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1. 发明授权

US06246949B1 Apparatus for calculating deflection of central axis of an obstacle detecting apparatus mounted on a vehicle and apparatus for correcting the deflection of central axis, and system for controlling distance to a preceding vehicle traveling ahead 失效
标题翻译：用于计算安装在车辆上的障碍物检测装置的中心轴的偏转的装置和用于校正中心轴的偏转的装置，以及用于控制前进车前进的前进车辆的距离的系统
公开(公告)号：US06246949B1
公开(公告)日：2001-06-12
申请号：US08780092
申请日：1996-12-27
申请人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
发明人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
IPC分类号： G06F16500
CPC分类号： G01S17/936 , B60K31/0008 , B60T2201/08 , B60T2201/081 , B60W30/16 , B60W2050/021 , G01S7/4972 , G01S7/52004 , G01S2007/403 , G01S2007/4091 , G01S2013/9321 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9364
摘要： The present invention aims to facilitate easy correction of the center axis of an obstacle detecting apparatus for a vehicle by calculating deflection of the center axis with respect to the vehicle. Each of most obstacles recognized as moving objects is a preceding vehicle 93, and when the subject vehicle 91 is moving straight, the preceding vehicle 93 is detected in a position straight ahead of the subject vehicle 91. If the optical axis 95 of the transmitting/receiving section 31 is oriented straight ahead of the subject vehicle 91, the preceding vehicle 93 will be detected on the optical axis 95. On the other hand, when the optical axis 95 deviates from the center axis of the vehicle, the preceding vehicle 93 is detected in a position deviated from the optical axis 95 by an angle &thgr; m. In this case, the value &thgr; of deflection of optical axis 95 is equal to −&thgr; m. In addition, by determining whether or not the relative velocity vector component of an obstacle is within a given range, the accuracy of calculation can be bettered with data of vehicles moving in an adjacent lane and data of vehicles moving along a curve being removed.
摘要翻译：本发明的目的是通过计算中心轴相对于车辆的偏转，便于对车辆的障碍物检测装置的中心轴的校正。识别为移动物体的大多数障碍物中的每一个是前方车辆93，并且当本车辆91正在移动时，在本车辆91的前方的位置检测前方车辆93.如果发送/ 接收部31朝向目标车辆91的直线前方，在光轴95上检测前方车辆93.另一方面，当光轴95偏离车辆的中心轴线时，前方车辆93为在偏离光轴95的位置处检测到角度θm。在这种情况下，光轴95的偏转值θ等于-θm。此外，通过确定障碍物的相对速度矢量分量是否在给定范围内，可以通过在相邻车道中移动的车辆的数据和沿着被移除的曲线移动的车辆的数据来提高计算精度。

2. 发明授权

US5510990A System for distinguishing a vehicle traveling ahead based on an adjustable probability distribution 失效
标题翻译：基于可调概率分布来区分前进行驶的车辆的系统
公开(公告)号：US5510990A
公开(公告)日：1996-04-23
申请号：US162276
申请日：1993-12-07
申请人： Katsuhiko Hibino , Akira Kurahashi , Mitsufumi Hashimoto
发明人： Katsuhiko Hibino , Akira Kurahashi , Mitsufumi Hashimoto
IPC分类号： B60K31/00 , B60R21/00 , B60W30/00 , F02D29/02 , G01S7/41 , G01S13/93 , G01S17/93 , G05D13/02 , G08G1/16 , G06F165/00
CPC分类号： G01S17/936 , B60K31/0008 , G01S13/931 , B60W2550/143 , B60W2550/306 , B60W2710/0605 , B60W2720/106 , G01S2013/9321 , G01S2013/9325 , G01S2013/935 , G01S2013/9353 , G01S2013/9367 , G01S7/411
摘要： An anticollision radar system for a vehicle is provided. This system includes a distance sensor for measuring distance to an object present in a given forward detectable range, and determines a curvature of a road on which the system vehicle is moving, determines the probability that the object present in a given forward detectable range of the distance sensor is identified as a preceding vehicle traveling on the same lane as the system vehicle in a preselected relation to the distance to the object measured by the distance sensor and the curvature of the road determined, determines a target speed based on the probability determined, and modifies the speed of the system vehicle to the target speed determined.
摘要翻译：提供了一种用于车辆的防碰撞雷达系统。该系统包括距离传感器，用于测量与给定的前向可检测范围内存在的物体的距离，并且确定系统车辆正在移动的道路的曲率，确定存在于给定的前向可检测范围内的物体的概率距离传感器被识别为与系统车辆在与由距离传感器测量的物体的距离和所确定的道路的曲率预定关系的同一车道上行驶的前一车辆，基于所确定的概率确定目标速度，并将系统车辆的速度改变为所确定的目标速度。

3. 发明授权

US5396426A Constant speed traveling apparatus for vehicle with inter-vehicle distance adjustment function 失效
标题翻译：具有车间距离调节功能的车辆恒速行驶装置
公开(公告)号：US5396426A
公开(公告)日：1995-03-07
申请号：US111401
申请日：1993-08-25
申请人： Katsuhiko Hibino , Mitsufumi Hashimoto , Akira Kurahashi
发明人： Katsuhiko Hibino , Mitsufumi Hashimoto , Akira Kurahashi
IPC分类号： B60K31/00 , G06F15/50
CPC分类号： B60W30/16 , B60K31/0008
摘要： An apparatus includes an inter-vehicle distance sensor for measuring a distance from a self vehicle to a vehicle traveling ahead, and a relative speed is calculated on the basis of the inter-vehicle distance data detected by the inter-vehicle distance sensor. When a variation of the relative speed is small, it is recognized that a vehicle is present ahead of the self vehicle. An acceleration/deceleration is obtained from a stored acceleration/deceleration basic map on the basis of a difference between the inter-vehicle distance and a target inter-vehicle distance, and the relative speed with the vehicle ahead, and an acceleration/deceleration correction coefficient is calculated from a correction map set with adjustment constants in correspondence with the measured inter-vehicle distance. An acceleration/deceleration is calculated by multiplying the acceleration/deceleration with the correction coefficient. A new target vehicle speed is calculated on the basis of the calculated acceleration/deceleration, and a previously set target vehicle speed.
摘要翻译：一种装置包括：车辆间距离传感器，用于测量从自车向前行驶的车辆的距离，并且基于由车辆间距离传感器检测到的车辆间距离数据来计算相对速度。当相对速度的变化较小时，认识到车辆存在于自车辆之前。基于车辆间距离与目标车间距离之间的差异以及与前方车辆的相对速度，加速/减速校正系数，从存储的加速/减速基准图获得加速/减速由具有与测量的车辆间距离对应的调整常数设置的校正图计算。通过将加减速与校正系数相乘来计算加减速。基于所计算的加速度/减速度和先前设定的目标车速来计算新的目标车速。

4. 发明申请

US20120177250A1 BOUNDARY DETECTION DEVICE FOR VEHICLES 有权
标题翻译：车辆边界检测装置
公开(公告)号：US20120177250A1
公开(公告)日：2012-07-12
申请号：US13347825
申请日：2012-01-11
申请人： Hiroki Nakano , Katsuhiko Hibino
发明人： Hiroki Nakano , Katsuhiko Hibino
IPC分类号： G06K9/46
CPC分类号： G06K9/00798
摘要： In a lane boundary detection device, a plurality of edge components are extracted from a captured image capturing the periphery of the own vehicle. Candidates of a curve (including straight lines) that is to be the boundary of a driving area are extracted as boundary candidates based on the placement of the plurality of edge components. Then, an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image is calculated. Boundary candidates of which the formed angle is less than an angle reference value are set to have low probability. The boundary candidate having the highest probability among the boundary candidates is set as the boundary of the driving area.
摘要翻译：在车道边界检测装置中，从捕获本车辆的周边的拍摄图像中提取多个边缘成分。基于多个边缘分量的位置，提取作为驱动区域的边界的曲线（包括直线）的候选者作为边界候选。然后，计算由所提取的边界候补的预定部分中的切线和拍摄图像中的垂直线形成的角度。形成角度小于角度参考值的边界候选者被设置为具有低概率。边界候选中概率最高的边界候选被设定为驱动区域的边界。

5. 发明授权

US5818355A Automotive anti-collision and alarm system 失效
标题翻译：汽车防碰撞报警系统
公开(公告)号：US5818355A
公开(公告)日：1998-10-06
申请号：US780182
申请日：1996-12-26
申请人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
发明人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
IPC分类号： B60R21/00 , B60K28/10 , B60Q5/00 , B60W30/00 , B60W40/10 , B60W40/109 , F16H59/66 , G01S7/295 , G01S13/60 , G01S13/93 , G01S17/88 , G01S17/93 , G08B21/00 , G08G1/16 , B60Q1/00
CPC分类号： G01S13/931 , B60K28/10 , B60W30/095 , G08G1/165 , G08G1/166 , B60W2050/143 , B60W2550/10 , F16H59/66 , G01S2013/9321 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375
摘要： An estimated travelling curve La (radius Rea) of a system vehicle is obtained based on a first group of sampling data (X1, Y1) through (X5, Y5). Alarm area WA1a is set as a region surrounded by a pair of circular arcs parallel shifted from curve La by .+-.1 m and a pair of straight lines (Y=Y1 and Y=Y5). Similarly, an estimated travelling curve Lb (radius Reb) is obtained based on a second group of sampling data (X3, Y3) through (X5, Y5). Alarm area WA1b is set as a region surrounded by a pair of circular arcs parallel shifted from curve Lb by .+-.1 m and straight lines (Y=Y1 and Y=Y5). At the entrance and exit of a curved road, values of radii Rea and Reb are differentiated. Hence, the collision judgement is performed by using different alarm areas WA1a and WA1b.
摘要翻译：基于第一组采样数据（X1，Y1）至（X5，Y5）获得系统车辆的估计行驶曲线La（半径Rea）。报警区域WA1a设置为由曲线La平行偏移+/- 1m的一对圆弧和一对直线（Y = Y1和Y = Y5）包围的区域。类似地，基于第二组采样数据（X3，Y3）至（X5，Y5）获得估计行进曲线Lb（半径Reb）。报警区域WA1b设定为由曲线Lb平行移动+/- 1m的一对圆弧和直线（Y = Y1，Y = Y5）包围的区域。在弯曲的道路的入口和出口处，半径Rea和Reb的值是有区别的。因此，通过使用不同的报警区域WA1a和WA1b执行碰撞判断。

6. 发明授权

US5574463A Obstacle recognition system for a vehicle 失效
标题翻译：车辆障碍物识别系统
公开(公告)号：US5574463A
公开(公告)日：1996-11-12
申请号：US449116
申请日：1995-05-24
申请人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
发明人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
IPC分类号： B60R21/00 , B60W30/00 , G01S7/41 , G01S7/48 , G01S7/481 , G01S13/93 , G01S17/93 , G08G1/16 , G01S13/60
CPC分类号： G01S17/936 , G01S13/93 , G01S7/4802 , G01S7/4817 , G01S7/412 , G01S7/481
摘要： A radar device emits a wave beam into a given angular range outside a vehicle, and scans the given angular range by the wave beam. The radar device detects a reflected wave beam. A recognizing device is operative for recognizing an obstacle with respect to the vehicle on the basis of the result of detection of the reflected wave beam by the radar device. In the recognizing device, a point recognizing section recognizes obstacles as points, and a uniting section is operative for uniting adjacent points among the points provided by the point recognizing section. The uniting section provides sets each having adjacent points. A line-segment recognizing section is operative for detecting a specific set or specific sets of adjacent points among the adjacent-point sets provided by the uniting section, and for recognizing every detected specific set as a line segment having a length only along a width direction of the vehicle. Every specific set has a length smaller than a given length along a longitudinal direction of the vehicle. A position estimating section estimates the position of a line segment, which will be provided by the line-segment recognizing section, in response to the position of a previously-provided line segment. An identity judging section is operative for comparing the line-segment position estimated by the position estimating section and the position of a line segment currently provided by the line-segment recognizing section to judge whether or not the line segment currently provided by the line-segment recognizing section and the previously-provided line segment are the same.
摘要翻译：雷达装置将波束发射到车辆外部的给定角度范围内，并通过波束扫描给定的角度范围。雷达装置检测反射波束。基于由雷达装置检测出的反射波束的结果，识别装置用于识别相对于车辆的障碍物。在识别装置中，点识别部将障碍物识别为点，并且联合部分用于将由点识别部分提供的点之间的相邻点组合起来。联合部分提供各具有相邻点的集合。线段识别部分用于检测由联合部分提供的相邻点集合中的特定集合或特定的相邻点集合，并且用于将每个检测到的特定集合识别为仅沿着宽度方向具有长度的线段的车辆。每个特定组具有沿着车辆的纵向方向小于给定长度的长度。位置估计部分响应于先前提供的线段的位置来估计将由线段识别部分提供的线段的位置。一个身份判断部分，用于比较由位置估计部分估计的线段位置和由线段识别部分当前提供的线段的位置，以判断当前由线段提供的线段识别部分和先前提供的线段是相同的。

7. 发明授权

US5751211A Obstacle warning system for a vehicle 失效
标题翻译：车辆障碍物预警系统
公开(公告)号：US5751211A
公开(公告)日：1998-05-12
申请号：US777196
申请日：1996-12-27
申请人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
发明人： Noriaki Shirai , Katsuhiko Hibino , Takao Nishimura
IPC分类号： B60R21/00 , B60K28/10 , B60Q1/00 , B60W30/00 , B60W40/10 , B60W40/109 , G01S7/295 , G01S13/44 , G01S13/60 , G01S13/93 , G01S17/88 , G01S17/93 , G03C1/16 , G08G1/16
CPC分类号： G01S17/936 , B60K28/10 , B60W10/04 , B60W10/10 , B60W30/18 , B60W30/1819 , G01S13/931 , G03C1/16 , B60W2550/10 , B60W2550/143 , G01S13/44 , G01S2013/9321 , G01S2013/9325 , G01S2013/9339 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9364 , G01S2013/9375 , Y10S367/909
摘要： As provided here, an obstacle warning system for a vehicle is capable of issuing an alarm accurately according to the curved state of a road. When the road is curved, the system sets the correction time counter on the basis of the following conditions: whether or not the curvature radius of the curved road is small; whether or not a guardrail is detected immediately ahead of the vehicle; whether or not an erroneously-recognized object, such as a set of guardrail reflectors exhibiting large relative acceleration is immediately ahead of the vehicle; and whether or not the number of obstacles recognized reaches a value indicating that the vehicle is approaching a curved section of the road. When a stationary object enters the field of view indicating that there is a possibility of a collision, the obstacle warning system corrects the warning distance in response to the value of the correction time counter, thus making it possible to avoid a false alarm during cornering.
摘要翻译：如这里所提供的，车辆的障碍物报警系统能够根据道路的弯曲状态准确地发出报警。当道路弯曲时，系统基于以下条件设置校正时间计数器：曲面道路的曲率半径是否小; 是否立即在车辆前方检测到护栏; 是否在车辆之前立即将诸如表现出相对加速度较大的一组护栏反射器的错误识别的物体，以及所识别的障碍物的数量是否达到表示车辆正在接近道路的弯曲部分的值。当静止物体进入指示存在碰撞的可能性的视场时，障碍物报警系统响应于校正时间计数器的值来校正警告距离，从而可以避免转弯期间的假警报。

8. 发明授权

US5529139A Vehicle speed control system 失效
标题翻译：车速控制系统
公开(公告)号：US5529139A
公开(公告)日：1996-06-25
申请号：US204572
申请日：1994-03-02
申请人： Akira Kurahashi , Katsuhiko Hibino , Mamoru Shimamoto , Mitsufumi Hashimoto
发明人： Akira Kurahashi , Katsuhiko Hibino , Mamoru Shimamoto , Mitsufumi Hashimoto
IPC分类号： B60K31/00 , B60R21/00 , B60W30/00 , G01S13/93 , G01S17/93 , G05D13/62 , B60K31/08
CPC分类号： B60W30/16 , B60K31/0008 , B60W2550/308 , G01S17/936 , G01S2013/9321
摘要： A vehicle speed control system for controlling the speed of a controlled vehicle to follow a preceding vehicle detected at a constant interval is provided. In this system, when a preceding vehicle traveling ahead of the controlled vehicle is detected, it is checked if the preceding vehicle detected meets a given tracking condition. When the tracking condition is encountered, it is reported to a driver. The system is responsive to a manual operation of the driver after the driver has perceived that the preceding vehicle can be tracked to initiate constant inter-vehicle distance control.
摘要翻译：提供了一种用于控制受控车辆跟随前一车辆以一定间隔检测的速度的车速控制系统。在该系统中，当检测到在受控车辆前方行驶的前一车辆时，检查前面的车辆是否满足给定的跟踪条件。当遇到跟踪条件时，会向驱动程序报告。在驾驶员已经认识到可以跟踪前面的车辆以启动恒定的车间距离控制之后，系统响应于驾驶员的手动操作。

9. 发明授权

US08682033B2 Boundary detection device for vehicles 有权
标题翻译：车辆边界检测装置
公开(公告)号：US08682033B2
公开(公告)日：2014-03-25
申请号：US13347825
申请日：2012-01-11
申请人： Hiroki Nakano , Katsuhiko Hibino
发明人： Hiroki Nakano , Katsuhiko Hibino
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： In a lane boundary detection device, a plurality of edge components are extracted from a captured image capturing the periphery of the own vehicle. Candidates of a curve (including straight lines) that is to be the boundary of a driving area are extracted as boundary candidates based on the placement of the plurality of edge components. Then, an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image is calculated. Boundary candidates of which the formed angle is less than an angle reference value are set to have low probability. The boundary candidate having the highest probability among the boundary candidates is set as the boundary of the driving area.
摘要翻译：在车道边界检测装置中，从捕获本车辆的周边的拍摄图像中提取多个边缘成分。基于多个边缘分量的位置，提取作为驱动区域的边界的曲线（包括直线）的候选者作为边界候选。然后，计算由所提取的边界候补的预定部分中的切线和拍摄图像中的垂直线形成的角度。形成角度小于角度参考值的边界候选者被设置为具有低概率。边界候选中概率最高的边界候选被设定为驱动区域的边界。

10. 发明授权

US5684473A Measuring apparatus for detecting distance between vehicles and related warning system 失效
标题翻译：用于检测车辆间距离和相关警告系统的测量装置
公开(公告)号：US5684473A
公开(公告)日：1997-11-04
申请号：US409528
申请日：1995-03-24
申请人： Katsuhiko Hibino , Noriaki Shirai , Takao Nishimura
发明人： Katsuhiko Hibino , Noriaki Shirai , Takao Nishimura
IPC分类号： B60R21/00 , B60K28/00 , B60K31/00 , B60Q1/52 , B60Q9/00 , B60T7/22 , B60T17/18 , B60W30/00 , B60W30/16 , B60W40/08 , B60W50/08 , G01C21/10 , G01C23/00 , G01P15/00 , G01S7/497 , G01S7/51 , G01S13/93 , G01S17/88 , G01S17/93 , G08B21/00 , G08G1/16
CPC分类号： G01S17/936 , B60K31/0008 , B60Q9/008 , B60T7/22 , B60W30/16 , B60T2220/02 , B60W2050/143 , B60W2540/12 , B60W2540/22 , B60W2540/30 , B60W2710/0605 , B60W2750/308 , B60W40/09 , G01S2013/9325
摘要： A measuring apparatus for measuring an actual distance between vehicles and comparing the measured distance with a reference distance. The reference distance (SL) is obtained on the basis of: a personal space (VR.multidot.TIMEK) being an uneasy distance peculiar to a driver and obtained in accordance with the own vehicle speed; a free running distance (VRR.multidot.TIMEN) corresponding to a response time of a driver's braking operation and a relative speed between two vehicles; a braking distance (VRR.sup.2 /(2.multidot.GR)) corresponding to a depressing strength of a braking pedal in the driver's braking operation and the relative speed; and an acceleration change distance (.alpha.G.multidot.GA) corresponding to a relative acceleration between the two vehicles, using the following equation: SL=VR.multidot.TIMEK-VRR.multidot.TIMEN+VRR.sup.2 /(2.multidot.GR)-.alpha.G.multidot.GA where VR represents the own vehicle speed, TIMEK represents an uneasy factor, VRR represents the relative speed, TIMEN represents a response factor of the driver's braking operation, GR represents a braking deceleration factor, .alpha.G represents a preceding vehicle acceleration, and GA represents a preceding vehicle deceleration factor.
摘要翻译：一种用于测量车辆之间的实际距离并将测量距离与参考距离进行比较的测量装置。基于以下方式获得参考距离（SL）：个人空间（VRxTIMEK）是驾驶员特有的并且根据本车速度而获得的不安的距离; 对应于驾驶员的制动操作的响应时间和两个车辆之间的相对速度的自由运行距离（VRRxTIMEN）; 与驾驶员的制动操作中的制动踏板的下压强度相对应的制动距离（VRR2 /（2xGR））和相对速度; 和两个车辆之间的相对加速度对应的加速度变化距离（alpha GxGA），使用以下公式：SL = VRxTIMEK-VRRxTIMEN + VRR2 /（2xGR）-αGxGA其中VR表示本车速，TIMEK表示不安的因素 VRR表示相对速度，TIMEN表示驾驶员的制动操作的响应系数，GR表示制动减速系数，α表示前一车辆加速度，GA表示前一车辆减速系数。

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