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1. 发明授权

US5892855A Apparatus for detecting an object located ahead of a vehicle using plural cameras with different fields of view 失效
标题翻译：用于使用具有不同视野的多个相机来检测位于车辆前方的物体的装置
公开(公告)号：US5892855A
公开(公告)日：1999-04-06
申请号：US720031
申请日：1996-09-27
申请人： Toshiaki Kakinami , Mitsuyoshi Saiki , Kunihiko Soshi , Hisashi Satonaka
发明人： Toshiaki Kakinami , Mitsuyoshi Saiki , Kunihiko Soshi , Hisashi Satonaka
IPC分类号： G01C3/06 , B60R21/00 , B60W30/00 , G01S11/12 , G01V8/10 , G05D1/02 , G06K9/46 , G06T1/00 , G08G1/16 , G06K9/36
CPC分类号： G06K9/4633 , G01S11/12 , G05D1/0246 , B60T2201/08 , B60T2201/089 , G05D2201/0213
摘要： An onboard forward monitoring system is disclosed in which three television cameras, each supported by a steering mechanism, take picture of a road surface located forward of a vehicle at near distance, a medium distance and a far distance zone to detect white lines which partition a lane on the road surface, thus detecting a vehicle running ahead on the lane which is defined by the white lines. To enable a reliable detection and tracking of the vehicle running ahead in any zone of the road surface even when the road is curved, the individual television cameras are steered so that a vehicle running ahead is positioned at the center of the screen whenever such vehicle is present and so that a center across the width of the lane is positioned at the center of screen when a vehicle running ahead is not detected.
摘要翻译：公开了一种车载前进监视系统，其中每个由转向机构支撑的三台电视摄像机拍摄位于近距离，中距离和远距离区域的车辆前方的路面，以检测分隔一个车道，从而检测在由白线限定的车道上向前行驶的车辆。为了能够可靠地检测和跟踪在路面的任何区域中向前行驶的车辆，即使在道路弯曲的情况下，单独的电视摄像机被转向，使得在车辆的中心处前方的车辆位于屏幕的中心，并且使得当没有检测到前方行驶的车辆时，跨过车道的宽度的中心位于屏幕的中心。

2. 发明授权

US5321255A Obstacle detecting system having a plurality of spaced laser diodes 失效
标题翻译：障碍物检测系统具有多个间隔开的激光二极管
公开(公告)号：US5321255A
公开(公告)日：1994-06-14
申请号：US951823
申请日：1992-09-28
申请人： Toshiaki Kakinami , Kunihiko Soshi
发明人： Toshiaki Kakinami , Kunihiko Soshi
IPC分类号： G01S7/48 , G01S13/93 , G01S17/93 , G01B11/24
CPC分类号： G01S17/936 , G01S7/4814
摘要： An obstacle detecting system comprises an optical unit having a plurality of spaced laser diodes each of which emits a laser beam, a convex lens spaced from the optical unit in the frontward direction thereof and establishing a combined beam after each the laser beam passes through the convex lens, and a driving device for adjusting the relationship between each the laser beam and the convex lens. Such structure enabling the detection of the obstacle such as a vehicle in such manner that the obstacle is fallen within the width of the combined beam by adjusting the relationship between each the laser beam and the convex lens.
摘要翻译：障碍物检测系统包括具有多个间隔开的激光二极管的光学单元，每个激光二极管发射激光束，在光学单元的向前方向与光学单元间隔开的凸透镜，并且在每个激光束穿过凸起之后建立组合光束透镜和用于调节每个激光束和凸透镜之间的关系的驱动装置。这种结构使得能够通过调节每个激光束和凸透镜之间的关系，以障碍物落在组合光束的宽度内的方式检测诸如车辆的障碍物。

3. 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。

4. 发明授权

US5096287A Video camera for an automobile 失效
标题翻译：摄像机汽车
公开(公告)号：US5096287A
公开(公告)日：1992-03-17
申请号：US670105
申请日：1991-03-15
申请人： Toshiaki Kakinami , Mitsuyoshi Saiki
发明人： Toshiaki Kakinami , Mitsuyoshi Saiki
IPC分类号： G03B11/04 , B60H1/34 , B60R1/00 , B60R1/12 , B60R11/04 , B60R21/00 , B60S1/54 , H04N5/225 , H04N7/18
CPC分类号： B60R11/04 , B60R1/12 , B60R2001/1253
摘要： A video camera for an automobile is mounted on the arm which carries a rear view mirror. The camera is directed forwardly to take pictures through the front windshield of an automobile and a boot is connected between the camera and the windshield to isolate the camera lens from moisture and dust. An air duct may be connected between the boot and the air conditioner to provide a flow of air through the boot.
摘要翻译：用于汽车的摄像机安装在携带后视镜的臂上。摄像机向前指示，通过汽车的前挡风玻璃拍摄照片，并将照相机和挡风玻璃之间连接起来，以将相机镜头与湿气和灰尘隔离开来。空气管道可以连接在引导件和空调器之间以提供通过引导件的空气流。

5. 发明申请

US20090121899A1 PARKING ASSISTANCE DEVICE 审中-公开
标题翻译：停车辅助装置
公开(公告)号：US20090121899A1
公开(公告)日：2009-05-14
申请号：US11996571
申请日：2006-07-26
申请人： Toshiaki Kakinami , Hisashi Satonaka
发明人： Toshiaki Kakinami , Hisashi Satonaka
IPC分类号： G08G1/16
CPC分类号： B62D15/027 , B60W30/06 , B60W40/04 , G06K9/00805 , G06K9/00812
摘要： To provide a parking assistance device for accurately detecting obstacles in the periphery of a parking zone; for detecting a parking space in which a vehicle can be parked without coming into contact with the obstacles; and for satisfactorily assisting a driving operation. The parking assistance device detects a stationary object present in the periphery of a vehicle, and assists in parking the vehicle. The parking assistance device comprises surface shape detection means (1) for detecting the surface shape information of the stationary object; shape recognition means (2) for recognizing the outline shape of the stationary object on the basis of the surface shape information; movement status detection means (6) for detecting the movement status of the vehicle; relative placement calculation means (3) for calculating the relative placement relationship of the vehicle and the stationary object on the basis of the surface shape information, the outline shape, and the movement status; and parking space detection means (4) for detecting a parking space in which the vehicle can be parked on the basis of the placement relationship.
摘要翻译：提供一种用于准确地检测停车区周围的障碍物的停车辅助装置; 用于检测车辆可以停放而不与障碍物接触的停车空间; 并且令人满意地协助驾驶操作。停车辅助装置检测存在于车辆周边的静止物体，并辅助停车。所述停车辅助装置包括用于检测所述静止物体的表面形状信息的表面形状检测装置（1）形状识别装置（2），用于基于表面形状信息识别静止物体的轮廓形状; 用于检测车辆的运动状态的运动状态检测装置（6）相对位置计算装置（3），用于根据表面形状信息，轮廓形状和运动状态计算车辆和静止物体的相对位置关系; 以及停车位检测单元（4），用于基于所述配置关系来检测能够停放所述车辆的停车空间。

6. 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。

7. 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。

8. 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。

9. 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。

10. 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.

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