7/80 , G06T2207/30252
摘要： An on-vehicle camera calibration apparatus includes: an on-vehicle camera; a camera parameter calculation unit configured to calculate camera parameters from a characteristic amount of a road surface sign photographed by the on-vehicle camera and recognized by an image processing and to output the camera parameters, wherein the camera parameters include an installation height and installation angle of the on-vehicle camera in photographing; and a camera parameter calibration unit configured to perform optical axis calibration control of the on-vehicle camera by the camera parameters output from the camera parameter calculation unit.
摘要翻译：车载摄像机校准装置包括：车载摄像机; 摄像机参数计算单元，被配置为根据由车载摄像机拍摄并通过图像处理识别的路面符号的特征量来计算摄像机参数并输出摄像机参数，其中摄像机参数包括安装高度和安装角度的车载摄像头; 以及相机参数校准单元，被配置为通过从相机参数计算单元输出的相机参数来执行车载摄像机的光轴校准控制。

10. 发明授权

US08207834B2 Image processing device and vehicle detection device provided with the same 有权
标题翻译：图像处理装置与车辆检测装置相同
公开(公告)号：US08207834B2
公开(公告)日：2012-06-26
申请号：US12363129
申请日：2009-01-30
申请人： Masayuki Takemura , Shoji Muramatsu , Tatsuhiko Monji , Yuji Otsuka
发明人： Masayuki Takemura , Shoji Muramatsu , Tatsuhiko Monji , Yuji Otsuka
IPC分类号： B60Q1/00 , G08G1/00 , G06K9/00 , G01S13/88
CPC分类号： G06K9/00805 , B60W30/095 , B60W30/10 , G06T7/246 , G06T2207/10016 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： A virtual vehicle which approaches to a monitor-side vehicle and a virtual background are defined in a camera image, and a region in which a virtual vehicle moves fast with respect to a virtual background is defined as a first region F1, and a region in which a virtual vehicle moves slowly with respect to a virtual background is defined as a second region F2. Then, the first region F1 and the second region F2 combined with an actual camera image. In the first region F1, in which the virtual vehicle moves fast, a monitored vehicle is detected by a movement aspect of feature portions in the region, and in the second region F2, in which the virtual vehicle moves slowly, a monitored vehicle is detected by pattern recognition.
摘要翻译：在摄像机图像中定义接近监视器侧车辆和虚拟背景的虚拟车辆，并且将虚拟车辆相对于虚拟背景快速移动的区域定义为第一区域F1，并且区域将虚拟车辆相对于虚拟背景缓慢移动的物体被定义为第二区域F2。然后，第一区域F1和第二区域F2与实际照相机图像组合。在虚拟车辆快速移动的第一区域F1中，通过该区域中的特征部分的运动方面检测被监视的车辆，并且在虚拟车辆缓慢移动的第二区域F2中，检测被监视的车辆通过模式识别。

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