公开(公告)号：US08155826B2

公开(公告)日：2012-04-10

申请号：US12076067

申请日：2008-03-13

申请人： Masaki Nakamura ,  Koichi Nakao ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

发明人： Masaki Nakamura ,  Koichi Nakao ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

IPC分类号： G01M17/00

CPC分类号： G01C21/26 ,  B60W2420/42 ,  B60W2550/10

摘要： Vehicle behavior learning apparatuses, methods, and programs store pieces of feature information including position information and attribute information of a plurality of target features. The apparatuses, methods, and programs obtain vehicle position information that shows a current position of a vehicle, obtaining image information of surroundings of the vehicle, and obtain one of the stored pieces of feature information corresponding to the surroundings of the vehicle based on the vehicle position information. The apparatuses, methods, and programs perform an image recognition for recognizing a target feature contained in the image information that corresponds to the obtained piece of feature information, detect a behavior of the vehicle that is performed within a predetermined range from a position of the recognized target feature, and store, based on the vehicle position information, the detected behavior in correspondence with information of a position in which the detected behavior was detected. The apparatuses, methods, and programs extract, based the detected behavior being stored a plurality of times at the same position, the detected behavior as a learned behavior, output learned behavior information including attribute information of the detected behavior and the position information of the detected behavior, each of which are kept in correspondence with the piece of feature information of the recognized target feature.

摘要翻译： 车辆行为学习装置，方法和程序存储包括多个目标特征的位置信息和属性信息的特征信息。 所述装置，方法和程序获得显示车辆的当前位置的车辆位置信息，获得车辆周围环境的图像信息，并且基于车辆获得所存储的与车辆周围相对应的特征信息之一 位置信息。 设备，方法和程序执行图像识别，以识别包含在与获得的特征信息相对应的图像信息中的目标特征，从识别的位置检测在预定范围内执行的车辆的行为 目标特征，并且基于车辆位置信息存储与检测到的检测到的行为的位置的信息相对应的检测到的行为。 设备，方法和程序基于检测到的行为在相同位置被多次存储的情况下提取检测到的行为作为学习行为，输出学习行为信息，包括检测到的行为的属性信息和检测到的行为的位置信息 行为，其中的每一个保持与识别的目标特征的特征信息对应。

公开(公告)号：US20100292895A1

公开(公告)日：2010-11-18

申请号：US12597853

申请日：2007-04-27

申请人： Masaki Nakamura ,  Tomoaki Ishikawa ,  Osamu Aisaka ,  Motoki Kanba ,  Motohiro Nakamura

发明人： Masaki Nakamura ,  Tomoaki Ishikawa ,  Osamu Aisaka ,  Motoki Kanba ,  Motohiro Nakamura

IPC分类号： B62D6/00

CPC分类号： G08G1/09623 ,  G06K9/00798 ,  G06K9/00818 ,  G08G1/166

摘要： In a case where it is determined that a road surface marking exists within a specified range from a vehicle 2 (YES at S2), the road surface marking is recognized based on an image that has been acquired by a rear camera 3 (S3), an on-road distance from the vehicle 2 to a control object that is associated with the recognized road surface marking is computed (S5 to S7), and in a case where it has been determined that the on-road distance to the control object has become a specified distance (YES at S8), driving guidance and the vehicle control are performed in accordance with the type of the associated control object (S11).

摘要翻译： 在确定在车辆2的规定范围内存在路面标记的情况下（S2中为“是”），基于由后置照相机3获取的图像（S3）来识别路面标记， 计算从车辆2到与识别的路面标记相关联的控制对象的路上距离（S5至S7），并且在确定到控制对象的道路距离具有 成为指定距离（S8中为“是”），根据关联的控制对象的种类进行驾驶引导和车辆控制（S11）。

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。

公开(公告)号：US20090169055A1

公开(公告)日：2009-07-02

申请号：US12292132

申请日：2008-11-12

申请人： Tomoaki Ishikawa

发明人： Tomoaki Ishikawa

IPC分类号： G06K9/00 ,  G01C21/00 ,  G01C21/30 ,  G06K9/62

CPC分类号： G01C21/32

摘要： A feature information collecting device includes: a feature image recognizing unit that performs image recognition processing of a feature included in image information in a surrounding area of a vehicle; a construction information obtaining unit that obtains construction information including information of a construction section; a construction information storage unit that stores the obtained construction information; a construction completion determining unit that determines, when the vehicle travels a section of a road corresponding to a construction section according to the already stored construction information, completion of construction indicated by the construction information; and a feature learning unit that causes the feature image recognizing unit to perform image recognition processing of a feature in a construction section according to the construction information when the completion of construction is determined, and that generates, based on an image recognition result thereof and the vehicle position information, learned feature information including position information and attribute information of an image-recognized feature.

摘要翻译： 特征信息收集装置包括：特征图像识别单元，对车辆的周围区域中的图像信息中包括的特征进行图像识别处理; 施工信息获取单元，其获取包括施工段的信息的施工信息; 存储所获得的构造信息的构造信息存储单元; 施工完成确定单元，根据已存储的施工信息，确定车辆何时行驶与施工段相对应的道路的一部分，由施工信息表示的施工完成; 以及特征学习单元，其使得所述特征图像识别单元在确定了所述构造完成时根据所述构造信息来执行构造区间中的特征的图像识别处理，并且基于其图像识别结果和 车辆位置信息，学习特征信息，包括位置信息和图像识别特征的属性信息。

公开(公告)号：US20090005980A1

公开(公告)日：2009-01-01

申请号：US12213074

申请日：2008-06-13

申请人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

发明人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

IPC分类号： G01C21/36

CPC分类号： G01C21/28 ,  G06K9/00798

摘要： Vehicle-position-recognition apparatuses, methods, and programs acquire current position information indicating a current position of a vehicle and acquire road information indicating at least one road based on a connection relationship between plural links. The apparatuses, methods, and programs determine a link where the vehicle travels based on the current position information and the road information and generate travel-history information indicating a route that the vehicle travels at a point where a link is branched based on the determined link. The apparatuses, methods, and programs acquire an image of an area surrounding the vehicle, recognize a recognition target in the acquired image, and store the generated travel-history information in the memory in association with information indicating the recognition of the recognition target. The apparatuses, methods, and programs generate learning-priority information indicating a priority of each link branched out at the branch point based on the stored travel-history information and the stored recognition information, the generated learning-priority information usable to determine on which of the links branched out at the branch point that the vehicle is traveling.

摘要翻译： 车辆位置识别装置，方法和程序获取指示车辆的当前位置的当前位置信息，并且基于多个链路之间的连接关系获取指示至少一条道路的道路信息。 设备，方法和程序根据当前位置信息和道路信息确定车辆行驶的链接，并根据所确定的链路，生成表示车辆在分支点处行驶的路线的旅行历史信息 。 装置，方法和程序获取车辆周围的区域的图像，识别所获取的图像中的识别目标，并将生成的旅行历史信息与指示识别目标的识别的信息相关联地存储在存储器中。 所述装置，方法和程序基于所存储的旅行历史信息和所存储的识别信息，生成指示在分支点分支的每个链接的优先级的学习优先级信息，所生成的学习优先级信息可用于确定哪个 链路在车辆行驶的分支点处分支。

公开(公告)号：US20090005929A1

公开(公告)日：2009-01-01

申请号：US12213076

申请日：2008-06-13

申请人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

发明人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

IPC分类号： G06F17/00

CPC分类号： G01C21/36 ,  B60T7/22 ,  B60T2210/36 ,  B60T2220/02 ,  B60T2270/86 ,  B60W10/06 ,  B60W10/08 ,  B60W10/11 ,  B60W10/22 ,  B60W40/02 ,  B60W2530/14 ,  B60W2550/402 ,  B62D1/02 ,  B62D15/00 ,  G01C21/26 ,  G06N20/00

摘要： Vehicle behavior learning apparatuses, methods, and programs acquire image information of an area around a vehicle and perform image recognition of a particular feature included in the image information. The apparatuses, methods, and programs detect a behavior of the vehicle and acquire relation information indicating the relationship between the detected behavior of the and the recognized particular feature before the recognition of the behavior. The apparatuses, methods, and programs store detected behavior information including behavior property information indicating a property of the detected behavior of the vehicle and the acquired relation information associated with the behavior in a memory and produce learned behavior information indicating a result of learning of the behavior related to the particular feature on the basis of the stored detected behavior information.

摘要翻译： 车辆行为学习装置，方法和程序获取车辆周围区域的图像信息，并执行包含在图像信息中的特定特征的图像识别。 装置，方法和程序检测车辆的行为，并获取指示在识别行为之前检测到的特征和识别的特征之间的关系的关系信息。 装置，方法和程序存储检测到的行为信息，包括指示车辆的检测行为的特性的行为属性信息和与存储器中的行为相关联的获取的关系信息，并产生表示行为学习结果的学习行为信息 基于存储的检测到的行为信息与特定特征相关。

公开(公告)号：US06470766B2

公开(公告)日：2002-10-29

申请号：US09757410

申请日：2001-01-09

申请人： Yoshitaka Ohta ,  Tomoaki Ishikawa

发明人： Yoshitaka Ohta ,  Tomoaki Ishikawa

IPC分类号： F16H3510

CPC分类号： F16D7/02 ,  E01H5/04 ,  F16H35/10 ,  Y10T74/18792 ,  Y10T74/19633 ,  Y10T74/19828

摘要： A power transmission system for a working machine, wherein drive power is transmitted from an engine to a work-tool holding drive shaft via a reduction mechanism is provided. The reduction mechanism includes an input shaft having a first gear, and an output shaft having a second gear. The second gear has a gear portion and a cylindrical boss segment press fitted thereto, forming a torque limiter. As a result, the reduction mechanism, which has the torque limiter, has a simplified structure, enabling easy assemblage.

摘要翻译： 提供了一种用于工作机械的动力传递系统，其中驱动力通过减速机构从发动机传递到工件保持驱动轴。 还原机构包括具有第一齿轮的输入轴和具有第二齿轮的输出轴。 第二齿轮具有齿轮部分和安装在其上的圆柱形凸台段压力，形成扭矩限制器。 结果，具有扭矩限制器的减速机构具有简化的结构，能够容易地组装。

公开(公告)号：US6125954A

公开(公告)日：2000-10-03

申请号：US934024

申请日：1997-09-19

申请人： Yoshitaka Oota ,  Jitsumi Hanafusa ,  Tomoaki Ishikawa

发明人： Yoshitaka Oota ,  Jitsumi Hanafusa ,  Tomoaki Ishikawa

IPC分类号： B60K17/10 ,  B62D11/10 ,  B62D11/18 ,  F16H47/04

CPC分类号： B62D11/10 ,  B62D11/18

摘要： A continuously shifting-type steering system includes a pair of left and right hydrostatic continuously variable transmissions each of which is comprised of a hydraulic pump and a hydraulic motor, and a pair of left and right planetary gear mechanisms each having a first sun gear, a second sun gear, a two-step planetary gear and a carrier. A first driving gear connected to an engine, is operably connected commonly to the left and right first sun gears. Left and right second driving gears secured to motor shafts of the left and right hydraulic motors, are operably connected to the left and right carriers, respectively. Left and right output shafts are operably connected to the left and right second sun gears, respectively. Thus, it is possible to provide an increase in the shifting range of the continuously shifting-type steering system, and an enhancement in low-output performance.

摘要翻译： 连续变速型转向系统包括一对左右静液压无级变速器，每一个由液压泵和液压马达组成，一对左行星齿轮机构和右行星齿轮机构分别具有第一太阳齿轮， 第二太阳齿轮，两步行星齿轮和载体。 连接到发动机的第一驱动齿轮可操作地连接到左右第一太阳齿轮。 固定在左右液压马达的马达轴上的左右第二驱动齿轮分别可操作地连接到左和右托架。 左右输出轴分别可操作地连接到左右第二太阳齿轮。 因此，能够提高连续变速型转向系统的换档范围，提高低输出性能。

公开(公告)号：US08825364B2

公开(公告)日：2014-09-02

申请号：US12213040

申请日：2008-06-13

申请人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

发明人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

IPC分类号： G01C21/30

CPC分类号： G01C21/30

摘要： A vehicle location recognition apparatus includes a link determination unit which accurately determines a link traveled by a vehicle from among a plurality of links meeting at a narrow-angle branch point, on the basis of vehicle location information and road information, travel history information representing a route traveled by the vehicle at the branch point. The vehicle location recognition apparatus includes a history information generation unit for generating travel history information for the determined link. The travel history information is stored in a learning database. On the basis of the travel history information, a learning unit generates learned priority information representing the priorities of the respective links meeting at a branch point and used in the determination by the link determination unit.

摘要翻译： 车辆位置识别装置包括链路确定单元，其基于车辆位置信息和道路信息，精确地确定从窄角分支点处的多个链路中的车辆行驶的链路，行驶历史信息表示 车辆在分支点行驶的路线。 车辆位置识别装置包括用于生成所确定的链路的旅行历史信息的历史信息生成单元。 旅行历史信息存储在学习数据库中。 基于旅行历史信息，学习单元生成表示在分支点处会议的各个链路的优先级的学习优先级信息，并且由链接确定单元进行确定。

公开(公告)号：US08155873B2

公开(公告)日：2012-04-10

申请号：US12213074

申请日：2008-06-13

申请人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

发明人： Koichi Nakao ,  Masaki Nakamura ,  Tomoaki Ishikawa ,  Motoki Kanba ,  Osamu Aisaka

IPC分类号： G01C21/36

CPC分类号： G01C21/28 ,  G06K9/00798

摘要： Vehicle-position-recognition apparatuses, methods, and programs acquire current position information indicating a current position of a vehicle and acquire road information indicating at least one road based on a connection relationship between plural links. The apparatuses, methods, and programs determine a link where the vehicle travels based on the current position information and the road information and generate travel-history information indicating a route that the vehicle travels at a point where a link is branched based on the determined link. The apparatuses, methods, and programs acquire an image of an area surrounding the vehicle, recognize a recognition target in the acquired image, and store the generated travel-history information in the memory in association with information indicating the recognition of the recognition target. The apparatuses, methods, and programs generate learning-priority information indicating a priority of each link branched out at the branch point based on the stored travel-history information and the stored recognition information, the generated learning-priority information usable to determine on which of the links branched out at the branch point that the vehicle is traveling.

摘要翻译： 车辆位置识别装置，方法和程序获取指示车辆的当前位置的当前位置信息，并且基于多个链路之间的连接关系获取指示至少一条道路的道路信息。 设备，方法和程序根据当前位置信息和道路信息确定车辆行驶的链接，并根据所确定的链路，生成表示车辆在分支点处行驶的路线的旅行历史信息 。 装置，方法和程序获取车辆周围的区域的图像，识别所获取的图像中的识别目标，并将生成的旅行历史信息与指示识别目标的识别的信息相关联地存储在存储器中。 所述装置，方法和程序基于所存储的旅行历史信息和所存储的识别信息，生成指示在分支点分支的每个链接的优先级的学习优先级信息，所生成的学习优先级信息可用于确定哪个 链路在车辆行驶的分支点处分支。