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1. 发明授权

US06985619B1 Distance correcting apparatus of surroundings monitoring system and vanishing point correcting apparatus thereof 有权
标题翻译：周边监控系统的距离校正装置及其消失点校正装置
公开(公告)号：US06985619B1
公开(公告)日：2006-01-10
申请号：US09667534
申请日：2000-09-22
申请人： Itaru Seta , Keiji Hanawa
发明人： Itaru Seta , Keiji Hanawa
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00798 , G06T7/85 , G06T2207/10012 , H04N13/111 , H04N13/133 , H04N13/189 , H04N13/239 , H04N13/246 , H04N13/25 , H04N13/296 , H04N2013/0081 , H04N2013/0092 , H04N2013/0096
摘要： A distance correcting apparatus of a surroundings monitoring system includes a stereo imaging means for stereoscopically taking a pair of images of a frontal scenery, a parallax calculating means for calculating a parallax based on the pair of images, a distance calculating means for calculating a distance to an object based on the parallax and a parameter for correcting distance, an approximation line calculating means for calculating a plurality of approximation lines extending in the distance direction in parallel with each other based on the images, a vanishing point calculating means for calculating a vanishing point of the images from a point of intersection of the approximation lines and a parameter correcting means for correcting the parameter based on the calculated vanishing point.
摘要翻译：周边监视系统的距离校正装置包括立体成像装置，用于立体地取得正面风景的一对图像;视差计算装置，用于基于该对图像计算视差;距离计算装置，用于计算距离基于视差的物体和用于校正距离的参数;逼近线计算装置，用于基于图像计算在距离方向上彼此平行延伸的多个近似线;消失点计算装置，用于计算消失点来自近似线的交点的图像和参数校正装置，用于根据计算出的消失点来校正参数。

2. 发明授权

US5530420A Running guide apparatus for vehicle capable of keeping safety at passing through narrow path and the method thereof 失效
公开(公告)号：US5530420A
公开(公告)日：1996-06-25
申请号：US364104
申请日：1994-12-27
申请人： Hideaki Tsuchiya , Keiji Hanawa , Keiji Saneyoshi
发明人： Hideaki Tsuchiya , Keiji Hanawa , Keiji Saneyoshi
IPC分类号： G01C21/00 , B60R21/00 , B60W30/00 , G01C3/06 , G01S11/12 , G05D1/02 , G06T1/00 , G08G1/16 , H04N7/18 , H04N13/00 , B60Q1/00
CPC分类号： H04N13/0239 , G01S11/12 , G05D1/0251 , G06K9/00805 , G06T7/0075 , G05D2201/0213 , G06T2200/28 , G06T2207/10012 , G06T2207/30252 , H04N13/0003 , H04N13/0051 , H04N13/0055 , H04N2013/0081 , H04N2013/0092 , H04N2013/0096
摘要： A running guide apparatus for a vehicle includes stereoscopic picture processing element for processing a pair of stereoscopic pictures of an object outside a vehicle imaged by a imaging system mounted on the vehicle, construction detection element for detecting a plurality of various constructions by using three dimensional position data calculated with each portion of the object corresponding to the distance distribution data from the stereoscopic picture processing element; gap distance calculation element for respectively calculating the nearest distance as right and left gap distances each between an extended line of right or left side of the vehicle and each of ends on the vehicle side of the plurality of various constructions detected by the construction detection element; and information element for informing the driver of data related to the right and left gap data calculated by the gap distance calculation element; so as to obtain a distance distribution of an entire picture in dependency upon a discrepancy amount positions corresponding to of the pair of the stereoscopic pictures in accordance with a principle of a triangulation.

3. 发明授权

US5410346A System for monitoring condition outside vehicle using imaged picture by a plurality of television cameras 失效
标题翻译：通过多台电视摄像机使用成像图像监视车外状况的系统
公开(公告)号：US5410346A
公开(公告)日：1995-04-25
申请号：US31728
申请日：1993-03-15
申请人： Keiji Saneyoshi , Keiji Hanawa
发明人： Keiji Saneyoshi , Keiji Hanawa
IPC分类号： B60R21/00 , B60W30/00 , G01B11/24 , G01B11/245 , G01C3/06 , G01C11/06 , G01S11/12 , G05D1/02 , G06K9/00 , G06T1/00 , G06T7/00 , G06T7/20 , G06T7/60 , G08G1/16 , H04N13/00 , H04N7/18
CPC分类号： G06T7/0075 , B60R1/00 , G01C11/06 , G01S11/12 , G06K9/00798 , H04N13/0051 , H04N13/0239 , G06K2209/23 , G06T2207/10012 , H04N13/0003 , H04N13/0055 , H04N2013/0081 , H04N2013/0092 , H04N2013/0096
摘要： A distance between a running vehicle and an object is determined over an imaged picture with high reliability. Three-dimensional objects or a road shape along with accurate position or dimension are also detected. An object within a set region outside a vehicle is imaged by a stereoscopic optical system to input the imaged picture of the object into a stereoscopic picture processing apparatus. The stereoscopic picture processing apparatus processes the picture imaged by the stereoscopic optical system to calculate a distance distribution over the entire picture. A road/three-dimensional object detecting apparatus calculates three-dimensional positions of respective portions of objects corresponding to information of the distance distribution to detect the shape of the road and a plurality of three-dimensional objects by using information of these three-dimensional positions securely and with high reliability.
摘要翻译：在高可靠性的成像图像上确定行驶车辆和物体之间的距离。还检测到三维物体或道路形状以及精确的位置或尺寸。通过立体光学系统对车辆外部的设定区域内的物体进行成像，将被摄体的成像图像输入立体图像处理装置。立体图像处理装置处理由立体光学系统成像的图像，以计算整个图像上的距离分布。道路/三维物体检测装置通过使用这些三维位置的信息来计算与距离分布的信息对应的各部分的三维位置，以检测道路的形状和多个三维物体安全可靠。

4. 发明授权

US06370474B1 Vehicular active drive assist system 有权
标题翻译：车辆主动驱动辅助系统
公开(公告)号：US06370474B1
公开(公告)日：2002-04-09
申请号：US09665103
申请日：2000-09-20
申请人： Yutaka Hiwatashi , Keiji Hanawa
发明人： Yutaka Hiwatashi , Keiji Hanawa
IPC分类号： G08G116
CPC分类号： G08G1/22 , B60Q9/008 , B60T2201/08 , B60T2201/082
摘要： A vehicular active drive assist system including a lane deviation judgment unit which judges the possibility of deviation of own vehicle from a traffic lane on a roadway ahead and a warning control unit which controls a warning based on judgment results fed from the lane deviation judgment unit, wherein the lane deviation judgment unit sets a first judgment line approximately parallel to a lateral direction of the own vehicle at a first distance ahead of the own vehicle, sets a second judgment line approximately parallel to the lateral direction of the own vehicle at a second distance ahead of the own vehicle, makes a judgment on the possibility of deviation from the traffic lane based on the location of the own vehicle and the location of lane markings on the first judgment line, makes another judgment on the possibility of deviation from the traffic lane based on the location of the own vehicle and the location of the lane markings on the second judgment line, and finally judges the possibility of deviation from the traffic lane based on the results of these two judgments.
摘要翻译：一种车辆主动驱动辅助系统，包括：车道偏离判断单元，其判断本车辆在前方道路上的行车道偏离的可能性;以及警告控制单元，其基于从所述车道偏离判断单元馈送的判断结果来控制警告，其中，所述车道偏离判定单元在本车前方的第一距离处设定大致平行于本车辆的横向的第一判定线，将与本车辆的横方向大致平行的第二判定线设置为第二距离在自己的车辆之前，根据自己的车辆的位置和车道标记的位置在第一个判断线上判断偏离行车道的可能性，另行判断偏离行车道的可能性根据本车辆的位置和第二判断线上车道标记的位置，最后判断根据这两项判决的结果，偏离行车道的可能性。

5. 发明授权

US06370261B1 Vehicle surroundings monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US06370261B1
公开(公告)日：2002-04-09
申请号：US09238228
申请日：1999-01-27
申请人： Keiji Hanawa
发明人： Keiji Hanawa
IPC分类号： G06K900
CPC分类号： G01S13/931 , G01S11/12 , G01S13/726 , G01S2013/9353 , G06K9/00201 , G06K9/00805 , G06T7/593 , G06T7/70 , G06T7/74 , G06T17/10 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： Distance image outputted from an image processor is read by a recognition/judgment computer, in which the distance image is divided into strips having a specified interval and a histogram is prepared for each strip. Based on the histogram, the position of solid objects and the distance thereto are obtained and these positional data of the solid objects are classified into groups of solid object and groups of side wall. Further, the position of a wall surface forming a boundary of a road is detected from the data of the groups of side wall. On the other hand, assuming a wall surface model composed of a series of nodes, respective nodes are determined and corrected by the data of side wall. Thus obtained nodes form a successive wall surface along a curved road.
摘要翻译：由图像处理器输出的距离图像由识别/判断计算机读取，其中将距离图像划分成具有指定间隔的条带，并且为每个条带准备直方图。基于直方图，获得固体物体的位置和距离，将固体物体的这些位置数据分成固体物体和侧壁组。此外，根据侧壁组的数据检测形成道路边界的壁面的位置。另一方面，假设由一系列节点组成的墙面模型，通过侧壁的数据确定和校正各个节点。这样获得的节点沿弯曲的道路形成连续的壁面。

6. 发明授权

US06411901B1 Vehicular active drive assist system 有权
标题翻译：车辆主动驱动辅助系统
公开(公告)号：US06411901B1
公开(公告)日：2002-06-25
申请号：US09665104
申请日：2000-09-20
申请人： Yutaka Hiwatashi , Keiji Hanawa
发明人： Yutaka Hiwatashi , Keiji Hanawa
IPC分类号： G08G116
CPC分类号： B62D15/029 , B60Q1/52 , B60T2201/08 , B60T2201/082
摘要： An easy-to-use vehicular active drive assist system is provided, which can continue to give a warning against the presence of a possibility of deviation of own vehicle from a traffic lane to such an extent that a driver would not find the warning noisy or annoying. A control unit makes a judgment on the possibility of deviation from a traffic lane based on the location of lane marker lines detected from a pair of camera images and the location of own vehicle, and generates a warning if the own vehicle is supposed to deviate from to the left or right of the traffic lane. This warning is produced at preset time intervals. When the direction of potential lane deviation has changed (from right to left or from left to right), a lane deviation warning of the current side of lane deviation is started immediately.
摘要翻译：提供了一种易于使用的车辆主动驱动辅助系统，其可以继续发出警告，指示存在本车辆从行车道偏离的可能性，使得驾驶员不会发现警告噪声或烦人的控制单元基于从一对摄像机图像和本车辆的位置检测到的车道标记线的位置来判断与行车道偏离的可能性，并且如果本车辆应该偏离在行车线左侧或右侧。该警告是以预设的时间间隔产生的。当潜在车道偏离的方向发生变化（从右到左或从左到右）时，立即开始车道偏离当前侧的车道偏离警告。

7. 发明授权

US06888953B2 Vehicle surroundings monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US06888953B2
公开(公告)日：2005-05-03
申请号：US10028882
申请日：2001-12-20
申请人： Keiji Hanawa
发明人： Keiji Hanawa
IPC分类号： B60R21/00 , B60W30/00 , G01S11/12 , G01S13/72 , G01S13/93 , G05D1/02 , G06K9/00 , G06T1/00 , G06T7/00 , G06T7/60 , G06T17/10 , G08G1/16 , H04N13/00
CPC分类号： G01S13/931 , G01S11/12 , G01S13/726 , G01S2013/9353 , G06K9/00201 , G06K9/00805 , G06T7/593 , G06T7/70 , G06T7/74 , G06T17/10 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： Distance image outputted from an image processor is read by a recognition/judgment computer, in which the distance image is divided into strips having a specified interval and a histogram is prepared for each strip. Based on the histogram, the position of solid objects and the distance thereto are obtained and these positional data of the solid objects are classified into groups of solid object and groups of side wall. Further, the position of a wall surface forming a boundary of a road is detected from the data of the groups of side wall. On the other hand, assuming a wall surface model composed of a series of nodes, respective nodes are determined and corrected by the data of side wall. Thus obtained nodes form a successive wall surface along a curved road.
摘要翻译：由图像处理器输出的距离图像由识别/判断计算机读取，其中将距离图像划分成具有指定间隔的条带，并且为每个条带准备直方图。基于直方图，获得固体物体的位置和距离，将固体物体的这些位置数据分成固体物体和侧壁组。此外，根据侧壁组的数据检测形成道路边界的壁面的位置。另一方面，假设由一系列节点组成的墙面模型，通过侧壁的数据确定和校正各个节点。这样获得的节点沿弯曲的道路形成连续的壁面。

8. 再颁专利

USRE37610E1 Running guide apparatus for vehicle capable of keeping safety at passing through narrow path and the method thereof 失效
标题翻译：能够保持通过狭窄路径的安全的车辆用导向装置及其方法
公开(公告)号：USRE37610E1
公开(公告)日：2002-03-26
申请号：US09102880
申请日：1998-06-24
申请人： Hideaki Tsuchiya , Keiji Hanawa , Keiji Saneyoshi
发明人： Hideaki Tsuchiya , Keiji Hanawa , Keiji Saneyoshi
IPC分类号： B60Q100
CPC分类号： G06K9/00805 , G01S11/12 , G05D1/0251 , G05D2201/0213 , G06T7/593 , G06T2200/28 , G06T2207/10012 , G06T2207/30252 , H04N13/10 , H04N13/167 , H04N13/189 , H04N13/239 , H04N2013/0081 , H04N2013/0092 , H04N2013/0096
摘要： A running guide apparatus for a vehicle includes stereoscopic picture processing element for processing a pair of stereoscopic pictures of an object outside a vehicle imaged by a imaging system mounted on the vehicle, construction detection element for detecting a plurality of various constructions by using three dimensional position data calculated with each portion of the object corresponding to the distance distribution data from the stereoscopic picture processing element; gap distance calculation element for respectively calculating the nearest distance as right and left gap distances each between an extended line of right or left side of the vehicle and each of ends on the vehicle side of the plurality of various constructions detected by the construction detection element; and information element for informing the driver of data related to the right and left gap data calculated by the gap distance calculation element; so as to obtain a distance distribution of an entire picture in dependency upon a discrepancy amount positions corresponding to of the pair of the stereoscopic pictures in accordance with a principle of a triangulation.
摘要翻译：一种用于车辆的行驶引导装置，包括用于处理由安装在车辆上的成像系统成像的车辆外部的对象的一对立体图像的立体图像处理元件，用于通过使用三维位置来检测多个各种结构的构造检测元件根据与来自立体图像处理元件的距离分布数据对应的对象的每个部分计算的数据; 间隙距离计算元件，用于分别计算最近的距离，作为由所述构造检测元件检测到的所述车辆的右侧或左侧的延伸线与所述多个各种结构中的车辆侧的每个端部之间的左右间隙距离; 以及信息单元，用于通知驾驶员与间隙距离计算单元计算的与左右间隙数据有关的数据; 以便根据三角测量原理，根据与一对立体图像对应的差异量位置获得整个图像的距离分布。

9. 发明授权

US6122597A Vehicle monitoring apparatus 失效
标题翻译：车辆监控装置
公开(公告)号：US6122597A
公开(公告)日：2000-09-19
申请号：US048332
申请日：1998-03-26
申请人： Keiji Saneyoshi , Keiji Hanawa
发明人： Keiji Saneyoshi , Keiji Hanawa
IPC分类号： G01B11/00 , B60R21/00 , B60W30/00 , G01C3/06 , G06K9/00 , G06T5/00 , G08G1/16 , H04N7/18 , H04N13/00 , G01C3/14
CPC分类号： H04N13/0239 , G06K9/00805 , G06T7/0081 , G06T2207/10012 , G06T2207/10016 , G06T2207/30256 , G06T2207/30261 , H04N13/0003 , H04N13/0051 , H04N13/0055 , H04N13/0059 , H04N2013/0081 , H04N2013/0092
摘要： A vehicle monitoring apparatus for obtaining a distance image including an image data and three-dimensional distance information and for monitoring surrounding conditions on the basis of the distance image, comprises: means for dividing the distance image into a plurality of blocks composed of picture elements, means for collecting the blocks having a similar distance data and for grouping the blocks into an independent group, means for calculating an area size of the independent group, means for extracting the image data as an object data if the area size of the group is larger than a predetermined value and for discarding the image data as a false data if the area size is smaller than the predetermined value, means for preparing a histogram having a lateral axis representing a deviation amount and a longitudinal axis representing a frequency corresponding to a number of the image data, and means for detecting an object and a distance to the object by deleting the frequency having a smaller number of the image data than a threshold value along the lateral axis on the histogram. Thereby, false data can be removed from the image data and a mismatching can be prevented.
摘要翻译：一种用于获得包括图像数据和三维距离信息并用于基于距离图像监视周围条件的距离图像的车辆监视装置，包括：用于将距离图像分割成由图像元素组成的多个块的装置，用于收集具有类似距离数据的块并将块分组为独立组的装置，用于计算独立组的面积大小的装置，用于当组的面积大小较大时提取图像数据作为对象数据的装置如果所述区域尺寸小于所述预定值，则将所述图像数据作为假数据丢弃的装置，用于准备具有表示偏离量的横向轴的直方图和表示与所述预定值相对应的频率的纵轴的装置图像数据，以及通过删除具有该对象的频率来检测对象和到达对象的距离的装置比图像数据更大的数量，而不是直方图上沿着横轴的阈值。因此，可以从图像数据中去除伪数据，并且可以防止错配。

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