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1. 发明授权

US09196163B2 Driving support apparatus and driving support method 有权
标题翻译：驾驶辅助装置及驾驶辅助方法
公开(公告)号：US09196163B2
公开(公告)日：2015-11-24
申请号：US14240808
申请日：2011-08-26
申请人： Shoichi Hayasaka , Masayuki Shimizu , Minami Sato
发明人： Shoichi Hayasaka , Masayuki Shimizu , Minami Sato
IPC分类号： G08G1/16 , G08G1/0969
CPC分类号： G08G1/166 , B60T2201/022 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/0953 , B60W30/0956 , B60W2520/06 , B60W2520/10 , B60W2520/14 , B60W2550/10 , B60W2550/30 , B60W2550/302 , B60W2550/308 , G08G1/0969
摘要： There are provided a driving support apparatus and a driving support method in which the reliability can be improved. In the driving support apparatus, in a traveling direction of the host vehicle and a direction crossing the traveling direction, an intersection where the host vehicle and the moving object cross is predicted; a virtual TTC that it takes for the host vehicle to arrive at the intersection and a virtual TTV that it takes for the moving object to arrive at the intersection when the moving object moves in the direction crossing the traveling direction at a virtual speed which is set virtually, are respectively acquired; and the driving support in the host vehicle is implemented based on the relative relationship between the virtual TTC and the virtual TTV.
摘要翻译：提供了可以提高可靠性的驾驶辅助装置和驾驶辅助方法。在驾驶辅助装置中，在本车辆的行进方向和与行驶方向交叉的方向上，预测本车辆与运动物体交叉的交叉路口; 用于主车辆到达交叉口的虚拟TTC以及当移动物体以设置的虚拟速度沿着行进方向移动的方向移动时移动物体到达交叉点所需的虚拟TTV 实际上分别获得; 并且基于虚拟TTC和虚拟TTV之间的相对关系来实现主车辆中的驾驶支持。

2. 发明申请

US20140288816A1 DRIVING SUPPORT APPARATUS AND DRIVING SUPPORT METHOD 有权
标题翻译：驱动支持设备和驱动支持方法
公开(公告)号：US20140288816A1
公开(公告)日：2014-09-25
申请号：US14240808
申请日：2011-08-26
申请人： Shoichi Hayasaka , Masayuki Shimizu , Minami Sato
发明人： Shoichi Hayasaka , Masayuki Shimizu , Minami Sato
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60T2201/022 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/0953 , B60W30/0956 , B60W2520/06 , B60W2520/10 , B60W2520/14 , B60W2550/10 , B60W2550/30 , B60W2550/302 , B60W2550/308 , G08G1/0969
摘要： There are provided a driving support apparatus and a driving support method in which the reliability can be improved. In the driving support apparatus, in a traveling direction of the host vehicle and a direction crossing the traveling direction, an intersection where the host vehicle and the moving object cross is predicted; a virtual TTC that it takes for the host vehicle to arrive at the intersection and a virtual TTV that it takes for the moving object to arrive at the intersection when the moving object moves in the direction crossing the traveling direction at a virtual speed which is set virtually, are respectively acquired; and the driving support in the host vehicle is implemented based on the relative relationship between the virtual TTC and the virtual TTV.
摘要翻译：提供了可以提高可靠性的驾驶辅助装置和驾驶辅助方法。在驾驶辅助装置中，在本车辆的行进方向和与行驶方向交叉的方向上，预测本车辆与运动物体交叉的交叉路口; 用于主车辆到达交叉口的虚拟TTC以及当移动物体以设置的虚拟速度沿着行进方向移动的方向移动时移动物体到达交叉点所需的虚拟TTV 实际上分别获得; 并且基于虚拟TTC和虚拟TTV之间的相对关系来实现主车辆中的驾驶支持。

3. 发明授权

US09460626B2 Driving support device and driving support method 有权
标题翻译：驾驶支援装置及驾驶辅助方法
公开(公告)号：US09460626B2
公开(公告)日：2016-10-04
申请号：US14240622
申请日：2011-08-26
申请人： Minami Sato , Masayuki Shimizu , Shoichi Hayasaka
发明人： Minami Sato , Masayuki Shimizu , Shoichi Hayasaka
IPC分类号： G08G1/16 , B60W10/18 , B60K31/00
CPC分类号： G08G1/166 , B60K31/0008 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/095 , B60W2520/10 , B60W2520/14 , B60W2540/18 , B60W2550/10
摘要： A driving support device and a driving support method, which can appropriately determine whether driving support is necessary and perform effective driving support, are provided. A driving support device calculates TTC, which is a time required for the vehicle to arrive at an intersection point at which the vehicle and a moving object intersect in the traveling direction of the vehicle and in a direction intersecting with the traveling direction, and TTV required for the moving object to arrive at the intersection point, and performs driving support in the vehicle based on the relative relation between TTC and TTV.
摘要翻译：提供了可以适当地确定驾驶支持是否必要并且执行有效驾驶支持的驾驶支持装置和驾驶辅助方法。驾驶辅助装置计算车辆到车辆和移动物体的行进方向与行驶方向相交的交点的交点所需的时间TTC，需要TTV 使运动对象到达交点，并根据TTC与TTV之间的相对关系，对车辆进行驾驶辅助。

4. 发明授权

US09026352B2 Driving assistance device and driving assistance method 有权
标题翻译：驾驶辅助装置和驾驶辅助方法
公开(公告)号：US09026352B2
公开(公告)日：2015-05-05
申请号：US14344712
申请日：2011-09-14
申请人： Masayuki Shimizu , Shoichi Hayasaka , Minami Sato
发明人： Masayuki Shimizu , Shoichi Hayasaka , Minami Sato
IPC分类号： G08G1/16 , B60R21/00 , B60W30/095 , B60W30/09 , B60W50/00
CPC分类号： G08G1/166 , B60W30/09 , B60W30/095 , B60W30/0953 , B60W50/0097 , B60W2050/0026 , B60W2520/10 , B60W2550/10 , B60W2550/302 , B60W2550/306 , B60W2550/308
摘要： A driving support apparatus includes a collision time prediction unit that predicts a TTC and a TTV, a driving support determination unit that applies the TTC and TTV to a map and determines whether the driving support in the host vehicle is to be implemented or not, a driving support control unit that controls the driving support in the host vehicle, an extension mode determination unit that determines whether a speed of the moving object in a direction crossing the traveling direction is equal to or less than a first threshold value and whether the TTC is equal to or less than a second threshold value or not, and determines that the driving support is to be implemented in the host vehicle in a case where the above conditions are satisfied.
摘要翻译：驾驶辅助装置包括：预测TTC和TTV的碰撞时间预测单元，将TTC和TTV应用于地图并确定是否要实现本车辆中的驾驶支持的驾驶支持确定单元，驾驶辅助控制单元，其控制本车辆的驾驶支持;扩展模式确定单元，确定移动物体在与行驶方向相交的方向上的速度是否等于或小于第一阈值，以及TTC是否为等于或小于第二阈值，并且在满足上述条件的情况下，确定要在主车辆中实施驾驶支持。

5. 发明申请

US20140222326A1 DRIVING SUPPORT DEVICE AND DRIVING SUPPORT METHOD 有权
标题翻译：驱动支持设备和驱动支持方法
公开(公告)号：US20140222326A1
公开(公告)日：2014-08-07
申请号：US14240622
申请日：2011-08-26
申请人： Minami Sato , Masayuki Shimizu , Shoichi Hayasaka
发明人： Minami Sato , Masayuki Shimizu , Shoichi Hayasaka
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60K31/0008 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/095 , B60W2520/10 , B60W2520/14 , B60W2540/18 , B60W2550/10
摘要： A driving support device and a driving support method, which can appropriately determine whether driving support is necessary and perform effective driving support, are provided. A driving support device calculates TTC, which is a time required for the vehicle to arrive at an intersection point at which the vehicle and a moving object intersect in the traveling direction of the vehicle and in a direction intersecting with the traveling direction, and TTV required for the moving object to arrive at the intersection point, and performs driving support in the vehicle based on the relative relation between TTC and TTV.
摘要翻译：提供了可以适当地确定驾驶支持是否必要并且执行有效驾驶支持的驾驶辅助装置和驾驶辅助方法。驾驶辅助装置计算车辆到车辆和移动物体的行进方向与行驶方向相交的交点的交点所需的时间TTC，需要TTV 使运动对象到达交点，并根据TTC与TTV之间的相对关系，对车辆进行驾驶辅助。

6. 发明申请

US20140358392A1 DRIVING ASSISTANCE DEVICE AND DRIVING ASSISTANCE METHOD 有权
标题翻译：驾驶辅助装置和驾驶辅助方法
公开(公告)号：US20140358392A1
公开(公告)日：2014-12-04
申请号：US14344712
申请日：2011-09-14
申请人： Masayuki Shimizu , Shoichi Hayasaka , Minami Sato
发明人： Masayuki Shimizu , Shoichi Hayasaka , Minami Sato
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60W30/09 , B60W30/095 , B60W30/0953 , B60W50/0097 , B60W2050/0026 , B60W2520/10 , B60W2550/10 , B60W2550/302 , B60W2550/306 , B60W2550/308
摘要： A driving support apparatus includes a collision time prediction unit that predicts a TTC and a TTV, a driving support determination unit that applies the TTC and TTV to a map and determines whether the driving support in the host vehicle is to be implemented or not, a driving support control unit that controls the driving support in the host vehicle, an extension mode determination unit that determines whether a speed of the moving object in a direction crossing the traveling direction is equal to or less than a first threshold value and whether the TTC is equal to or less than a second threshold value or not, and determines that the driving support is to be implemented in the host vehicle in a case where the above conditions are satisfied.
摘要翻译：驾驶辅助装置包括：预测TTC和TTV的碰撞时间预测单元，将TTC和TTV应用于地图并确定是否要实现本车辆中的驾驶支持的驾驶支持确定单元，驾驶辅助控制单元，其控制本车辆的驾驶支持;扩展模式确定单元，确定移动物体在与行驶方向相交的方向上的速度是否等于或小于第一阈值，以及TTC是否为等于或小于第二阈值，并且在满足上述条件的情况下，确定要在主车辆中实施驾驶支持。

7. 发明授权

US07843767B2 Object detection apparatus and method 有权
标题翻译：物体检测装置及方法
公开(公告)号：US07843767B2
公开(公告)日：2010-11-30
申请号：US12063961
申请日：2006-08-29
申请人： Shoichi Hayasaka , Masato Okuda , Hisashi Satonaka
发明人： Shoichi Hayasaka , Masato Okuda , Hisashi Satonaka
IPC分类号： G01S15/93
CPC分类号： G01S15/025 , G01S7/52004 , G01S15/931 , G01S2013/9314 , G01S2013/9353 , G01S2015/934 , G01S2015/935 , G01S2015/936
摘要： A reflection-point estimation section constituting an object detection apparatus first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angleφ=a tan {(dn+1−dn)/In} in which n is a natural number. Subsequently, the reflection-point estimation section obtains estimated reflection points Pn′ after correction, by rotating each estimated reflection point Pn based on the calculation result.
摘要翻译：构成物体检测装置的反射点估计部分首先利用以下事实来计算每个估计反射点Pn的旋转校正角，使用以下事实：检测距离dn的变化量与移动量In 的声纳几乎等于相对于垂直于物体表面的方向的切线：旋转校正角＆phgr = = tan（（dn + 1-dn）/ In}其中n是自然数。随后，反射点估计部通过基于计算结果旋转每个估计反射点Pn来获得校正后的估计反射点Pn'。

8. 发明授权

US08121348B2 Object detection apparatus, method and program 有权
标题翻译：物体检测装置，方法和程序
公开(公告)号：US08121348B2
公开(公告)日：2012-02-21
申请号：US12308582
申请日：2007-07-09
申请人： Shoichi Hayasaka , Hideo Fukamachi , Yoshimasa Hara , Naotaka Ichikawa , Toshio Sawaki
发明人： Shoichi Hayasaka , Hideo Fukamachi , Yoshimasa Hara , Naotaka Ichikawa , Toshio Sawaki
IPC分类号： G06K9/00
CPC分类号： G08G1/166 , G06K9/00805 , G06K9/3241 , G06K9/6203 , G06T7/77 , G06T2207/30196
摘要： An object detection apparatus for detecting an object from an image obtained by taking a front view picture of a road in a traveling direction of a vehicle includes a camera unit for taking the front view picture of the road and inputting the image; a dictionary modeling the object; a search unit for searching the image with a search window; a histogram production unit for producing a histogram by comparing the image in the search window with the dictionary and counting a detection frequency in a direction parallel to a road plane; and a detection unit for detecting the detection object by detecting a unimodal distribution from the histogram.
摘要翻译：一种物体检测装置，用于通过拍摄在车辆的行进方向上的道路的前视图获得的图像来检测物体，所述物体检测装置包括用于拍摄所述道路的前视图并输入所述图像的照相机单元; 一个模拟对象的字典; 搜索单元，用于利用搜索窗口搜索图像; 直方图生成单元，用于通过将搜索窗口中的图像与字典进行比较来生成直方图，并且在平行于路面的方向上对检测频率进行计数; 以及检测单元，用于通过从直方图检测单峰分布来检测检测对象。

9. 发明授权

US07778740B2 Point-sequence approximation method and apparatus 有权
标题翻译：点序近似法和装置
公开(公告)号：US07778740B2
公开(公告)日：2010-08-17
申请号：US11494543
申请日：2006-07-28
申请人： Shoichi Hayasaka , Masato Okuda , Hisashi Satonaka
发明人： Shoichi Hayasaka , Masato Okuda , Hisashi Satonaka
IPC分类号： G06F7/00
CPC分类号： G06F17/17
摘要： A point-sequence approximation apparatus determines whether a proportion of a straight-line approximation region is high as compared to that of a curve approximation region. In addition, if it is determined that the proportion of the straight-line approximation region is high as compared to that of the curve approximation region, the point-sequence approximation apparatus repeatedly performs random setting of a candidate of an approximation straight line, and evaluation of approximation accuracy of the candidate of the approximation straight line based on distances between the candidate of the approximation straight line and the points constituting the point sequence. Moreover, the point-sequence approximation apparatus performs straight-line approximation by using the candidate of the approximation straight line with the best result of evaluation of the approximation accuracy as an approximation straight line.
摘要翻译：点序近似装置确定与曲线近似区域相比，直线近似区域的比例是否高。此外，如果确定直线近似区域的比例与曲线近似区域的比例高，则点序近似装置重复执行近似直线的候选的随机设置，并且评估基于近似直线的候选者与构成点序列的点之间的距离的近似直线的候选者的逼近精度。此外，点序列近似装置通过使用具有最佳逼近精度结果的近似直线的候选作为近似直线来执行直线近似。

10. 发明申请

US20070040835A1 Point-sequence approximation method and apparatus 有权
标题翻译：点序近似法和装置
公开(公告)号：US20070040835A1
公开(公告)日：2007-02-22
申请号：US11494543
申请日：2006-07-28
申请人： Shoichi Hayasaka , Masato Okuda , Hisashi Satonaka
发明人： Shoichi Hayasaka , Masato Okuda , Hisashi Satonaka
IPC分类号： G06T11/20
CPC分类号： G06F17/17
摘要： A point-sequence approximation apparatus determines whether a proportion of a straight-line approximation region is high as compared to that of a curve approximation region. In addition, if it is determined that the proportion of the straight-line approximation region is high as compared to that of the curve approximation region, the point-sequence approximation apparatus repeatedly performs random setting of a candidate of an approximation straight line, and evaluation of approximation accuracy of the candidate of the approximation straight line based on distances between the candidate of the approximation straight line and the points constituting the point sequence. Moreover, the point-sequence approximation apparatus performs straight-line approximation by using the candidate of the approximation straight line with the best result of evaluation of the approximation accuracy as an approximation straight line.
摘要翻译：点序近似装置确定与曲线近似区域相比，直线近似区域的比例是否高。此外，如果确定直线近似区域的比例与曲线近似区域的比例高，则点序近似装置重复执行近似直线的候选的随机设置，并且评估基于近似直线的候选者与构成点序列的点之间的距离的近似直线的候选者的逼近精度。此外，点序列近似装置通过使用具有最佳逼近精度结果的近似直线的候选作为近似直线来执行直线近似。

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