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1. 发明授权

US08346473B2 Lane determining device, lane determining method and navigation apparatus using the same 有权
标题翻译：车道确定装置，车道确定方法和使用其的导航装置
公开(公告)号：US08346473B2
公开(公告)日：2013-01-01
申请号：US12593772
申请日：2008-05-23
申请人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Osamu Aisaka , Motoki Kanba , Kiyokazu Okada
发明人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Osamu Aisaka , Motoki Kanba , Kiyokazu Okada
IPC分类号： G01C21/32
CPC分类号： G06K9/00798 , G01C21/30 , G01C21/3658
摘要： A lane determining device includes: a feature information obtaining unit for obtaining feature information F of a target feature existing in each lane in the traveling direction of a vehicle 30, based on vehicle position information; an image recognizing unit for conducting image recognition processing of a feature type of the target feature in a vehicle lane, with respect to image information; and a lane accuracy determining unit for determining a vehicle lane accuracy for the respective lanes based on a type of a recognized feature fa shown in an image recognition result, feature types Ft1 to Ft4 of the target feature of the respective lanes shown in the feature information F, in accordance with a level of probability for each of the feature types Ft1 to Ft4 of the target feature of the respective lanes is recognized as the type of the recognized feature fa.
摘要翻译：车道确定装置包括：特征信息获取单元，用于基于车辆位置信息获得车辆30的行驶方向上存在于每个车道中的目标特征的特征信息F; 图像识别单元，用于相对于图像信息进行车道中的目标特征的特征类型的图像识别处理; 以及车道精度确定单元，用于基于图像识别结果中所示的识别特征fa的类型来确定各车道的车道准确度，特征信息中所示的各车道的目标特征的特征类型Ft1至Ft4 F根据各车道的目标特征的特征类型Ft1至Ft4的概率的等级被识别为识别的特征fa的类型。

2. 发明申请

US20110044543A1 FEATURE EXTRACTION METHOD, AND IMAGE RECOGNITION METHOD AND FEATURE DATABASE CREATION METHOD USING THE SAME 有权
标题翻译：特征提取方法和图像识别方法及其特征数据库创建方法
公开(公告)号：US20110044543A1
公开(公告)日：2011-02-24
申请号：US12451078
申请日：2008-05-30
申请人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Motoki Kanba , Osamu Aisaka , Kiyokazu Okada
发明人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Motoki Kanba , Osamu Aisaka , Kiyokazu Okada
IPC分类号： G06K9/46
CPC分类号： G06K9/00798
摘要： A feature extraction method includes: the step of grouping a cluster of features, in which an internal of the respective features is less than or equal to a predetermined grouping interval, to form a feature group, for a plurality of features of which feature information including at least information of a position and a feature type is included in a predetermined feature information storage unit; the step of excluding the feature, not suitable for use in an image recognition process of the feature with respect to image information, from the cluster of the features within the feature group; and the step of extracting a part or all of one or more of the features within the feature group remaining as a result of the exclusion step as a target feature suitable for the use in the image recognition process.
摘要翻译：特征提取方法包括：对于多个特征，对特征的一组特征进行分组，其中各个特征的内部小于或等于预定的分组间隔，以形成特征组，其特征信息包括位置和特征类型的至少信息被包括在预定特征信息存储单元中; 从特征组中的特征的集群排除不适合用于相对于图像信息的特征的图像识别处理的特征的步骤; 以及将作为排除步骤的结果剩余的特征组中的一个或多个特征的一部分或全部的部分或全部提取为适合于在图像识别处理中使用的目标特征的步骤。

3. 发明授权

US08452101B2 Feature extraction method, and image recognition method and feature database creation method using the same 有权
标题翻译：特征提取方法，图像识别方法和特征数据库创建方法使用相同
公开(公告)号：US08452101B2
公开(公告)日：2013-05-28
申请号：US12451078
申请日：2008-05-30
申请人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Motoki Kanba , Osamu Aisaka , Kiyokazu Okada
发明人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Motoki Kanba , Osamu Aisaka , Kiyokazu Okada
IPC分类号： G06K9/66
CPC分类号： G06K9/00798
摘要： A feature extraction method includes: the step of grouping a cluster of features, in which an internal of the respective features is less than or equal to a predetermined grouping interval, to form a feature group, for a plurality of features of which feature information including at least information of a position and a feature type is included in a predetermined feature information storage unit; the step of excluding the feature, not suitable for use in an image recognition process of the feature with respect to image information, from the cluster of the features within the feature group; and the step of extracting a part or all of one or more of the features within the feature group remaining as a result of the exclusion step as a target feature suitable for the use in the image recognition process.
摘要翻译：特征提取方法包括：对于多个特征，对特征的一组特征进行分组，其中各个特征的内部小于或等于预定的分组间隔以形成特征组，其特征信息包括位置和特征类型的至少信息被包括在预定特征信息存储单元中; 从特征组中的特征的集群排除不适合用于相对于图像信息的特征的图像识别处理的特征的步骤; 以及将作为排除步骤的结果剩余的特征组中的一个或多个特征的一部分或全部的部分或全部提取为适合于在图像识别处理中使用的目标特征的步骤。

4. 发明申请

US20100121569A1 LANE DETERMINING DEVICE, LANE DETERMINING METHOD AND NAVIGATION APPARATUS USING THE SAME 有权
标题翻译： LANE确定装置，LANE确定方法和使用该方法的导航装置
公开(公告)号：US20100121569A1
公开(公告)日：2010-05-13
申请号：US12593772
申请日：2008-05-23
申请人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Osamu Aisaka , Motoki Kanba , Kiyokazu Okada
发明人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Osamu Aisaka , Motoki Kanba , Kiyokazu Okada
IPC分类号： G01C21/26 , G06K9/00 , G08G1/123
CPC分类号： G06K9/00798 , G01C21/30 , G01C21/3658
摘要： A lane determining device includes: a feature information obtaining unit for obtaining feature information F of a target feature existing in each lane in the traveling direction of a vehicle 30, based on vehicle position information; an image recognizing unit for conducting image recognition processing of a feature type of the target feature in a vehicle lane, with respect to image information; and a lane accuracy determining unit for determining a vehicle lane accuracy for the respective lanes based on a type of a recognized feature fa shown in an image recognition result, feature types Ft1 to Ft4 of the target feature of the respective lanes shown in the feature information F, in accordance with a level of probability for each of the feature types Ft1 to Ft4 of the target feature of the respective lanes is recognized as the type of the recognized feature fa.
摘要翻译：车道确定装置包括：特征信息获取单元，用于基于车辆位置信息获得车辆30的行驶方向上存在于每个车道中的目标特征的特征信息F; 图像识别单元，用于相对于图像信息进行车道中的目标特征的特征类型的图像识别处理; 以及车道精度确定单元，用于基于图像识别结果中所示的识别特征fa的类型来确定各车道的车道准确度，特征信息中所示的各车道的目标特征的特征类型Ft1至Ft4 F根据各车道的目标特征的特征类型Ft1至Ft4的概率的等级被识别为识别的特征fa的类型。

5. 发明授权

US08600673B2 Driving assistance apparatus 有权
标题翻译：驾驶辅助装置
公开(公告)号：US08600673B2
公开(公告)日：2013-12-03
申请号：US12451098
申请日：2008-05-29
申请人： Masaki Nakamura , Naoto Miura , Kiyokazu Okada
发明人： Masaki Nakamura , Naoto Miura , Kiyokazu Okada
IPC分类号： G01S13/88
CPC分类号： G06K9/00798 , B60R1/00 , B60R2300/302 , B60R2300/804 , B60R2300/806 , B60R2300/8086 , G08G1/096725 , G08G1/09675 , G08G1/096791 , G08G1/167
摘要： A driving assistance apparatus is configured such that, in a case in which determination has been made there is a road marking within a predetermined range from a vehicle, the road marking is detected based upon an image acquired by a rear-side camera. In a case in which there is a single control target solely associated with the road marking thus detected, or in a case in which there are multiple control targets associated with the road marking, and the difference in the marking-target distance is equal to or greater than a driving control threshold distance, the target-vehicle distance, which is the distance between the vehicle and the control target that is a target for guidance and vehicle control, is calculated. The driving assistance apparatus performs guidance and vehicle control according to the control target based upon the target-vehicle distance thus calculated.
摘要翻译：驾驶辅助装置被构造成使得在已经进行了确定的情况下，在来自车辆的预定范围内存在道路标记的情况下，基于由后侧摄像机获取的图像来检测道路标记。在这样的情况下，仅存在与所检测到的道路标记完全相关联的单个控制目标，或者在与道路标记相关联的多个控制目标的情况下，并且标记 - 目标距离的差等于或等于计算大于驱动控制阈值距离的目标车辆距离，即作为引导和车辆控制的目标的车辆与控制目标之间的距离。驾驶辅助装置基于由此计算的目标车辆距离，根据控制对象进行引导和车辆控制。

6. 发明授权

US08140266B2 Vehicle positioning information updating system 有权
标题翻译：车辆定位信息更新系统
公开(公告)号：US08140266B2
公开(公告)日：2012-03-20
申请号：US12066907
申请日：2007-05-15
申请人： Motohiro Nakamura , Kiyokazu Okada , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
发明人： Motohiro Nakamura , Kiyokazu Okada , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G01C21/30
CPC分类号： G01C21/32 , B60W10/18 , B60W2050/0077 , B60W2550/00 , B60W2550/141 , B60W2550/22 , B60W2550/402 , G08G1/096716 , G08G1/09675 , G08G1/096791
摘要： Based on positioning accuracy of an own vehicle required for appropriately carrying out assistance control carried out according to a position of the own vehicle, an execution condition for map matching correcting the position of the own vehicle is set. Specifically, setting is made in such a manner that, as the positioning accuracy is higher and an error thereof is smaller, an execution frequency of map matching becomes higher. Then, map matching is carried out according to the thus-set execution condition.
摘要翻译：基于根据本车辆的位置进行适当地执行辅助控制所需的本车辆的定位精度，设定校正本车位置的地图匹配的执行条件。具体地说，以定位精度高，误差小的方式进行设定，地图匹配的执行频率变高。然后，根据这样设定的执行条件进行地图匹配。

7. 发明授权

US07898437B2 Object recognition device 有权
标题翻译：物体识别装置
公开(公告)号：US07898437B2
公开(公告)日：2011-03-01
申请号：US12067100
申请日：2007-05-15
申请人： Kiyokazu Okada , Motohiro Nakamura , Masaki Nakamura , Makoto Hasunuma
发明人： Kiyokazu Okada , Motohiro Nakamura , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G08G1/123
CPC分类号： G01C7/04 , G01C21/30 , G01C21/3602 , G06K9/00798 , G08G1/16 , G08G1/166 , G08G1/167
摘要： An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases. Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.
摘要翻译：物体识别装置基于通过GPS获得的行驶路径，车速，转向角等来检测车辆的位置，并且还基于使用拍摄图像获得的对象的识别结果来检测车辆的位置的相机。该装置在检测车辆位置时计算定位精度，随着车辆的移动距离增加，该精度大部分劣化。要识别的道路上的对象的位置数据预先存储在地图数据库中。基于检测到的车辆的位置，存储在地图数据库中的对象的位置和计算出的定位精度来设定待识别对象的道路的识别范围。通过处理摄像机的拍摄图像，可以识别出设定的识别范围。

8. 发明申请

US20100061591A1 OBJECT RECOGNITION DEVICE 有权
标题翻译：对象识别装置
公开(公告)号：US20100061591A1
公开(公告)日：2010-03-11
申请号：US12067100
申请日：2007-05-15
申请人： Kiyokazu Okada , Motohiro Nakamura , Masaki Nakamura , Makoto Hasunuma
发明人： Kiyokazu Okada , Motohiro Nakamura , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G06K9/00
CPC分类号： G01C7/04 , G01C21/30 , G01C21/3602 , G06K9/00798 , G08G1/16 , G08G1/166 , G08G1/167
摘要： An object recognition device detects a position of a vehicle based on a running path obtained by GPS, vehicle speed, steering angle, etc., and also detects the position of the vehicle based on a result of recognition of an object obtained using a captured image of a camera. The device computes a positioning accuracy in detecting the vehicle position, which accuracy mostly deteriorates as a movement distance of the vehicle increases.Positional data of the object on the road to be recognized is stored in a map database beforehand. A recognition range of the road of the object to be recognized is set based on the detected position of the vehicle, a position of the object stored in the map database, and the computed positioning accuracy. The object is recognized for the set recognition range by processing of the captured image of the camera.
摘要翻译：物体识别装置基于通过GPS获得的行驶路径，车速，转向角等来检测车辆的位置，并且还基于使用拍摄图像获得的对象的识别结果来检测车辆的位置的相机。该装置在检测车辆位置时计算定位精度，随着车辆的移动距离增加，该精度大部分劣化。要识别的道路上的对象的位置数据预先存储在地图数据库中。基于检测到的车辆的位置，存储在地图数据库中的对象的位置和计算出的定位精度来设定待识别对象的道路的识别范围。通过处理摄像机的拍摄图像，可以识别出设定的识别范围。

9. 发明授权

US08271174B2 Support control device 有权
标题翻译：支持控制装置
公开(公告)号：US08271174B2
公开(公告)日：2012-09-18
申请号：US12300737
申请日：2007-05-15
申请人： Kiyokazu Okada , Motohiro Nakamura , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
发明人： Kiyokazu Okada , Motohiro Nakamura , Hidenobu Suzuki , Masaki Nakamura , Makoto Hasunuma
IPC分类号： G08G1/16
CPC分类号： B60W40/10 , B60W30/00 , B60W50/0098 , B60W2550/402 , G01C21/30
摘要： An accuracy error for measuring the position of an own vehicle is calculated based on the information of an execution history of map matching and the information of an update history of a map database. In addition, a predetermined map is referred to based on the calculated accuracy error, and an accuracy error level for performing positioning is specified from among plural stepwise levels. Then, the control level of assist control executed according to the position of the own vehicle is changed so as to correspond to the specified accuracy error level.
摘要翻译：基于地图匹配的执行历史的信息和地图数据库的更新历史的信息来计算用于测量自身车辆的位置的精度误差。此外，基于所计算出的精度误差来参照预定图，并且从多个分级中指定用于执行定位的精度误差水平。然后，根据本车辆的位置执行的辅助控制的控制水平被改变以对应于指定的精度误差水平。

10. 发明申请

US20100299000A1 DRIVING ASSISTANCE APPARATUS 有权
标题翻译：驾驶辅助装置
公开(公告)号：US20100299000A1
公开(公告)日：2010-11-25
申请号：US12451098
申请日：2008-05-29
申请人： Masaki Nakamura , Naoto Miura , Kiyokazu Okada
发明人： Masaki Nakamura , Naoto Miura , Kiyokazu Okada
IPC分类号： G06F7/00 , G01C21/36
CPC分类号： G06K9/00798 , B60R1/00 , B60R2300/302 , B60R2300/804 , B60R2300/806 , B60R2300/8086 , G08G1/096725 , G08G1/09675 , G08G1/096791 , G08G1/167
摘要： A driving assistance apparatus is configured such that, in a case in which determination has been made there is a road marking within a predetermined range from a vehicle, the road marking is detected based upon an image acquired by a rear-side camera. In a case in which there is a single control target solely associated with the road marking thus detected, or in a case in which there are multiple control targets associated with the road marking, and the difference in the marking-target distance is equal to or greater than a driving control threshold distance, the target-vehicle distance, which is the distance between the vehicle and the control target that is a target for guidance and vehicle control, is calculated. The driving assistance apparatus performs guidance and vehicle control according to the control target based upon the target-vehicle distance thus calculated.
摘要翻译：驾驶辅助装置被构造成使得在已经进行了确定的情况下，在来自车辆的预定范围内存在道路标记的情况下，基于由后侧摄像机获取的图像来检测道路标记。在这样的情况下，仅存在与所检测到的道路标记完全相关联的单个控制目标，或者在与道路标记相关联的多个控制目标的情况下，并且标记 - 目标距离的差等于或等于计算大于驱动控制阈值距离的目标车辆距离，即作为引导和车辆控制的目标的车辆与控制目标之间的距离。驾驶辅助装置基于由此计算的目标车辆距离，根据控制对象进行引导和车辆控制。

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