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    • 51. 发明申请
    • OBJECT RECOGNIZING APPARATUS
    • 目标识别装置
    • US20070286475A1
    • 2007-12-13
    • US11750879
    • 2007-05-18
    • HIROYUKI SEKIGUCHI
    • HIROYUKI SEKIGUCHI
    • G06K9/00
    • G06K9/00369G06K9/00805
    • An existence probability of an image object based on an image taken by a stereo camera 2 is calculated by an image object existence probability calculating portion 11, an existence probability of a millimeter wave object based on an output of a millimeter wave radar 3 is calculated by a millimeter wave object existence probability calculating portion 12, and an existence probability of a laser object based on an output of a laser radar 4 is calculated by a laser object existence probability calculating portion 13. Further, the respective existence probabilities of the image object, the millimeter wave object, the laser object are corrected based on recognizing rates of the respective recognizing sensors by an existence probability correcting portion 14, the existence probabilities after correction is fused as a fusion existence probability by a fusion existence probability calculating portion 15, thereby, a control of avoiding contact with a hazard or alarming or the like is made to be able to execute by a firm and optimum timing.
    • 通过图像对象存在概率计算部11来计算基于立体照相机2拍摄的图像的图像对象的存在概率,基于毫米波雷达3的输出的毫米波对象的存在概率由 毫米波对象存在概率计算部分12以及基于激光雷达4的输出的激光对象的存在概率由激光对象存在概率计算部分13计算。此外,图像对象的各自的存在概率, 毫米波物体,通过存在概率校正部分14基于各个识别传感器的识别率来校正激光对象,通过融合存在概率计算部分15将修正后的存在概率融合为融合存在概率,从而, 避免与危险或警报等接触的控制 能够通过坚定和最佳的时间执行。
    • 53. 发明授权
    • Vehicle surroundings monitoring apparatus and traveling control system incorporating the apparatus
    • 车辆周边监控装置和装有该装置的行驶控制系统
    • US07030775B2
    • 2006-04-18
    • US10664999
    • 2003-09-18
    • Hiroyuki Sekiguchi
    • Hiroyuki Sekiguchi
    • G08G1/16
    • B60K31/0008
    • A vehicle surroundings monitoring apparatus comprises image solid object detecting means for detecting image solid objects based on image information outputted from a CCD camera, millimeter wave solid object detecting means for detecting millimeter wave solid objects based on signals outputted from a millimeter wave radar, fusion solid object establishing means for establishing fusion solid objects composed of single image solid objects, single millimeter wave solid objects and a combination of the image solid objects and the millimeter wave solid objects by fusing the image solid objects and the millimeter wave solid objects, first reliability judging means for judging a degree of reliability of the fusion solid objects based on a detecting situation of the respective fusion solid objects by the image solid object detecting means, second reliability judging means for judging a degree of reliability of the fusion solid objects based on a detecting situation of the respective fusion solid objects by the millimeter wave solid object detecting means and preceding vehicle selecting means for selecting a preceding vehicle from the fusion solid objects when it is judged that the fusion solid objects have a specified level of reliability according to either of the first reliability judging means and the second reliability judging means.
    • 一种车辆环境监视装置,包括:图像固体物体检测装置,用于根据从CCD摄像机输出的图像信息检测图像固体物体;毫米波固体物体检测装置,用于基于从毫米波雷达输出的信号检测毫米波固体物体;熔融固体 物体建立装置,用于通过融合图像固体和毫米波固体物体来建立由单个图像固体物体,单毫米波固体物体和图像固体物体和毫米波固体物体的组合构成的融合固体物体,第一可靠性判断 用于根据图像固体物体检测装置的各个融合实体的检测情况来判断融合实体的可靠度的装置,用于根据检测对判断融合实体的可靠度判断的第二可靠性判断装置 各自融合溶胶的情况 通过毫米波固体物体检测装置和前一车辆选择装置,当根据第一可靠性判断装置和第一可靠性判定装置中的任一个判断融合实体具有指定的可靠性水平时,从熔融固体物体中选择前方车辆; 第二可靠性判断装置。
    • 54. 发明授权
    • Vehicle surroundings monitoring apparatus and traveling control system incorporating the apparatus
    • 车辆周边监控装置和装有该装置的行驶控制系统
    • US06961661B2
    • 2005-11-01
    • US10665136
    • 2003-09-16
    • Hiroyuki Sekiguchi
    • Hiroyuki Sekiguchi
    • B60R21/00B60K31/00B60R1/00F02D29/02G01S11/12G05D1/02G08G1/16
    • G05D1/0289B60K31/0008B60W30/16B60W2550/10G01S11/12G05D2201/0213
    • A vehicle surroundings monitoring apparatus inputs images taken by a stereoscopic camera, vehicle speeds, steering wheel rotation angles, yaw rates and ON-OFF signals of a turn signal switch. An own travailing path C is calculated from an own traveling path A obtained from lane markers and side walls and an own traveling path B obtained from yaw rates of the own vehicle. Further, a new own traveling path E is calculated from the own traveling path C and a trace of a preceding vehicle, in which case where there is no possibility of a lane change of the preceding vehicle and the turn signal switch is turned off and the absolute value of the steering wheel rotation angle is smaller than a specified value and a present own traveling path is calculated from the own travailing path E and a previous own traveling path. In other cases, the present own traveling path is calculating from the travailing path C and the previous own traveling path.
    • 车辆环境监视装置输入由立体摄像机拍摄的图像,车速,方向盘旋转角度,转向信号开关的横摆率和开关信号。 根据从车辆标识和侧壁获得的自身行驶路径A和从本车辆的偏航率获得的自己的行驶路径B计算自己的行驶路径C. 此外,根据自身的行驶路径C和前方车辆的轨迹计算新的自己的行驶路径E,在这种情况下,不可能发生前方车辆的车道变换和转向信号开关被关闭, 方向盘旋转角度的绝对值小于指定值,并且根据自身的行驶路径E和先前的自己的行驶路径计算出当前的行驶路径。 在其他情况下,本自身的行进路径是从追踪路径C和前一自身行驶路径算出的。
    • 55. 发明授权
    • Monitor system of vehicle outside and the method thereof
    • 车辆监控系统及其方法
    • US06823261B2
    • 2004-11-23
    • US10285504
    • 2002-11-01
    • Hiroyuki Sekiguchi
    • Hiroyuki Sekiguchi
    • G06F1900
    • G06T7/60G01S11/12G01S17/023G01S17/89G01S17/936
    • A monitor system of a vehicle includes an image-measured distance detector for detecting a distance data between a vehicle and a three-dimensional object based on information of an image in front of the vehicle, a laser-measured distance detector for detecting the distance data between the vehicle and the object by projecting a laser beam from the vehicle, and a three-dimensional object recognition device for recognizing the object based on the distance data detected by the image-measured distance detector and the distance data detected by the laser-measured distance detector. The three-dimensional object recognition device recognizes the object by coordinating the distance data and by making the distance data of a horizontal direction ineffective, when the two sets of distance data have a width within a present value and the difference between the distance values of the two sets of distance data is within a preset distance value.
    • 车辆的监视器系统包括:图像测量距离检测器,用于基于车辆前方的图像的信息来检测车辆与三维物体之间的距离数据;激光测量距离检测器,用于检测距离数据 通过投射来自车辆的激光束而在车辆和物体之间,以及三维物体识别装置,用于基于由图像测量距离检测器检测的距离数据和由激光测量的距离数据识别物体 距离检测器 三维物体识别装置通过协调距离数据和通过使水平方向的距离数据无效来识别对象,当两组距离数据具有当前值内的宽度和距离值之间的差 两组距离数据在预设的距离值之内。