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31. 发明申请

US20070003148A1 Image processing apparatus and image pickup device 审中-公开
标题翻译：图像处理装置和图像拾取装置
公开(公告)号：US20070003148A1
公开(公告)日：2007-01-04
申请号：US11500977
申请日：2006-08-09
申请人： Shoji Muramatsu , Yuji Otsuka , Yoshiki Kobayashi , Hiroshi Takenaga , Jiro Takezaki , Tatsuhiko Monji , Isao Furusawa
发明人： Shoji Muramatsu , Yuji Otsuka , Yoshiki Kobayashi , Hiroshi Takenaga , Jiro Takezaki , Tatsuhiko Monji , Isao Furusawa
IPC分类号： G06K9/36
CPC分类号： G06T1/60 , G06T7/70
摘要： Information of light from a subject is converted into information of the electric charges to generate image data for one screen in an image pickup device, the image data is outputted to an image processing LSI, only the image data belonging to a plurality of areas is selected by a processing amount reduction unit, the selected image data is transferred to a RAM in a single chop by a data transfer unit, and the processing of recognizing a white line is executed by a CPU on the basis of the image data stored in the RAM.
摘要翻译：将来自被摄体的光的信息转换成电荷的信息，以生成图像拾取装置中的一个屏幕的图像数据，将图像数据输出到图像处理LSI，仅选择属于多个区域的图像数据通过处理量减少单元，所选择的图像数据由数据传送单元以单个切片传送到RAM，并且基于存储在RAM中的图像数据由CPU执行识别白线的处理。

32. 发明授权

US6020844A Car on-board radar axis adjusting method 失效
标题翻译：车载雷达轴调整方法
公开(公告)号：US6020844A
公开(公告)日：2000-02-01
申请号：US225475
申请日：1999-01-06
申请人： Jie Bai , Mitsuru Nakamura , Kazuhiko Hanawa , Tatsuhiko Monji , Kazuaki Takano , Noriharu Sato
发明人： Jie Bai , Mitsuru Nakamura , Kazuhiko Hanawa , Tatsuhiko Monji , Kazuaki Takano , Noriharu Sato
IPC分类号： B60R21/00 , B60R11/02 , B60W30/00 , G01S7/03 , G01S7/40 , G01S13/93 , H01Q3/02
CPC分类号： G01S7/4026 , H01Q3/02 , G01S2007/403 , G01S2007/4034 , G01S2007/4086 , G01S7/4972
摘要： In a method of adjusting the axis of a car on-board radar, especially, a car on-board mono-pulse radar having the function of transmitting radio waves, light or ultrasonic waves, a car axis and an offset axis are set and the mount angle of an antenna offset-mounted on the offset axis can be adjusted with high precision and with ease through a reduced number of process steps. In the method, at least two points are set on the car, at least two isosceles triangles having a common base defined by a line connecting the setting points and sides of different lengths are drawn, a line connecting vertexes on the same plane of the obtained isosceles triangles and an extension of that line are determined as the car axis, the radar antenna is mounted on the car at an offset position which is apart from the car axis by a constant distance in the horizontal direction, a straight line parallel to the car axis and passing through the offset position is determined as the offset axis, a reflector is disposed in a direction at a constant azimuth angle as viewed from the offset position of the antenna, and the reflector is used as a detection target of the radar to adjust the mount angle of the radar antenna such that an azimuth angle detection value of the reflector detected by the radar equals a setting value of the azimuth angle.
摘要翻译：在调整车载雷达的轴线的方法中，特别地，设置具有发射无线电波，光或超声波，汽车轴和偏移轴的功能的车载单脉冲雷达，偏移安装在偏移轴上的天线的安装角度可以通过减少数量的工艺步骤以高精度和容易地调节。在该方法中，在轿厢上设置至少两个点，至少两个具有由连接不同长度的设定点和侧面的线限定的公共基座的等腰三角形，连接顶点在所获得的相同平面上的线将等腰三角形和该线的延伸线确定为轿厢轴线，雷达天线以与水平方向一定距离的偏离位置安装在轿厢上，平行于轿厢的直线被确定为偏移位置时，从天线的偏移位置观察，将反射器设置在恒定方位角的方向上，并且将反射器用作雷达的检测对象以进行调整雷达天线的安装角度使得由雷达检测的反射器的方位角检测值等于方位角的设定值。

33. 发明授权

US5369580A Yawing-momentum detecting apparatus for a vehicle, a detecting method thereof, and motion controlling apparatus for a vehicle, utilizing the detecting apparatus 失效
标题翻译：利用该检测装置的车辆的动摇检测装置及其检测方法以及车辆的运动控制装置
公开(公告)号：US5369580A
公开(公告)日：1994-11-29
申请号：US851664
申请日：1992-03-16
申请人： Tatsuhiko Monji , Shigeru Horikoshi , Kousaku Shimada , Hayato Sugawara
发明人： Tatsuhiko Monji , Shigeru Horikoshi , Kousaku Shimada , Hayato Sugawara
IPC分类号： B62D6/00 , B60T8/1755 , B60T8/84 , B60W40/10 , B60W40/109 , B62D6/04 , B62D7/15 , B62D101/00 , B62D103/00 , B62D105/00 , B62D113/00 , G01P15/00 , G01P15/125 , G01P15/13 , G01P21/00
CPC分类号： B60T8/17551 , B62D6/04 , B62D7/159 , G01P15/18 , B60T2250/062 , B60T2260/022 , G01P2015/0828
摘要： A novel yawing-momentum detecting apparatus, and yawing-detecting method for a vehicle, and also a motion controlling apparatus for the vehicle with employment of this yawing-momentum detecting apparatus. The yawing-momentum detecting apparatus for the vehicle comprises: a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis passing through a gravity center of the vehicle within a plane perpendicular the vertical axis; units for calculating yawing momentum of the vehicle occurring around the vertical axis based upon outputs from the plural acceleration sensors; and characteristic correcting units for correcting output characteristics of the plural acceleration sensors under known acceleration values to coincide with reference output characteristic values when the known acceleration values are obtained under a certain vehicle operating condition. A further embodiment of the present invention further includes: units for calculating target yawing momentum based on a vehicle speed and a steering angle of a steering wheel while a car driver manipulates the steering wheel; and units for adjusting a steering apparatus and/or a braking apparatus of the vehicle in such a manner that the yawing momentum obtained by the yawing-momentum calculating units is coincident with the target yawing momentum.
摘要翻译：一种用于车辆的新型偏航动量检测装置和偏航检测方法，以及使用该偏航动量检测装置的车辆的运动控制装置。用于车辆的偏转动量检测装置包括：多个加速度传感器，其相对于在垂直于垂直轴的平面内通过车辆重心的垂直轴设置在所述车辆的对称位置; 用于基于来自所述多个加速度传感器的输出计算出围绕所述垂直轴线发生的所述车辆的横摆动量的单元; 以及特征校正单元，用于在已知的加速度值下校正多个加速度传感器的输出特性，以在已知的加速度值在特定的车辆操作条件下获得时与参考输出特性值一致。本发明的另一实施例还包括：在汽车驾驶员操纵方向盘的同时，基于车速和方向盘的转向角计算目标横摆动量的单元; 以及用于调整车辆的转向装置和/或制动装置的单元，使得由偏航动量计算单元获得的偏航动量与目标横摆动量一致。

34. 发明授权

US5247466A Angular rate detection apparatus, acceleration detection apparatus and movement control apparatus, of moving body 失效
标题翻译：角速度检测装置，加速检测装置和运动控制装置
公开(公告)号：US5247466A
公开(公告)日：1993-09-21
申请号：US674692
申请日：1991-03-25
申请人： Kousaku Shimada , Yozo Nakamura , Shigeru Horikoshi , Hayato Sugawara , Tatsuhiko Monji
发明人： Kousaku Shimada , Yozo Nakamura , Shigeru Horikoshi , Hayato Sugawara , Tatsuhiko Monji
IPC分类号： G01P13/00 , B60G17/00 , B60G17/019 , B60T8/172 , B60T8/1755 , B62D6/04 , G01P3/44 , G01P7/00 , G01P15/00 , G01P21/00
CPC分类号： B60T8/17551 , B60T8/172 , B62D6/04 , G01P15/00 , G01P21/00 , G01P3/44 , B60G2400/1042 , B60G2400/1062 , B60T2250/03
摘要： An apparatus for detecting an angular rate of a moving body has first and second sensors each of which has a detection direction, the first and second acceleration sensors are mounted at fixed locations on a moving body so that the first and second acceleration sensors have substantially the same detection direction on a plane and a fixed distance therebetween in the detection direction, and the angular rate (.omega.) of the moving body is detected according to the following equation: ##EQU1## wherein .DELTA.G is an acceleration difference and R is the distance between the first and second acceleration sensors in the detection direction.
摘要翻译：一种用于检测移动体的角速率的装置具有第一和第二传感器，每个具有检测方向，第一和第二加速度传感器安装在移动体上的固定位置，使得第一和第二加速度传感器具有基本上在检测方向上在平面上相同的检测方向和它们之间的固定距离，并且根据以下等式检测移动体的角速率（ω）：其中DELTA G是加速度差，R是距离在检测方向上在第一和第二加速度传感器之间。

35. 发明授权

US09058746B2 Information processing device associated with vehicle traveling 有权
标题翻译：与车辆行驶相关的信息处理装置
公开(公告)号：US09058746B2
公开(公告)日：2015-06-16
申请号：US13122369
申请日：2009-10-02
申请人： Masayuki Takemura , Shoji Muramatsu , Tatsuhiko Monji
发明人： Masayuki Takemura , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： B60Q1/00 , G08G1/16 , G01S15/93 , G01S17/93 , B60W30/08
CPC分类号： G08G1/166 , B60W30/08 , G01S15/93 , G01S17/93
摘要： Provided are an information processing device and a processing method both of which are capable of executing processing in response to a traveling situation of a vehicle, thereby securing safety at the time of emergency while securing convenience. The aforementioned information processing device includes: an image obtaining section which performs imaging and obtains information associated with an image; an information obtaining section which obtains the information of a traveling state; a first executing section which executes a first application that executes information processing for improving the safety of traveling; a second executing application which executes a second application that executes the information processing associated with an improvement in traveling feeling; and a determining section which, based on the information obtained in the image obtaining section and the information obtained in the information obtaining section, determines with or without a possibility of encountering an emergency event. Based on determination, made by the determining section, that it is likely to encounter the emergency event, the information processing device stops part of or the overall processing executed by the second executing section.
摘要翻译：提供了能够根据车辆的行驶状况执行处理的信息处理装置和处理方法，从而在确保方便的同时确保了紧急时的安全性。上述信息处理设备包括：图像获取部分，其执行成像并获得与图像相关联的信息; 信息获取部，其获取行驶状态的信息; 第一执行部，其执行执行用于提高行驶安全性的信息处理的第一应用; 第二执行应用程序，其执行执行与改善旅行感觉相关联的信息处理的第二应用程序; 以及确定部分，其基于在图像获取部分中获得的信息和在信息获取部分中获得的信息，确定是否有可能遇到紧急事件。基于确定部判断出可能遇到紧急事件，信息处理装置停止由第二执行部执行的部分或整体处理。

36. 发明授权

US08878935B2 In-vehicle camera and in-vehicle camera system 有权
标题翻译：车载摄像头和车载摄像头系统
公开(公告)号：US08878935B2
公开(公告)日：2014-11-04
申请号：US13983289
申请日：2012-03-01
申请人： Naoki Kourogi , Tatsuhiko Monji
发明人： Naoki Kourogi , Tatsuhiko Monji
IPC分类号： H04N7/18 , G06K9/00 , H04N5/225 , G08G1/16 , B60R21/0134
CPC分类号： H04N7/18 , B60R21/0134 , G08G1/165
摘要： In the present invention, images at a front side or a rear side of a vehicle are obtained from a plurality of image capturing devices and a disparity and a distance to the captured object are calculated from the images, if the disparity is not sufficiently obtained, pattern light is irradiated onto a capturing object and an image of the object onto which the pattern light is irradiated is obtained again from the plurality of image capturing devices and the disparity and the distance to the captured object are calculated. Therefore, it is possible to provide an in-vehicle camera and system that recognizes an obstacle even in a situation where it is difficult to obtain the disparity of the obstacle around the vehicle.
摘要翻译：在本发明中，从多个图像拍摄装置获得车辆的前侧或后侧的图像，并且如果不能充分获得视差，则根据图像计算与拍摄对象的视差和距离，图案光被照射到拍摄对象上，并且从多个图像捕获装置再次获得照射有图案光的对象的图像，并且计算视差和到被拍摄对象的距离。因此，即使在难以获得车辆周围的障碍物的不一致的情况下，也可以提供识别障碍物的车载摄像机和系统。

37. 发明授权

US08384781B2 Stereo camera device 有权
标题翻译：立体声相机设备
公开(公告)号：US08384781B2
公开(公告)日：2013-02-26
申请号：US12333853
申请日：2008-12-12
申请人： Mirai Higuchi , Shoji Muramatsu , Soichiro Yokota , Tatsuhiko Monji
发明人： Mirai Higuchi , Shoji Muramatsu , Soichiro Yokota , Tatsuhiko Monji
IPC分类号： H04N7/18 , G06K9/00
CPC分类号： G06K9/00805
摘要： A stereo camera device includes: plural picture image taking sections, an image correction section which makes correction of picture images taken, a parallax calculating section which calculates parallax, an amount of dislocation between the left and right images, and an image recognition section which carries out image recognition processing using both the image taken and the calculated parallax, or either of them. The stereo camera device further includes: a processing area setting up section which sets up the image area to be processed and reduction ratio differently depending on the driving environment of the vehicle on which the stereo camera device is mounted, wherein, by using the image area and the reduction ratio set up by the processing area setting up section, the image correction section makes correction to the picture image, the parallax calculating section calculates parallax, and the image recognition section carries out processing of image recognition.
摘要翻译：立体相机装置包括：多个图像拍摄部分，对所拍摄的图像进行校正的图像校正部分，计算视差的视差计算部分，左和右图像之间的位错量以及携带使用所拍摄的图像和计算出的视差的两个图像识别处理，或者它们中的任一个。立体相机装置还包括：处理区域设置部分，其根据安装立体照相机装置的车辆的驾驶环境不同地设置要处理的图像区域和缩小比例，其中，通过使用图像区域和由处理区域设置部分设置的缩小比率，图像校正部分对图像图像进行校正，视差计算部分计算视差，图像识别部分执行图像识别处理。

38. 发明申请

US20120133767A1 Image-Processing Camera System and Image-Processing Camera Control Method 有权
标题翻译：图像处理相机系统和图像处理相机控制方法
公开(公告)号：US20120133767A1
公开(公告)日：2012-05-31
申请号：US13358596
申请日：2012-01-26
申请人： Shoji MURAMATSU , Yuuji Otsuka , Hiroshi Takenaga , Tatsuhiko Monji , Jiro Takezaki , Isao Furusawa
发明人： Shoji MURAMATSU , Yuuji Otsuka , Hiroshi Takenaga , Tatsuhiko Monji , Jiro Takezaki , Isao Furusawa
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/105 , B60R2300/108 , B60R2300/207 , B60R2300/301 , B60R2300/302 , B60R2300/70 , B60R2300/804 , B60R2300/806 , B60R2300/8073 , B60R2300/8093 , G07C5/0866 , G07C5/0891 , G08G1/14 , G08G1/167 , H04N5/232 , H04N5/23206 , H04N5/23225 , H04N7/181 , H04N7/183
摘要： An image pickup device that acquires images is controlled by an image pickup device controller that accepts image acquisition requests from multiple application programs, and an application scheduler selects application programs to be executed. Information indicative of the image data volumes and image data acquisition rates required for each of the multiple application programs is stored and used to select multiple concurrently executable application programs on the basis of the image data volumes and image data acquisition rates. An image acquisition scheduler determines the timing and intervals at which the multiple executable application programs repeat receiving image data from the image pickup device, without overlapping in terms of time. In addition, an operations section, which explicitly presents concurrently executable application programs to a user and commands the startup of these programs, is displayed on a navigation screen menu.
摘要翻译：获取图像的图像拾取装置由接受来自多个应用程序的图像获取请求的图像拾取装置控制器控制，并且应用程序调度器选择要执行的应用程序。存储指示多个应用程序中的每个应用程序所需的图像数据量和图像数据获取率的信息，并且用于基于图像数据量和图像数据获取速率来选择多个并发可执行的应用程序。图像采集调度器确定多个可执行应用程序重复从图像拾取装置接收图像数据的时间和间隔，而不会在时间上重叠。此外，在导航画面菜单上显示向用户显示同时执行应用程序并命令启动这些程序的操作部分。

39. 发明授权

US07957559B2 Apparatus and system for recognizing environment surrounding vehicle 有权
标题翻译：用于识别车辆周围环境的装置和系统
公开(公告)号：US07957559B2
公开(公告)日：2011-06-07
申请号：US11777585
申请日：2007-07-13
申请人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Kimiyoshi Machii , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
发明人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Kimiyoshi Machii , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： In conventional systems using an onboard camera disposed rearward of a vehicle for recognizing an object surrounding the vehicle, the object is recognized by the camera disposed rearward of the vehicle. In the image recognized by the camera, a road surface marking taken by the camera appears at a lower end of a screen of the image, which makes it difficult to predict a specific position in the screen from which the road surface marking appears. Further, an angle of depression of the camera is large, and it is a short period of time to acquire the object. Therefore, it is difficult to improve a recognition rate and to reduce false recognition. Results of recognition (type, position, angle, recognition time) made by a camera disposed forward of the vehicle, are used to predict a specific timing and a specific position of a field of view of a camera disposed rearward of the vehicle, at which the object appears. Parameters of recognition logic of the rearwardly disposed camera and processing timing are then optimally adjusted. Further, luminance information of the image from the forwardly disposed camera is used to predict possible changes to be made in luminance of the field of view of the rearwardly disposed camera. Gain and exposure time of the rearwardly disposed camera are then adjusted.
摘要翻译：在使用设置在车辆后方的车载照相机以识别车辆周围的物体的常规系统中，物体被设置在车辆后方的照相机识别。在由相机识别的图像中，由相机拍摄的路面标记出现在图像的屏幕的下端，这使得难以预测出现路面标记的屏幕中的特定位置。此外，相机的下压角度大，获取物体的时间短。因此，难以提高识别率并减少错误识别。使用布置在车辆前方的相机进行的识别（类型，位置，角度，识别时间）的结果用于预测设置在车辆后方的相机的视场的具体定时和特定位置，该对象出现。然后，最佳地调整后置摄像机的识别逻辑和处理定时的参数。此外，来自前方照相机的图像的亮度信息用于预测在向后设置的相机的视场的亮度可能发生的变化。然后调整向后放置的相机的增益和曝光时间。

40. 发明授权

US07551067B2 Obstacle detection system 失效
标题翻译：障碍物检测系统
公开(公告)号：US07551067B2
公开(公告)日：2009-06-23
申请号：US11657489
申请日：2007-01-25
申请人： Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji
发明人： Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , B60R21/0134 , B60R2021/01259 , G06K9/00798 , G06T7/254 , G06T7/73 , G06T7/97 , G06T2207/30261
摘要： An object of the present invention is to detect a three-dimensional object by use of a single-eyed camera with a higher degree of accuracy by eliminating false detection of an obstacle, which is caused by a detection error of a vehicle speed sensor or that of a rudder angle sensor.A top view of a first image including a road surface image is created. The first image is imaged by a camera mounted to a vehicle. Then, a top view of a second image is created. The second image is imaged at a timing different from the timing when the first image is imaged. The two top views are associated with each other on the basis of a characteristic shape on the road surface. In each overlapped portion of the two top views, an area in which a difference occurs is identified as an obstacle.
摘要翻译：本发明的目的是通过消除由车速传感器的检测误差引起的障碍物的错误检测，通过使用具有更高精度的单眼相机来检测三维物体，或者由车速传感器的检测误差引起的，或者的舵角传感器。创建包括路面图像的第一图像的俯视图。第一个图像由安装在车辆上的相机成像。然后，创建第二个图像的顶视图。在与第一图像被成像的定时不同的定时对第二图像进行成像。基于路面上的特征形状，两个顶视图彼此相关联。在两个顶视图的每个重叠部分中，发生差异的区域被识别为障碍物。

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