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1. 发明专利

JP2019095213A 重畳画像表示装置及びコンピュータプログラム审中-公开
公开(公告)号：JP2019095213A
公开(公告)日：2019-06-20
申请号：JP2017222168
申请日：2017-11-17
申请人： AISIN AW CO
发明人： WATANABE KENJI , MIYAKE HIROYUKI , MORITA TAKESUKE
IPC分类号： G01C21/36 , B60K35/00 , B60R11/02 , B60R11/04 , G06T7/00 , G09B29/10
摘要：【課題】案内画像と周辺にある構造物との位置関係を正確に車両の運転者に把握させることを可能にした重畳画像表示装置及びコンピュータプログラムを提供する。【解決手段】車両の運転者へ情報を案内する案内画像を、車両前方の風景に重畳して視認させる場合において、道路及び道路周辺の構造物の3次元形状を特定する3次元地図情報34を取得し、道路及び道路周辺の構造物の3次元形状に基づいて、3次元地図情報内に案内画像を配置し、3次元地図情報内における運転者の位置から案内画像を視認した場合の案内画像の形状を取得し、取得された形状の案内画像を表示する。【選択図】図5

2. 发明专利

JP2012168098A Photographic position specification system, photographic position specification program, and method for specifying photographic position 有权
标题翻译：摄影位置规范系统，摄影位置规范程序和指定拍摄位置的方法
公开(公告)号：JP2012168098A
公开(公告)日：2012-09-06
申请号：JP2011030809
申请日：2011-02-16
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： MIYAJIMA TAKAYUKI , ISHIKAWA TAKESHI , MORITA TAKESUKE
IPC分类号： G01C21/28
摘要： PROBLEM TO BE SOLVED: To provide a technique capable of favorably specifying a photographic position of a real landscape image regardless of meteorological conditions when photographing the real landscape image.SOLUTION: The photographic position specification system includes: a reference data storing section 11 that stores reference data RD associated with a photographic position of a landscape image, or a generation source of unit reference data constituting the reference data RD; a photographic position specification section 40 that matches real landscape data AD generated based on the real landscape image SP with the reference data RD and specifies the photographic position of the real landscape image SP; and a unit reference data selecting section 42 that, when matching the real landscape data AD with the reference data RD, for each of respective divided areas formed by dividing the photographic area of the real landscape image SP, selects unit reference data corresponding to the respective divided areas from unit reference data groups constituting the reference data RD based on the positions in the imaging areas of the divided areas, present meteorological condition information CW, and past meteorological condition information PW.
摘要翻译：要解决的问题：提供一种能够有利地指定真实景观图像的摄影位置的技术，而不管气象条件如何，当拍摄真实景观图像时。照相位置指定系统包括：参考数据存储部分11，其存储与景观图像的拍摄位置相关联的参考数据RD或构成参考数据RD的单位参考数据的生成源; 拍摄位置指定部分40，其匹配基于真实景观图像SP产生的实际景观数据AD与参考数据RD，并指定真实景观图像SP的拍摄位置; 以及单位参考数据选择部分42，当通过划分真实景观图像SP的拍摄区域形成的每个分割区域，当将实际横向数据AD与参考数据RD匹配时，选择与各个基于分割区域的成像区域中的位置，当前气象条件信息CW和过去气象条件信息PW，构成基准数据RD的单位参考数据组的分割区域。版权所有（C）2012，JPO＆INPIT

3. 发明专利

JP2014194698A Road end detection system, method and program 有权
标题翻译：道路检测系统，方法与程序
公开(公告)号：JP2014194698A
公开(公告)日：2014-10-09
申请号：JP2013071052
申请日：2013-03-29
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： MORITA TAKESUKE
IPC分类号： G06T7/60 , G06T1/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a technology capable of detecting a road end correctly by suppressing influence of a virtual image.SOLUTION: In a road end detection system: a road end line which is a line corresponding to an end in the width direction of the road in an image photographed by a camera is detected; a candidate line which becomes a candidate for the road end line in the image is recognized; an inside region which is a region on the center side in the width direction of the road from the candidate line, and an outside region which is a region opposite from the center in the width direction of the road from the candidate line are set in the image; vertical edges which are vertical to the road surface of the road are detected in the inside region and in the outside region respectively; and based on the detection result of the vertical edges in the inside region and the detection result of the vertical edges in the outside region, it is determined whether or not the candidate line is the road end line. Vertical edge detection means detects penetrating edges penetrating the candidate line out of the edges vertical to the road surface of the road, and excludes the portion lower than the candidate line from the vertical edges in the image out of the penetrating edges.
摘要翻译：要解决的问题：提供一种能够通过抑制虚拟图像的影响来正确地检测道路终点的技术。解决方案：在道路端检测系统中：作为与宽度方向的端部对应的线的道路终端线检测由相机拍摄的图像中的道路; 识别成为图像中的道路终点线候选者的候补线; 在距离候补线的道路的宽度方向的中心侧的区域和与候选线的道路的宽度方向的中心相反的区域的外侧区域被设定在图片; 在内部区域和外部区域分别检测与道路的路面垂直的垂直边缘; 并且基于内部区域中的垂直边缘的检测结果和外部区域中的垂直边缘的检测结果，确定候选线是否是道路端线。垂直边缘检测装置检测穿过垂直于道路路面的边缘的候选线的穿透边缘，并且从穿透边缘的图像中的垂直边缘排除低于候选线的部分。

4. 发明专利

JP2012118029A Exit determination device, exit determination program and exit determination method 有权
标题翻译：退出确定装置，退出确定程序和退出确定方法
公开(公告)号：JP2012118029A
公开(公告)日：2012-06-21
申请号：JP2010270721
申请日：2010-12-03
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： MIYAJIMA TAKAYUKI , ISHIKAWA TAKESHI , MORITA TAKESUKE
IPC分类号： G01C21/26
摘要： PROBLEM TO BE SOLVED: To provide an art capable of performing highly precise positioning by efficiently preparing effective reference data in a recognition of a landscape image.SOLUTION: An exit determination device for determining an exit from facilities having an entrance ET and an exit EX: acquires a landscape image before entering the entrance ET as a landscape image Vb for learning; generates and stores learning reference data Rb associated with photographing conditions Cb when photographing the landscape image Vb; selects determination reference data Rd used for an exit determination based on prescribed basic reference data Rr associated with photographing conditions Cr when having photographed the landscape image that has been previously acquired, the respective photographing conditions Cr and Cb associated with the learning reference data Rb, and photographing conditions when exiting from the exit Ex; and determines the exit state from the exit Ex based on the determination reference data Rd and the landscape image Va photographed by a camera when exiting from the exit EX.
摘要翻译：要解决的问题：提供一种能够通过在识别景观图像中有效地准备有效参考数据来执行高精度定位的艺术品。解决方案：用于确定具有入口ET和出口EX的设施的出口的出口确定装置在进入入口ET之前获取景观图像作为用于学习的风景图像Vb; 生成并存储拍摄景观图像Vb时与拍摄条件Cb相关联的学习基准数据Rb; 根据与摄影条件Cr相关联的规定的基准参照数据Rr，在拍摄了先前获取的景观图像，与学习基准数据Rb相关联的各拍摄条件Cr，Cb的情况下，选择用于退出判定的判定基准数据Rd，以及从出口Ex出发时的拍摄条件; 并且基于当从出口EX离开时由照相机拍摄的确定参考数据Rd和风景图像Va，从出口Ex确定退出状态。版权所有（C）2012，JPO＆INPIT

5. 发明专利

JP2012099010A Image processing apparatus and image processing program 有权
标题翻译：图像处理设备和图像处理程序
公开(公告)号：JP2012099010A
公开(公告)日：2012-05-24
申请号：JP2010247640
申请日：2010-11-04
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： MORITA TAKESUKE
IPC分类号： G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide an image processing apparatus capable of properly executing image recognition, even when a movable object with a movable part is included in a landscape image.SOLUTION: The image processing apparatus includes a reference database 92 for storing reference data including positional information in a reference photographic image of a movable object characteristic point group GA, a movement range database 93 for storing movement range data R including information defining a range in which the movable object characteristic point group GA can move, an actual photographic image processing part for generating actual photographic data from an actual photographic image that is a landscape image photographed by an on-vehicle camera, and an image recognition part for recognizing an object characteristic point group GC included in the actual photographic data as a movable object 101 included in the reference data if the arrangement of the object characteristic point group GC is within a range defined in the movement range data R referencing the arrangement of the movable object characteristic point group GA included in the reference data.
摘要翻译：要解决的问题：即使当具有可移动部件的可移动物体被包括在横向图像中时，提供能够适当地执行图像识别的图像处理装置。解决方案：图像处理装置包括用于存储包括可移动物体特征点组GA的参考摄影图像中的位置信息的参考数据的参考数据库92，用于存储移动范围数据R的移动范围数据库93，包括定义可移动物体特征点群GA可以移动的范围，用于从作为由车载照相机拍摄的风景图像的实际摄影图像产生实际摄影数据的实际摄影图像处理部分，以及用于识别如果对象特征点组GC的布置在参考可移动物体特性的布置的移动范围数据R中限定的范围内，则包括在包括在参考数据中的可移动对象101的实际照片数据中的对象特征点组GC 点组GA包含在参考数据中。版权所有（C）2012，JPO＆INPIT

6. 发明专利

JP2014071001A System, method and program for guiding recommended lane 有权
标题翻译：用于引导推荐的LANE的系统，方法和程序
公开(公告)号：JP2014071001A
公开(公告)日：2014-04-21
申请号：JP2012217028
申请日：2012-09-28
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： ISHIKAWA TAKESHI , MORITA TAKESUKE
IPC分类号： G01C21/36 , G09B29/00
摘要： PROBLEM TO BE SOLVED: To provide a technique that can guide a position of a recommended lane so as to follow a change in an image of the recommended lane in a front landscape, even when a vehicle moves in a width direction of the lane.SOLUTION: A recommended lane guidance system includes: recommended lane acquiring means for acquiring a recommended lane on which a vehicle should drive; reference line setting means for identifying an image of the recommended lane in a display image in which landscape in front of the vehicle is captured, and for setting a reference line so as to follow the image of the identified recommended lane; and display controlling means for displaying on a display unit the front landscape on which a guidance image is overlapped, the guidance image including the recommended lane portion of which the reference line is set as a center line. When the vehicle starts to move in the width direction, the display controlling means acquires a line formed by moving the reference line set at a start time at which the vehicle starts to move in a width direction the lane, to the opposite to the moving direction of the vehicle in the width direction of the lane, and allows the display unit to overlap the guidance image including the recommended lane portion of which the acquired line is set as the center line on the front landscape and display a resulting image on the display unit.
摘要翻译：要解决的问题：即使当车辆沿车道的宽度方向移动时，提供一种能够引导推荐车道的位置以便跟随前景观中的推荐车道的图像变化的技术。推荐车道引导系统包括：推荐车道获取装置，用于获取车辆应在其上行驶的推荐车道; 用于识别在其中捕获车辆前方景观的显示图像中的推荐车道的图像的参考线设置装置，以及用于设置参考线以跟随所识别的推荐车道的图像; 以及显示控制装置，用于在显示单元上显示引导图像重叠的前景，引导图像包括将基准线设置为中心线的推荐车道部分。当车辆在宽度方向上开始移动时，显示控制装置获取通过在车辆的宽度方向上开始移动车辆开始时的基准线移动基准线而形成的线，与移动方向相反并且允许显示单元与包括所获取的线被设置为前景的中心线的推荐车道部分的引导图像重叠，并且在显示单元上显示所得到的图像。

7. 发明专利

JP2013101044A Lane guidance display system, method and program 有权
标题翻译： LANE指导显示系统，方法和程序
公开(公告)号：JP2013101044A
公开(公告)日：2013-05-23
申请号：JP2011244739
申请日：2011-11-08
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： KONDO YOSHITO , ISHIKAWA TAKESHI , MORITA TAKESUKE
IPC分类号： G01C21/36 , G08G1/0969 , G09B29/00 , G09B29/10
CPC分类号： G01C21/3658 , G01C21/3647 , G06K9/00671 , G06K9/00798
摘要： PROBLEM TO BE SOLVED: To provide a technique giving no discomfort to a driver when a travel lane is divided in front of the vehicle.SOLUTION: A lane guidance display system includes: forward image obtainment means for obtaining a forward image produced by imaging the front of a vehicle; travel lane specification means for specifying a travel lane in which the vehicle currently travels in the forward image; target lane specification means for specifying a target lane in which the vehicle is to travel after traveling a lane-dividing point in front of the vehicle in a case where the travel lane is divided into plural branch lanes at the lane-dividing point; and display control means for causing a display part to display the forward image overlapped with a first guidance line having a first forward endpoint indicating a center point of the travel lane in the width direction as a forward-side endpoint in a case where the travel lane is not divided into plural branch lanes, or causing the display part to display the forward image overlapped with a second guidance line having a second forward endpoint indicating a point on the target lane side deviated from the center point of the travel lane in the width direction as a forward-side endpoint in a case where the travel lane is divided into plural branch lanes.
摘要翻译：要解决的问题：当在车辆前方划分行驶车道时，提供对驾驶员不感到不舒适的技术。车道引导显示系统包括：前向图像获取装置，用于获得通过对车辆前方进行成像而产生的前向图像; 用于指定车辆当前在前进图像中行进的行驶车道的行驶车道规定装置; 目标车道指定装置，用于在车道划分点将行驶车道划分成多个分支车道的情况下，指定在行驶车辆前方的道路分割点之后车辆行驶的目标车道; 以及显示控制装置，用于在行驶车道的情况下使显示部分显示与具有指示行进车道的宽度方向的中心点的第一前进端点的第一引导线重叠的正向图像作为前方端点或者使显示部显示与第二引导线重叠的正向图像，该第二引导线具有指示目标车道侧的偏离行进车道的中心点的宽度方向上的点的第二前进端点作为将行驶车道划分为多个分支车道的情况下的前方端点。版权所有（C）2013，JPO＆INPIT

8. 发明专利

JP2012118025A Facility exit guide system and facility exit guide program 审中-公开
标题翻译：设施退出指南系统和设施退出指南计划
公开(公告)号：JP2012118025A
公开(公告)日：2012-06-21
申请号：JP2010270717
申请日：2010-12-03
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： MIYAJIMA TAKAYUKI , ISHIKAWA TAKESHI , MORITA TAKESUKE
IPC分类号： G01C21/34
摘要： PROBLEM TO BE SOLVED: To provide a technique capable of suitably presenting guide after leaving as much as possible, which is notified in the front of an exit when a vehicle intends to leave from facilities to an outside road through the exit.SOLUTION: A facility exit guide system includes: a voice notification part which when an own vehicle is estimated as a state before leaving that the own vehicle intends to leave from an approach target exit to be an approaching exit, outputs voice notification of guide information after leaving to be a guide of a travel direction after leaving the approach target exit based on road information before leaving from the approach target exit; and a renotification determination part which when the own vehicle is estimated as the state before leaving again after notifying the guide information after leaving, determines notification or non-notification of repeated guide information after leaving. When the contents of the repeated guide information after leaving are the same as the contents of the guide information after leaving and a predetermined renotification prohibition condition is satisfied, the renotification determination part determines non-notification, and when a direction of a traveling change of the own vehicle performed after notification of the guide information after leaving is the same direction as a traveling direction guided by the guide information after leaving, determines notification.
摘要翻译：要解决的问题：提供一种能够在离开之后尽可能适当地呈现指南的技术，当车辆打算通过出口从设施离开到外部道路时在出口的前方通知。解决方案：设备出口导向系统包括：语音通知部分，当自己的车辆被估计为在离开本车辆要从接近目标出口离开之前的状态为接近出口时，输出语音通知在离开进场目标出口之前，根据道路信息离开进场目标出口后，离开后指导旅行方向的指导; 以及重新指定确定部，其在自己的车辆在离开之后通知引导信息之后被估计为再次离开之前的状态时，在离开之后确定重复引导信息的通知或不通知。当离开之后的重复引导信息的内容与离开之后的引导信息的内容相同并且满足预定的重新标记禁止条件时，重新标识确定部分确定不通知，并且当行为改变的方向在离开之后通知指导信息后执行的自己的车辆与由离开后的引导信息指导的行进方向相同的方向，确定通知。版权所有（C）2012，JPO＆INPIT

9. 发明专利

JP2013096912A Lane guidance display system, method and program 有权
标题翻译： LANE指导显示系统，方法和程序
公开(公告)号：JP2013096912A
公开(公告)日：2013-05-20
申请号：JP2011241509
申请日：2011-11-02
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： KONDO YOSHITO , ISHIKAWA TAKESHI , MORITA TAKESUKE
IPC分类号： G01C21/36 , G08G1/16 , G09B29/00 , G09B29/10
CPC分类号： G01C21/3658 , G08G1/09626
摘要： PROBLEM TO BE SOLVED: To prevent deterioration of visibility of a guidance line, the deterioration caused by the guidance line swaying relatively to an image of a lane-dividing line.SOLUTION: A lane guidance display system includes: a forward image obtainment section 21b for obtaining a forward image produced by imaging the front of a vehicle; a lane specification section 21c for specifying a travel lane in which the vehicle currently travels in the forward image and a recommended lane to be traveled; determination means 21d for determining whether it is a state to change from the travel lane to the recommended lane; and a display control section 21e for causing the forward image to be displayed, the image overlapped with a guidance line between a forward endpoint and a backward end point indicating positions within the recommended lane. Further, in the case of the lane-changing state, the display control section 21e sets the position of the backward endpoint in the forward image so as to indicate a center position of the vehicle in the width direction. In the case of not being the lane-changing state, the display control section sets the position of the backward endpoint in the forward image so as to indicate a center position of the travel lane in the width direction.
摘要翻译：要解决的问题：为了防止引导线的可视性的劣化，相对于车道分割线的图像，由引导线摇摆的劣化。车道引导显示系统包括：前向图像获取部分21b，用于获得通过对车辆的前方进行成像而产生的前向图像; 用于指定车辆当前在前进图像中行进的行驶车道的行车道指定部分21c和要行驶的推荐车道; 确定装置21d，用于确定是否是从行驶车道改变为推荐车道的状态; 以及用于使正向图像显示的显示控制部分21e，该图像与指示推荐车道内的位置的前向端点和后端点之间的引导线重叠。此外，在车道变更状态的情况下，显示控制部21e将前端图像中的后端点的位置设定为指示车辆在宽度方向上的中心位置。在不是车道改变状态的情况下，显示控制部分设置前进图像中的向后端点的位置，以指示行进车道在宽度方向上的中心位置。版权所有（C）2013，JPO＆INPIT

10. 发明专利

JP2011215053A Own-vehicle position detection system using scenic image recognition 有权
标题翻译：使用场景图像识别的OWN-VEHICLE位置检测系统
公开(公告)号：JP2011215053A
公开(公告)日：2011-10-27
申请号：JP2010084625
申请日：2010-03-31
申请人： Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： MIYAJIMA TAKAYUKI , MORITA TAKESUKE
IPC分类号： G01C21/28 , G06T1/00 , G06T7/00 , G08G1/00
CPC分类号： G01C21/3647 , G01C21/28
摘要： PROBLEM TO BE SOLVED: To provide a vehicle position detection system that efficiently detects an own-vehicle position while using a scenic image recognition technology.SOLUTION: The own-vehicle position detection system is equipped with: a reference data database 92 storing reference data group obtained by associating image feature point data generated by extracting image feature points from a captured image obtained by capturing a scene viewed from a vehicle with an image-capturing position of the corresponding captured image and a vehicle event; a reference data output unit outputting reference data to be a matching partner candidate for matching data comprising image feature points extracted from an actually captured image on the basis of an error range calculated from an estimated own-vehicle position of the vehicle and the actual vehicle event; and an own-vehicle position determination unit determining the own-vehicle position on the basis of the image-capturing position associated with the reference data subjected to matching.
摘要翻译：要解决的问题：提供一种在使用风景图像识别技术时有效地检测自身车辆位置的车辆位置检测系统。解决方案：本车位置检测系统配备有：参考数据数据库92，存储参考数据组通过将通过从车辆观看的场景拍摄而获得的拍摄图像中提取图像特征点而生成的图像特征点数据与对应的拍摄图像的图像拍摄位置和车辆事件相关联; 参考数据输出单元，基于从车辆的估计的本车位置计算出的误差范围和实际车辆事件，输出作为匹配对象候选者的参考数据，用于匹配包括从实际拍摄图像提取的图像特征点的数据 ; 以及本车位置确定单元，基于与经过匹配的参考数据相关联的图像拍摄位置来确定本车位置。

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