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1. 发明申请

US20070192013A1 Vehicle speed control device, method of determining target speed by using the device, and program executing the method 有权
标题翻译：车速控制装置，使用该装置确定目标速度的方法以及执行该方法的程序
公开(公告)号：US20070192013A1
公开(公告)日：2007-08-16
申请号：US11655196
申请日：2007-01-19
申请人： Mikio Bando , Takeshi Inoue , Koichiro Tanikoshi , Masao Sakata , Hiroshi Sakamoto , Masato Imai
发明人： Mikio Bando , Takeshi Inoue , Koichiro Tanikoshi , Masao Sakata , Hiroshi Sakamoto , Masato Imai
IPC分类号： B60T8/32 , G01C21/00
CPC分类号： B60T7/22 , B60T2210/36 , B60W10/04 , B60W30/16 , B60W40/02 , B60W40/105 , B60W2550/14 , B60W2550/402 , B60W2720/106
摘要： The present invention relates to a vehicle speed control device for controlling a speed of a vehicle. The vehicle speed control device includes a current location error estimation section for extracting area attribute information from the map information, for producing a location error probability distribution, a target speed calculation section for receiving the target speed correction instruction, for accessing preset data that shows an acceleration or a gradient of an acceleration which allows a driver not to feel uncomfortable, and for computing target speed values at nodes over the distance in such a way that the target speed values create a continuous curve, and a speed control section for sensing a speed of a vehicle, and for controlling a driving torque of the vehicle so that the sensed speed traces the continuous curve composed of the target speed values.
摘要翻译：本发明涉及一种用于控制车辆速度的车速控制装置。车速控制装置包括：当前位置误差估计部分，用于从地图信息中提取区域属性信息，用于产生位置误差概率分布;目标速度计算部分，用于接收目标速度校正指令，用于访问显示一个加速度或加速度的梯度，其允许驾驶员不感到不舒服，并且用于以目标速度值产生连续曲线的方式计算距离上的节点处的目标速度值;以及速度控制部分，用于感测速度并且用于控制车辆的驱动扭矩，使得感测的速度跟踪由目标速度值组成的连续曲线。

2. 发明授权

US08005602B2 Vehicle speed control device, method of determining target speed by using the device, and program executing the method 有权
标题翻译：车速控制装置，使用该装置确定目标速度的方法以及执行该方法的程序
公开(公告)号：US08005602B2
公开(公告)日：2011-08-23
申请号：US11655196
申请日：2007-01-19
申请人： Mikio Bando , Takeshi Inoue , Koichiro Tanikoshi , Masao Sakata , Hiroshi Sakamoto , Masato Imai
发明人： Mikio Bando , Takeshi Inoue , Koichiro Tanikoshi , Masao Sakata , Hiroshi Sakamoto , Masato Imai
IPC分类号： B60T8/32 , G01C21/00
CPC分类号： B60T7/22 , B60T2210/36 , B60W10/04 , B60W30/16 , B60W40/02 , B60W40/105 , B60W2550/14 , B60W2550/402 , B60W2720/106
摘要： The present invention relates to a vehicle speed control device for controlling a speed of a vehicle. The vehicle speed control device includes a current location error estimation section for extracting area attribute information from the map information, for producing a location error probability distribution, a target speed calculation section for receiving the target speed correction instruction, for accessing preset data that shows an acceleration or a gradient of an acceleration which allows a driver not to feel uncomfortable, and for computing target speed values at nodes over the distance in such a way that the target speed values create a continuous curve, and a speed control section for sensing a speed of a vehicle, and for controlling a driving torque of the vehicle so that the sensed speed traces the continuous curve composed of the target speed values.
摘要翻译：本发明涉及一种用于控制车辆速度的车速控制装置。车速控制装置包括：当前位置误差估计部分，用于从地图信息中提取区域属性信息，用于产生位置误差概率分布;目标速度计算部分，用于接收目标速度校正指令，用于访问显示一个加速度或加速度的梯度，其允许驾驶员不感到不舒服，并且用于以目标速度值产生连续曲线的方式计算距离上的节点处的目标速度值;以及速度控制部分，用于感测速度并且用于控制车辆的驱动扭矩，使得感测的速度跟踪由目标速度值组成的连续曲线。

3. 发明申请

US20080091327A1 Cruise Control System for a Vehicle 有权
标题翻译：车辆巡航控制系统
公开(公告)号：US20080091327A1
公开(公告)日：2008-04-17
申请号：US11867192
申请日：2007-10-04
申请人： Kazutoshi Tsuchiya , Hiroshi Sakamoto , Masato Imai , Tatsuya Ochi , Takaomi Nishigaito , Masao Sakata , Masafumi Naito
发明人： Kazutoshi Tsuchiya , Hiroshi Sakamoto , Masato Imai , Tatsuya Ochi , Takaomi Nishigaito , Masao Sakata , Masafumi Naito
IPC分类号： B60W30/14 , G06F17/00
CPC分类号： B60K31/0066 , B60W2520/14 , B60W2550/402 , G01C21/30 , G06K9/00798
摘要： This invention provides a vehicle cruise control system which, during recognition of a shape of a road extending in a frontward direction of host vehicle, can calculate the road shape rapidly and accurately from a positional relationship with respect to the host vehicle. The system includes at least: a position change detector that detects, from information on the road existing in the frontward direction of the vehicle, a horizontal distance from a line segment orthogonal to a traveling direction vector of the vehicle, to a centerline of the road, the detection being conducted at a plurality of measuring points in an extending direction of the traveling direction vector; a road shape recognizer that identifies the shape of the road from data relating to linearity of changes in each of the horizontal distances, the linearity data being obtained by the position change detector; and a cruise controller that controls traveling of the vehicle according to results of the identification by the road shape recognizer.
摘要翻译：本发明提供一种车辆巡航控制系统，在识别到在主车辆的向前方向上延伸的道路的形状时，能够从相对于本车辆的位置关系快速，准确地计算道路形状。该系统至少包括：位置变化检测器，其从车辆前方存在的道路上的信息中检测出与从车辆的行进方向矢量正交的线段的水平距离到道路的中心线检测在行进方向矢量的延伸方向上的多个测量点进行; 路线形状识别器，其通过与位置变化检测器得到的线性数据相关的水平距离各变化的线性度的数据来识别道路的形状; 以及巡航控制器，其根据道路形状识别器的识别结果来控制车辆的行驶。

4. 发明申请

US20120327233A1 Vehicle Attitude Angle Calculating Device, and Lane Departure Warning System Using Same 有权
标题翻译：车辆姿态角计算装置和车道离场警告系统
公开(公告)号：US20120327233A1
公开(公告)日：2012-12-27
申请号：US13522985
申请日：2011-02-09
申请人： Masato Imai , Hiroshi Sakamoto , Masao Sakata
发明人： Masato Imai , Hiroshi Sakamoto , Masao Sakata
IPC分类号： G06F7/00 , H04N7/18
CPC分类号： B60W40/10 , B60R11/04 , B60W40/114 , B60W2420/403 , B60W2520/14 , B60Y2400/3015 , G06K9/00798 , G06T7/73 , G06T2207/10016 , G06T2207/30256 , G08G1/167 , H04N7/18
摘要： Provided is a vehicle attitude angle calculating device capable of finding a yaw angle of a vehicle with reference to a lane stably without using information on a road vanishing point even in the state where a vehicle pitch angle varies. The vehicle attitude angle calculating device includes: a dividing line detection unit that detects a dividing line from image information received from a vehicle-mounted imaging device having an optical axis, the image information being a captured image of an outside of a vehicle; a distance calculation unit that calculates a distance between the dividing line and the optical axis of the vehicle-mounted imaging device every predetermined processing period; and a vehicle angle calculation unit that calculates a dividing line angle on the basis of the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and a vehicle proceeding distance where the vehicle proceeds during a predetermined processing period.
摘要翻译：提供一种车辆姿态角计算装置，即使在车辆俯仰角变化的状态下，也能够在不使用道路消失点的信息的情况下，相对于车道稳定地找到车辆的偏航角。车辆姿态角计算装置包括：分割线检测单元，其从具有光轴的车载摄像装置接收的图像信息中检测分割线，所述图像信息是车辆外部的拍摄图像; 距离计算单元，每隔预定处理周期计算车载摄像装置的分割线与光轴的距离; 以及车辆角度计算单元，其基于所计算的车载摄像装置的分割线与光轴之间的距离和车辆在规定的处理期间内前进的车辆行驶距离来计算分割线角度。

5. 发明授权

US07831366B2 Vehicle speed control system 有权
标题翻译：车速控制系统
公开(公告)号：US07831366B2
公开(公告)日：2010-11-09
申请号：US11773133
申请日：2007-07-03
申请人： Masato Imai , Hiroshi Sakamoto , Tatsuya Ochi , Takashi Okada , Toshimichi Minowa , Masao Sakata
发明人： Masato Imai , Hiroshi Sakamoto , Tatsuya Ochi , Takashi Okada , Toshimichi Minowa , Masao Sakata
IPC分类号： G06F19/00
CPC分类号： B60W30/143 , B60W2550/10 , B60W2550/146 , B60W2550/402 , B60W2720/10 , B60W2750/00
摘要： A vehicle speed control system includes: a unit for computing a first target velocity based on map information; a unit for computing a second target velocity based on a road profile obtained from other information than the map information (such as lane recognition using a camera); a unit for comparing the first target velocity and the second target velocity; a unit for selecting a lower target velocity therefrom; and a unit for controlling a vehicle velocity in accordance with the selected target velocity.
摘要翻译：车速控制系统包括：基于地图信息计算第一目标速度的单元; 基于从除了地图信息之外的其他信息（例如使用相机的车道识别）获得的道路轮廓来计算第二目标速度的单元; 用于比较第一目标速度和第二目标速度的单元; 用于从其中选择较低目标速度的单元; 以及用于根据所选择的目标速度控制车辆速度的单元。

6. 发明授权

US09123110B2 Vehicle attitude angle calculating device, and lane departure warning system using same 有权
标题翻译：车辆姿态角计算装置，车道偏离预警系统采用相同方式
公开(公告)号：US09123110B2
公开(公告)日：2015-09-01
申请号：US13522985
申请日：2011-02-09
申请人： Masato Imai , Hiroshi Sakamoto , Masao Sakata
发明人： Masato Imai , Hiroshi Sakamoto , Masao Sakata
IPC分类号： H04N7/18 , G06K9/00 , G05D1/00 , G08G1/00 , G06T7/00 , G08G1/16 , B60R11/04
CPC分类号： B60W40/10 , B60R11/04 , B60W40/114 , B60W2420/403 , B60W2520/14 , B60Y2400/3015 , G06K9/00798 , G06T7/73 , G06T2207/10016 , G06T2207/30256 , G08G1/167 , H04N7/18
摘要： A vehicle attitude angle calculating device finds a yaw angle of a vehicle with reference to a lane stably without using information on a road vanishing point even in the state where a vehicle pitch angle varies. The vehicle attitude angle calculating device includes: a dividing line detection unit that detects a dividing line from image information received from a vehicle-mounted imaging device, the image information being a captured image of an outside of a vehicle; a distance calculation unit that calculates a distance between the dividing line and the optical axis of the vehicle-mounted imaging device every predetermined processing period; and a vehicle angle calculation unit that calculates a dividing line angle based on the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and a vehicle proceeding distance where the vehicle proceeds during a predetermined processing period.
摘要翻译：即使在车辆俯仰角变化的状态下，车辆姿态角计算装置也能够在不使用道路消失点的信息的情况下，相对于车道稳定地找到车辆的偏航角。车辆姿态角计算装置包括：分割线检测单元，其从车载摄像装置接收的图像信息中检测分割线，所述图像信息是车辆外部的拍摄图像; 距离计算单元，每隔预定处理周期计算车载摄像装置的分割线与光轴的距离; 以及车辆角度计算单元，其基于所计算的车载摄像装置的分割线和光轴之间的距离以及车辆在预定的处理周期内进行的车辆行驶距离来计算分割线角度。

7. 发明授权

US07778758B2 Cruise control system for a vehicle 有权
标题翻译：车辆巡航控制系统
公开(公告)号：US07778758B2
公开(公告)日：2010-08-17
申请号：US11867192
申请日：2007-10-04
申请人： Kazutoshi Tsuchiya , Hiroshi Sakamoto , Masato Imai , Tatsuya Ochi , Takaomi Nishigaito , Masao Sakata , Masafumi Naito
发明人： Kazutoshi Tsuchiya , Hiroshi Sakamoto , Masato Imai , Tatsuya Ochi , Takaomi Nishigaito , Masao Sakata , Masafumi Naito
IPC分类号： G06F7/00
CPC分类号： B60K31/0066 , B60W2520/14 , B60W2550/402 , G01C21/30 , G06K9/00798
摘要： This invention provides a vehicle cruise control system which, during recognition of a shape of a road extending in a frontward direction of host vehicle, can calculate the road shape rapidly and accurately from a positional relationship with respect to the host vehicle. The system includes at least: a position change detector that detects, from information on the road existing in the frontward direction of the vehicle, a horizontal distance from a line segment orthogonal to a traveling direction vector of the vehicle, to a centerline of the road, the detection being conducted at a plurality of measuring points in an extending direction of the traveling direction vector; a road shape recognizer that identifies the shape of the road from data relating to linearity of changes in each of the horizontal distances, the linearity data being obtained by the position change detector; and a cruise controller that controls traveling of the vehicle according to results of the identification by the road shape recognizer.
摘要翻译：本发明提供一种车辆巡航控制系统，在识别到在主车辆的向前方向上延伸的道路的形状时，能够从相对于本车辆的位置关系快速，准确地计算道路形状。该系统至少包括：位置变化检测器，其从车辆前方存在的道路上的信息中检测出与从车辆的行进方向矢量正交的线段的水平距离到道路的中心线检测在行进方向矢量的延伸方向上的多个测量点进行; 路线形状识别器，其通过与位置变化检测器得到的线性数据相关的水平距离各变化的线性度的数据来识别道路的形状; 以及巡航控制器，其根据道路形状识别器的识别结果来控制车辆的行驶。

8. 发明申请

US20080059036A1 Vehicle Speed Control System 有权
标题翻译：车速控制系统
公开(公告)号：US20080059036A1
公开(公告)日：2008-03-06
申请号：US11773133
申请日：2007-07-03
申请人： Masato Imai , Hiroshi Sakamoto , Tatsuya Ochi , Takashi Okada , Toshimichi Minowa , Masao Sakata
发明人： Masato Imai , Hiroshi Sakamoto , Tatsuya Ochi , Takashi Okada , Toshimichi Minowa , Masao Sakata
IPC分类号： G05D1/00
CPC分类号： B60W30/143 , B60W2550/10 , B60W2550/146 , B60W2550/402 , B60W2720/10 , B60W2750/00
摘要： A vehicle speed control system includes: a unit for computing a first target velocity based on map information; a unit for computing a second target velocity based on a road profile obtained from other information than the map information (such as lane recognition using a camera); a unit for comparing the first target velocity and the second target velocity; a unit for selecting a lower target velocity therefrom; and a unit for controlling a vehicle velocity in accordance with the selected target velocity.
摘要翻译：车速控制系统包括：基于地图信息计算第一目标速度的单元; 基于从除了地图信息之外的其他信息（例如使用相机的车道识别）获得的道路轮廓来计算第二目标速度的单元; 用于比较第一目标速度和第二目标速度的单元; 用于从其中选择较低目标速度的单元; 以及用于根据所选择的目标速度控制车辆速度的单元。

9. 发明授权

US08363104B2 Lane determining device and navigation system 有权
标题翻译：车道确定装置和导航系统
公开(公告)号：US08363104B2
公开(公告)日：2013-01-29
申请号：US13055603
申请日：2009-09-25
申请人： Masato Imai , Masatoshi Hoshino , Masao Sakata
发明人： Masato Imai , Masatoshi Hoshino , Masao Sakata
IPC分类号： H04N7/18
CPC分类号： B60W30/12 , G01C21/3658 , G08G1/167
摘要： Provided is a lane determining device that is capable of quickly and accurately determining the lane traveled by a host vehicle traveling on a road with a plurality of lanes in each direction. A lane determining device that determines the lane traveled by the host vehicle traveling on a road with a plurality of lanes in each direction comprises: road geometry obtaining means that obtains road geometry; imaging means that images the road; division line recognition means that recognizes a division line from an image imaged by the imaging means; first path computation means that computes a path of the host vehicle by repeatedly computing a distance from the division line recognized by the division line recognition means to the imaging means; second path computation means that computes a path of the host vehicle based on the road geometry obtained by the road geometry obtaining means and on autonomous navigation; third path computation means that computes a path of the host vehicle based on a first path computed by the first path computation means and on a second path computed by the second path computation means; and traveled lane determination means that determines the lane traveled by the host vehicle based on a third path computed by the third path computation means.
摘要翻译：提供一种车道确定装置，其能够快速且准确地确定在每个方向上具有多个车道的在道路上行驶的主车辆行驶的车道。确定在每个方向上具有多个车道的道路上行驶的主车辆行驶的车道的车道确定装置包括：获得道路几何形状的道路几何获取装置; 成像意味着道路图像; 分割线识别装置识别由成像装置成像的图像的分割线; 第一路径计算装置，通过重复地计算从分割线识别装置识别的分割线到成像装置的距离来计算主车辆的路径; 第二路径计算装置，基于由道路几何获取装置获得的道路几何和自主导航来计算主车辆的路径; 第三路径计算装置，基于由第一路径计算装置计算的第一路径和由第二路径计算装置计算的第二路径来计算主车辆的路径; 以及行驶车道确定装置，其基于由第三路径计算装置计算出的第三路径来确定主车辆行驶的车道。

10. 发明申请

US20100332127A1 Lane Judgement Equipment and Navigation System 审中-公开
标题翻译：车道判断设备和导航系统
公开(公告)号：US20100332127A1
公开(公告)日：2010-12-30
申请号：US12826159
申请日：2010-06-29
申请人： Masato Imai , Masatoshi Hoshino , Masao Sakata
发明人： Masato Imai , Masatoshi Hoshino , Masao Sakata
IPC分类号： G01C21/26
CPC分类号： B60W30/12 , B60W40/072 , B60W40/076 , B60W2520/10 , B60W2550/141 , B60W2550/402
摘要： There is provided lane judgement equipment that is capable of quickly and accurately judging the lane that a vehicle is traveling in on a road with plural lanes in each direction. Lane judgement equipment 100 detects reference positions 402, 502 that are set in advance at an entrance to road B with plural lanes in each direction, and judges which of lanes B1-B3 of road B with plural lanes in each direction a vehicle 400 is traveling in based on entry distance L from those reference positions 402, 502 and on map information.
摘要翻译：提供车道判断装置，其能够快速准确地判断车辆在具有多个车道的道路上行进的车道。车道判断装置100检测在每个方向上具有多个车道的道路B的入口处预先设定的基准位置402,502，并且判断在车辆400行驶的各方向上具有多个车道的道路B的车道B1-B3 基于距离这些参考位置402,502的入口距离L以及地图信息。

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