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    • 1. 发明申请
    • Visibility condition determining device for vehicle
    • 车辆可见度条件决定装置
    • US20080007429A1
    • 2008-01-10
    • US11820224
    • 2007-06-18
    • Naoki KawasakiTakayuki MiyaharaYukimasa Tamatsu
    • Naoki KawasakiTakayuki MiyaharaYukimasa Tamatsu
    • G08G1/00
    • G01J1/4228B60W40/08G01N21/538G08G1/167
    • A visibility condition determining device for a vehicle has a lighting device, an in-vehicle camera and an image processing unit. The lighting device is mounted on the vehicle and irradiates an outside of the vehicle with its light beam. The in-vehicle camera picks up an image including a transmission space through which the beam irradiated from the lighting device is transmitted in an imaging area, and including a non-irradiated area that is not directly irradiated with the beam in a background of the transmission space in the image. The image processing unit determines a visibility condition outside of the vehicle based on a brightness of the non-irradiated area in the image which is picked up by the in-vehicle camera when the lighting device irradiates outside of the vehicle.
    • 一种用于车辆的可见度条件确定装置,具有照明装置,车载照相机和图像处理单元。 照明装置安装在车辆上并用其光束照射车辆的外部。 车载摄像机拍摄包括发射空间的图像,通过该透射空间将照明装置照射的光束在成像区域中透射,并且包括在透射背景中不直接照射光束的未照射区域 图像中的空间。 图像处理单元基于当照明装置照射到车辆外部时由车载摄像机拾取的图像中的未照射区域的亮度来确定车辆外部的可见度条件。
    • 5. 发明申请
    • Visibility range measuring apparatus for vehicle and vehicle drive assist system
    • 车辆和车辆驾驶辅助系统的可见范围测量装置
    • US20070230800A1
    • 2007-10-04
    • US11729436
    • 2007-03-28
    • Takayuki Miyahara
    • Takayuki Miyahara
    • G06K9/62H04N7/18B60Q1/00G01W1/00G05D1/00
    • G06K9/00798G06T7/579G06T2207/10016G06T2207/30252
    • A visibility range measuring apparatus for a vehicle includes an image capturing device, an image computing device, and a visibility range calculating device. The image capturing device captures first and second images of a road, each of which includes a target roadside object, from the vehicle at first and second image taking points, respectively, along the road at a time of driving the vehicle along the road. The image computing device computes an image feature of the captured target roadside object in the first image and an image feature of the captured target roadside object in the second image. The visibility range calculating device calculates a visibility range from the vehicle based on the image features of the captured target roadside object in the first and second images, and a distance between the first and second image taking points.
    • 车辆的可见度范围测量装置包括图像捕获装置,图像计算装置和可视范围计算装置。 图像拍摄装置在沿着道路行驶车辆时分别沿着道路从第一和第二拍摄点处的车辆捕获道路的第一图像和第二图像,每个图像包括目标路边物体。 图像计算装置计算第一图像中所捕获的目标路边对象的图像特征和第二图像中所捕获的目标路边对象的图像特征。 可见度范围计算装置基于第一和第二图像中所捕获的目标路边对象的图像特征以及第一和第二图像拍摄点之间的距离来计算来自车辆的可视范围。
    • 8. 发明申请
    • ROADSIDE DETECTION SYSTEM, DRIVER ASSISTANCE SYSTEM AND ROADSIDE DETECTING METHOD
    • 道路检测系统,驾驶员辅助系统和道路检测方法
    • US20120001769A1
    • 2012-01-05
    • US13176038
    • 2011-07-05
    • Naoki NITANDATakayuki Miyahara
    • Naoki NITANDATakayuki Miyahara
    • G08G1/00
    • G01S17/936G01S17/42G06K9/00798
    • A roadside detection system installed in a vehicle to detect a roadside of a road on which the vehicle travels includes detection results acquiring means, first edge line detecting means and second edge line detecting means. The detection results acquiring means emits light waves or electromagnetic waves to a target detection region in which an object to be measured is detected and acquires an objective distance and a reflection intensity, for each of separate regions obtained by separating the target detection region into a plurality of divisions. The first edge line detecting means detects a first edge line that is a candidate of a roadside based on each objective distance. The second edge line detecting means detects a second edge line that is a candidate of a roadside based on each reflection intensity. A driver assistance system and a roadside detecting method are also provided.
    • 安装在车辆中以检测车辆行驶的道路的路侧的路边检测系统包括检测结果获取单元,第一边缘线检测单元和第二边缘线检测单元。 检测结果获取装置向被检测对象的目标检测区域发射光波或电磁波,并且通过将目标检测区域分离成多个而获得的每个分离区域获取目标距离和反射强度 的部门。 第一边缘线检测装置基于每个目标距离检测作为路边候选的第一边缘线。 第二边缘线检测装置基于每个反射强度检测作为路边候选的第二边缘线。 还提供驾驶员辅助系统和路边检测方法。
    • 10. 发明授权
    • Apparatus and method of recognizing presence of objects
    • 识别物体存在的装置和方法
    • US08724094B2
    • 2014-05-13
    • US13083735
    • 2011-04-11
    • Takayuki MiyaharaTakashi Ogawa
    • Takayuki MiyaharaTakashi Ogawa
    • G01C3/08
    • G01S7/4802G01S7/4817G01S17/42G01S17/936
    • An apparatus and method for recognizing presence of an object is provided, the apparatus and method are mounted on or implemented a vehicle. In the apparatus and method, by scanning a beam-shaped electromagnetic wave, data showing reflection intensities of reflected waves and distances between the vehicle and objects outside the vehicle are obtained. Based on the detected data, characteristics presented by frequency distributions of the distances and intensity frequency distributions of the refection intensities obtained in multiple rows in a field of view in the height direction of the vehicle. The characteristics depend on an angle of the electromagnetic wave to a road on which the vehicle travels. It is determined that the characteristics are obtained from the road when the characteristics meet predetermined requirements.
    • 提供了用于识别物体存在的装置和方法,该装置和方法安装在车辆上或实施车辆。 在该装置和方法中,通过扫描波束形电磁波,获得表示反射波的反射强度和车辆与车辆外的物体之间的距离的数据。 基于检测到的数据,通过车辆的高度方向上的视场中的多行获得的反射强度的距离和强度频率分布的频率分布呈现的特性。 特征取决于电磁波对车辆行进的道路的角度。 当特征满足预定要求时,确定了从道路获得的特征。