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1. 发明授权

US5197562A Vehicle cruising control device 失效
标题翻译：车辆巡航控制装置
公开(公告)号：US5197562A
公开(公告)日：1993-03-30
申请号：US693261
申请日：1991-04-29
申请人： Toshiaki Kakinami , Takashi Hida , Jun Sato , Mitsuyoshi Saiki
发明人： Toshiaki Kakinami , Takashi Hida , Jun Sato , Mitsuyoshi Saiki
IPC分类号： B60K31/02 , B60K31/00 , B60W30/00 , F02D29/02 , F02D45/00 , F16H61/21 , G01S11/12 , G05D1/02 , G08B21/00
CPC分类号： B60K31/0008 , B60W2540/12 , F16H61/21 , G01S11/12
摘要： A vehicle cruising control device includes a detecting device for detecting the current speed of the vehicle, a constant speed control device for maintaining the speed of the vehicle at a selected speed, a measuring device for measuring the current inter-vehicle distance between the vehicle and an advance vehicle and an inter-vehicle distance control device for maintaining the inter-vehicle distance between the vehicle and the advance vehicle at a predetermined distance based on the degree of danger determined by the relationship of the current distance between vehicles and the relative speed between the vehicles. A switching device is provided for turning on either of the constant speed control device and the inter-vehicle distance control device.
摘要翻译：车辆巡航控制装置包括用于检测车辆的当前速度的检测装置，用于将车辆的速度保持在选定速度的恒速控制装置，用于测量车辆与车辆之间当前车辆间距离的测量装置，提前车辆和车辆间距离控制装置，用于基于由车辆之间的当前距离的关系确定的危险程度和车辆之间的相对速度之间的相对速度，将车辆与前进车辆之间的车辆间距离保持在预定距离车辆。提供了一种开关装置，用于接通恒速控制装置和车辆间距离控制装置中的任一个。

2. 发明申请

US20090208109A1 Object Recognition Apparatus 审中-公开
标题翻译：对象识别装置
公开(公告)号：US20090208109A1
公开(公告)日：2009-08-20
申请号：US11884484
申请日：2006-02-22
申请人： Toshiaki Kakinami , Jun Sato
发明人： Toshiaki Kakinami , Jun Sato
IPC分类号： G06K9/46
CPC分类号： G06K9/00812 , B60Q9/004 , G01B21/20 , G01S2013/9314 , G06K9/00805 , G06K9/3241 , G06K2209/23 , G08G1/165 , G08G1/168
摘要： An object recognition apparatus that is capable of consistently recognizing the shape of an object in the periphery of a moving body using a small amount of computation even when data for an extraneous object are introduced, and of calculating the positional relationship of both objects and satisfactorily reporting the positional relationship. The object recognition apparatus for recognizing an object in the periphery of a moving object is configured as described below. The object recognition apparatus comprises object detection means (1) for detecting information about the surface shape of the object; shape recognition means (2) for computing a degree of coincidence of a sample group with respect to a shape model that is determined on the basis of a sample arbitrarily extracted from a sample group composed of information about the surface shape, and recognizing a profile shape of the object; relative positioning computation means (3) for computing a positional relationship between the moving body and the object on the basis of detection and recognition results of the object detection means (1) and the shape recognition means (2); and reporting means (5) for reporting the positional relationship using a sound or a display on the basis of computation results of the relative positioning computation means (3).
摘要翻译：一种物体识别装置，即使在引入了外部物体的数据时，也能够使用少量的计算能够一致地识别移动体的周围的物体的形状，并且计算出两个物体的位置关系和令人满意的报告位置关系。用于识别移动物体的周边中的物体的物体识别装置被配置如下。物体识别装置包括用于检测关于物体的表面形状的信息的物体检测装置（1）形状识别装置（2），用于计算样本组相对于基于从由关于表面形状的信息组成的样本组任意提取的样本确定的形状模型的一致程度，以及识别轮廓形状的对象; 基于物体检测装置（1）和形状识别装置（2）的检测和识别结果，计算移动体和物体之间的位置关系的相对定位计算装置（3）。以及基于相对定位计算装置（3）的计算结果，使用声音或显示来报告位置关系的报告装置（5）。

3. 发明申请

US20080137940A1 Object Recognition Apparatus and Object Recognition Method Using Epipolar Geometry 有权
标题翻译：使用对极识别的物体识别装置和物体识别方法
公开(公告)号：US20080137940A1
公开(公告)日：2008-06-12
申请号：US11884728
申请日：2006-02-22
申请人： Toshiaki Kakinami , Jun Sato
发明人： Toshiaki Kakinami , Jun Sato
IPC分类号： G06K9/00
CPC分类号： G01C11/00 , G06K9/00805 , G06K9/00812 , G06K9/209 , G06T7/246 , G06T7/593 , G06T2207/10016 , G06T2207/30264 , G08G1/165 , G08G1/168
摘要： An object recognition apparatus that processes images, as acquired by an imaging means (10) mounted on a moving object, in a first image plane and a second image plane of different points of view, and recognizes an object in the vicinity of the moving object. The object recognition apparatus comprises: a feature point detection means (42) that detects feature points in first and second image planes of an object image; a fundamental matrix determination means (43a) that determines, based on calculation of an epipole through the auto-epipolar property, a fundamental matrix that expresses a geometrically corresponding relationship based on translational camera movement, with not less than two pairs of feature points corresponding between the first and second image planes; and a three-dimensional position calculation means (43b) that calculates a three-dimensional position of an object based on the coordinates of the object in the first and second image planes and the determined fundamental matrix.
摘要翻译：一种物体识别装置，其处理由安装在移动物体上的摄像装置（10）获取的图像，在不同视点的第一图像平面和第二图像平面中识别移动物体附近的物体。物体识别装置包括：特征点检测装置，其检测对象图像的第一和第二图像平面中的特征点; 基于矩阵确定装置（43a），其基于通过自动对极性属性的表达式的计算确定基于平移摄像机运动表达几何对应关系的基本矩阵，其中不少于两对特征点对应在第一和第二图像平面之间; 以及基于第一和第二图像平面中的对象的坐标和所确定的基本矩阵来计算对象的三维位置的三维位置计算装置（43b）。

4. 发明授权

US5230400A Vehicle cruise control system 失效
标题翻译：车辆巡航控制系统
公开(公告)号：US5230400A
公开(公告)日：1993-07-27
申请号：US801479
申请日：1991-12-02
申请人： Toshiaki Kakinami , Mitsuyoshi Saiki , Jun Sato
发明人： Toshiaki Kakinami , Mitsuyoshi Saiki , Jun Sato
IPC分类号： B60W10/04 , B60K31/00 , B60K31/02 , B60K31/10 , B60K31/18 , B60W10/06 , B60W10/18 , B60W10/184 , B60W30/00 , B60W30/16 , F02D29/02 , F02D45/00 , G01S11/12 , G05D1/02
CPC分类号： B60K31/107 , B60K31/0008 , B60K31/18 , G01S11/12
摘要： A cruise control system for vehicles uses a video camera to follow a vehicle driving ahead at a constant distance and speed on a highway. The system detects the distance to a vehicle and a relative speed to set the upper and lower limitations for the distance and the speed. The system controls a speed of the vehicle in accordance with the comparisons of the detected distance and speed with the limitations.
摘要翻译：用于车辆的巡航控制系统使用摄像机跟随在高速公路上以恒定的距离和速度向前行驶的车辆。系统检测到车辆的距离和相对速度，以设置距离和速度的上限和下限。该系统根据检测到的距离和速度与限制的比较来控制车辆的速度。

5. 发明授权

US08077965B2 Object recognition apparatus and object recognition method using epipolar geometry 有权
标题翻译：使用对极几何的对象识别装置和对象识别方法
公开(公告)号：US08077965B2
公开(公告)日：2011-12-13
申请号：US11884728
申请日：2006-02-22
申请人： Toshiaki Kakinami , Jun Sato
发明人： Toshiaki Kakinami , Jun Sato
IPC分类号： G06K9/00 , G06K9/46 , G06K9/50 , B60Q1/00 , G01C3/00 , G01C3/08 , G01C5/00
CPC分类号： G01C11/00 , G06K9/00805 , G06K9/00812 , G06K9/209 , G06T7/246 , G06T7/593 , G06T2207/10016 , G06T2207/30264 , G08G1/165 , G08G1/168
摘要： An object recognition apparatus that processes images, as acquired by an imaging means (10) mounted on a moving object, in a first image plane and a second image plane of different points of view, and recognizes an object in the vicinity of the moving object. The object recognition apparatus comprises: a feature point detection means (42) that detects feature points in first and second image planes of an object image; a fundamental matrix determination means (43a) that determines, based on calculation of an epipole through the auto-epipolar property, a fundamental matrix that expresses a geometrically corresponding relationship based on translational camera movement, with not less than two pairs of feature points corresponding between the first and second image planes; and a three-dimensional position calculation means (43b) that calculates a three-dimensional position of an object based on the coordinates of the object in the first and second image planes and the determined fundamental matrix.
摘要翻译：一种物体识别装置，其处理由安装在移动物体上的摄像装置（10）获取的图像，在不同视点的第一图像平面和第二图像平面中识别移动物体附近的物体。物体识别装置包括：特征点检测装置，其检测对象图像的第一和第二图像平面中的特征点; 一种基本矩阵确定装置（43a），其基于通过自动对极性的计算来确定表示基于平移摄像机运动的几何对应关系的基本矩阵，其中不少于两对特征点对应于第一和第二图像平面; 以及基于第一和第二图像平面中的对象的坐标和所确定的基本矩阵来计算对象的三维位置的三维位置计算装置（43b）。

6. 发明授权

US07706944B2 Parking assist device 有权
标题翻译：停车辅助装置
公开(公告)号：US07706944B2
公开(公告)日：2010-04-27
申请号：US11312454
申请日：2005-12-21
申请人： Yu Tanaka , Toshiaki Kakinami
发明人： Yu Tanaka , Toshiaki Kakinami
IPC分类号： B62D6/00 , B62D11/00 , G05D1/00
CPC分类号： B62D15/028 , B60T2201/10 , B60W10/20 , B60W40/04 , B62D15/0275
摘要： A parking assist device detecting a parking stall line from an image, which is captured by a capturing portion; setting a parking target position on the basis of the parking stall line; and assisting the vehicle to travel to the parking target position; the parking assist device includes a vehicle detecting portion for detecting a movement of the vehicle, a memorizing portion for memorizing the movement detected by the vehicle detecting portion, as a vehicle moving trajectory, a temporary parking target position estimating portion for assuming a temporary parking target position on the basis of variations of the vehicle moving trajectory, which has been memorized by the memorizing portion, and a parking stall line searching area setting portion for setting a parking stall line searching area, within which a parking stall line is searched on the basis of the temporary parking target position.
摘要翻译：一种停车辅助装置，其从拍摄部分拍摄的图像中检测停车停车线; 基于停车线设定停车目标位置; 并协助车辆前往停车目标位置; 停车辅助装置包括用于检测车辆的移动的车辆检测部分，用于存储由车辆检测部分检测到的运动的存储部分作为车辆移动轨迹，用于假设临时停车目标的临时停车目标位置估计部分基于由记忆部分记忆的车辆移动轨迹的变化的位置，以及停车停车线搜索区域设定部分，用于设置停车停车线搜索区域，停车停车线路搜索区域基于的临时停车目标位置。

7. 发明授权

US07583816B2 Device for detecting a road traveling lane using an edge histogram 有权
标题翻译：使用边缘直方图检测道路行车道的装置
公开(公告)号：US07583816B2
公开(公告)日：2009-09-01
申请号：US10572957
申请日：2004-09-22
申请人： Toshiaki Kakinami , Takashi Hiramaki , Tokihiko Akita
发明人： Toshiaki Kakinami , Takashi Hiramaki , Tokihiko Akita
IPC分类号： G06K9/00 , G06K9/46 , G01C22/00
CPC分类号： G08G1/167 , G06K9/00798 , G06K9/3241 , G06K9/4647 , G06T7/12 , G06T7/73 , G06T2207/10016 , G06T2207/30256
摘要： A device for detecting a road traveling lane, which is capable of stably defining a position of a boundary of a traveling lane. The device has edge point detection means (ED) for detecting a plurality of edge points in a contour on an image, edge histogram producing means (HD) for producing a vertical edge histogram for horizontal elements of the plurality of edge points, block marking line determination means (BD) for determining presence and absence of a block-like marking line on the basis of periodicity of distribution and a combination of distributions of plus edges and minus edges in the vertical edge histogram, and lane boundary edge detection means (MD) for detecting vertical edge points present outside (relative to the center of the traveling lane) of a region where the block-like marking line is present. And, according to lane boundary position defining means (LD), it is so constituted to define a position of a curve fitted to the vertical edge points, as the position of the boundary of the traveling lane.
摘要翻译：一种用于检测道路行驶车道的装置，其能够稳定地限定行驶车道的边界的位置。该装置具有用于检测图像中的轮廓中的多个边缘点的边缘点检测装置（ED），用于产生多个边缘点的水平元素的垂直边缘直方图的边缘直方图产生装置（HD），块标记线确定装置（BD），用于基于分布的周期性和垂直边缘直方图中的正边和负边的分布的组合以及车道边界边缘检测装置（MD）确定块状标记线的存在和不存在，用于检测存在块状标记线的区域外侧（相对于行进车道的中心）的垂直边缘点。并且，根据车道边界位置限定装置（LD），将其作为行驶车道的边界的位置来定义安装在垂直边缘点上的曲线的位置。

8. 发明申请

US20060136109A1 Parking assist device 有权
标题翻译：停车辅助装置
公开(公告)号：US20060136109A1
公开(公告)日：2006-06-22
申请号：US11312454
申请日：2005-12-21
申请人： Yu Tanaka , Toshiaki Kakinami
发明人： Yu Tanaka , Toshiaki Kakinami
IPC分类号： B62D6/00
CPC分类号： B62D15/028 , B60T2201/10 , B60W10/20 , B60W40/04 , B62D15/0275
摘要： A parking assist device detecting a parking stall line from an image, which is captured by a capturing portion; setting a parking target position on the basis of the parking stall line; and assisting the vehicle to travel to the parking target position; the parking assist device includes a vehicle detecting portion for detecting a movement of the vehicle, a memorizing portion for memorizing the movement detected by the vehicle detecting portion, as a vehicle moving trajectory, a temporary parking target position estimating portion for assuming a temporary parking target position on the basis of variations of the vehicle moving trajectory, which has been memorized by the memorizing portion, and a parking stall line searching area setting portion for setting a parking stall line searching area, within which a parking stall line is searched on the basis of the temporary parking target position.
摘要翻译：一种停车辅助装置，其从拍摄部分拍摄的图像中检测停车停车线; 基于停车线设定停车目标位置; 并协助车辆前往停车目标位置; 停车辅助装置包括用于检测车辆的移动的车辆检测部分，用于存储由车辆检测部分检测到的运动的存储部分作为车辆移动轨迹，用于假设临时停车目标的临时停车目标位置估计部分基于由记忆部分记忆的车辆移动轨迹的变化的位置，以及停车停车线搜索区域设定部分，用于设置停车停车线搜索区域，停车停车线路搜索区域基于的临时停车目标位置。

9. 发明授权

US06654670B2 Parking assisting apparatus 有权
公开(公告)号：US06654670B2
公开(公告)日：2003-11-25
申请号：US09540903
申请日：2000-03-31
申请人： Toshiaki Kakinami , Shoji Kawata
发明人： Toshiaki Kakinami , Shoji Kawata
IPC分类号： G05D100
CPC分类号： B62D15/0275 , B60Q9/005 , B60R1/00 , B60R2300/30 , B60R2300/302 , B60R2300/305 , B60R2300/806 , B60R2300/8066 , B60R2300/8086 , B60T2201/10 , G01S3/7864
摘要： A parking assisting apparatus is provided in which even a beginner can relaxedly park a vehicle and parking operation is pertinently assisted. The apparatus provides a cameras 1 for taking an image rearwardly of a vehicle during parking the vehicle. The image from the camera is displayed on a display 13 provided inside the vehicle as a rear image and a running prediction locus 20 is displayed which varies in accordance with the state of a steering wheel angle to overlap the rear image. A longitudinal line parking switch 4b instructs the vehicle to park along a longitudinal line and when the longitudinal line parking is instructed there is displayed a running prediction locus 20a having a point of inflection in accordance with the steering wheel angle.

10. 发明授权

US4614248A Motor-driven power steering system having a stable output torque 失效
标题翻译：具有稳定输出转矩的电动机动力转向系统
公开(公告)号：US4614248A
公开(公告)日：1986-09-30
申请号：US638668
申请日：1984-08-08
申请人： Toshiaki Kakinami , Tomio Yasuda
发明人： Toshiaki Kakinami , Tomio Yasuda
IPC分类号： B62D5/04 , B62D6/00 , G05D17/02
CPC分类号： B62D5/0463
摘要： An electric motor driven power steering system is provided. The motor is prevented from operating at low torque command levels. After a first predetermined level of command torque is reached, the motor is controlled to generate torque at a predetermined rate less than the torque actually commanded by the vehicle driver. After a second predetermined level of commanded torque is reached, the motor is controlled to generate torque in accordance with the level of torque command. Thus, the phenomenon known as "hunting" and instability of the system at low torque levels are virtually eliminated. The system operates smoothly over its full range of operation and is not affected by rough road surface conditions.
摘要翻译：提供了一种电动机驱动的动力转向系统。防止电机在低扭矩指令级别下运行。在达到第一预定水平的指令扭矩之后，马达被控制以以比车辆驾驶员实际命令的转矩小的预定速度产生转矩。在达到第二预定水平的指令转矩之后，控制电动机以根据转矩指令的水平产生转矩。因此，实际上消除了以低扭矩水平被称为“狩猎”和系统的不稳定性的现象。系统运行平稳，不受路面粗糙的影响。

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