Abstract: A vehicle according to the present invention includes: a vehicle body provided with three or more wheels including at least a steered wheel and a pair of wheels arranged in the vehicle width direction; an inclining part that inclines the vehicle body; an input member that is turned to input a turning direction; an input shaft that transmits the turning of the input member; a steering shaft that is turned to steer the steered wheel and is turnable irrespective of the turning operation of the input member; and a connection mechanism (spring (80), etc.) that connects the input shaft and the steering shaft with a fastening force allowing the steering angle of the wheel to follow the turning direction determined by inclination of the vehicle body and allowing for torque transmission from the steering shaft to the input shaft.

Abstract: An image recognition device executes a Hilbert scan of frame image data constituting moving-image data to generate one-dimensional spatial image data, and further arrays the one-dimensional spatial image data in a time direction to generate two-dimensional spatio-temporal image data that holds spatial information and temporal information. The image recognition device converts the moving-image data into the two-dimensional spatio-temporal image data while holding the spatial and temporal information. By means of a CNN unit, the image recognition device executes a convolution process wherein a two-dimensional filter is used on the spatio-temporal image data to image-recognize a behavior of a pedestrian who is a recognition object.

Abstract: An image recognition device sets an overall observation region which surrounds a whole body of an object and partial observation regions which surround characteristic parts of the object respectively to locations in an image which are estimated to include captured images of the object. The device clips images in the overall observation region and the partial observation regions, and calculates similarity degrees between them and previously learned images on the basis of a combination of two image feature amounts. The device calculates an optimum ratio in combining the HOG feature amount and the color distribution feature amount individually for the regions. This ratio is determined by setting a weight parameter ?i for setting a weight used for combining the HOG feature amount and the color distribution feature amount to be included in a state vector and subjecting the result to complete search by a particle filter.

Abstract: In an object determination device, an image recognition score calculated from an image acquired by a camera is associated with measured distance values acquired by a ranging sensor. The measured distance values are grouped and an object is generated, and the measured distance values and image recognition score of said object are stored in an object table. Then, the object is recognized as a person or as a thing on the basis of a measured distance likelihood, an image recognition likelihood and a match ratio calculated from the values of the object table. Therefore, the image recognition score of the image acquired from the camera and the measured distance values acquired from the ranging sensor are combined and the object is recognized as a person or as a thing, thus making it possible to perform said recognition processing with high speed and high accuracy.

Abstract: A vehicle small in width and capable of ensuring both driving stability and drivability includes: a vehicle body with two or more wheels including steered wheels (right front wheel, left front wheel) for steering; an inclination angle detection part that detects the inclination angle of the vehicle body about a roll axis thereof; and a torque applying part (turning mechanism) that applies a steering torque to the steered wheels in accordance with an inclination angular velocity or an inclination angular acceleration of the vehicle body calculated from the inclination angle.

Abstract: A power transmission system transmits electric energy to a secondary resonator having a secondary resonator coil through an electromagnetic field of a predetermined frequency from a resonator having a resonator coil and reduces noise using two noise cancellation resonators with one predetermined frequency and its higher harmonic component set as noise reduction target frequency.

Abstract: A vehicle is configured to travel, when a vehicle velocity is within a velocity range from not less than a first velocity of at least zero to not more than a second velocity larger than the first velocity, in a mode in which a vehicle body is leaned by a lean mechanism according to an input into an operation input unit, and a wheel angle of a turn wheel changes following a lean of the vehicle body. A natural frequency of roll oscillation of the vehicle body is either within a range of smaller than a reference frequency or within a range of larger than the reference frequency, the reference frequency being a frequency at which oscillation of the wheel angle of the turn wheel has phase delay of 90 degrees relative to the roll oscillation of the vehicle body in its width direction.

Abstract: A pulse wave detection device color converts a frame image of a moving image from RBG components to YIQ components, and identifies an eye section using the eye color of a user prepared in advance with a Q component. Next, the pulse wave detection device uses the Y values of the eye section to detect the brightness of the imaging environment. Then, the pulse wave detection device detects a pulse wave signal Qm on the basis of the average of the Q-values of a skin section in the frame image, corrects a change in the brightness by subtracting from Qm the average value Ye of the Y values of the eye section, and thereby outputs a post-brightness-correction Qm. As a result, a pulse wave can be successfully detected even if the brightness is changing because the user is moving in a vehicle or the like.

Abstract: In a body direction estimation device, measured distance values of the upper body of the target, acquired from a ranging sensor, are grouped into one or multiple groups. If the relative angle between the approximate ellipse of the group of the right arm or left arm and the approximate ellipse of the group of the torso is 60-120°, then these are grouped. Further, the approximate ellipse of the upper body is calculated from the measured distance values corresponding to the group that includes the torso, and the minor axis direction of the approximate ellipse of the upper body is set as the direction that the target is facing. Therefore, because arms moving too far away from the torso are differentiated from the group that includes the torso, influence of the arm position of the target is suppressed, enabling estimating the direction that the target is facing.

Abstract: The vehicle includes: a vehicle body rotatable about a roll axis; one or more front wheels; a front wheel support supporting the one or more front wheels turnably to a turning direction about a turning axis; one or more rear wheels; an operation input unit to be operated to input a turning direction; a lean angle changing unit for changing a lean angle of the vehicle body in a vehicle width direction about a lean axis different from the roll axis; and a lean control unit for controlling the lean angle changing unit.

Abstract: An image processing device has a function for plotting a luminance gradient co-occurrence pair of an image on a feature plane and applying an EM algorithm to form a GMM. The device learns a pedestrian image and creates a GMM, subsequently learns a background image and creates a GMM, and calculates a difference between the two and generates a GMM for relearning based on the calculation. The device plots a sample that conforms to the GMM for relearning on the feature plane by applying an inverse function theorem. The device forms a GMM that represents the distribution of samples at a designated mixed number and thereby forms a standard GMM that serves as a standard for image recognition. When this mixed number is set to less than a mixed number designated earlier, the dimensions with which an image is analyzed are reduced, making it possible to reduce calculation costs.

Abstract: An image processing device converts an image that is a recognition object image to high-resolution, medium-resolution, and low-resolution images. The device sets the pixel of interest of the high-resolution image, and votes the co-occurrence in a gradient direction with offset pixels, the co-occurrence in the gradient direction pixels in the medium-resolution image, and the co-occurrence in the gradient direction pixels in the low-resolution image, to a co-occurrence matrix. The device creates such a co-occurrence matrix for each pixel combination and for each resolution. The device executes the process on each of the pixels of the high-resolution image, and creates a co-occurrence histogram wherein the elements of a plurality of co-occurrence matrices are arranged in a line. The device normalizes the co-occurrence histogram and extracts, as a feature quantity of the image, a vector quantity having as a component a frequency resulting from the normalization.

Abstract: A pulse wave detection device color converts a frame image of a moving image from RBG to HSV components, and identifies a skin section using the skin color of a user prepared in advance with an H component. The device converts the skin section of the image to YIQ components, and takes Qm as a pulse wave signal, Qm being obtained by averaging the Q values of the pixels. The device then obtains a chronological change in the pulse wave signal Qm and outputs the change as a pulse wave. Accordingly, it is possible to exclude disturbance factors from the pulse wave detection target, and successfully detect a pulse wave. The identification of the skin section is performed using the H component to identify candidate pixels, and using the S component to narrow down the candidate pixels to the target, so high-precision identification of the skin section is possible.

Abstract: A vehicle in which traveling can be stabilized and the risk of overturning can be reduced, a vehicle with a pair of first suspension arms, a pair of second suspension arms connected to the pair of first suspension arms via a pair of joints, a pair of shock absorbers for connecting the pair of first suspension arms and pair of second suspension arms, a pair of forks as to allow turning about a steering axis with respect to the pair of second suspension arms, a pair of front wheels arranged on the pair of forks, a vehicle body to which the pair of front wheels are included, and a leaning part for leaning the vehicle body. The tread width increases as the vehicle body is leaned by the leaning part.

Abstract: According to the present invention, on the basis of the detected surrounding situation the movement of object bodies in the surrounding area is predicted as a future situation in the surrounding area. Candidates of direction from which a moving direction to be shown to the user is determined are extracted on the basis of the predicted future situation in the surrounding area. The extracted candidates are evaluated for movement easiness of the user in the surrounding area on the basis of the predicted future situation in the surrounding area and the detected situation of the user. Then, the moving direction to be shown to the user is determined on the basis of the evaluation and the extracted candidates. A direction corresponding to the determined moving direction is shown to the user in front of the user.

Abstract: An image recognition device adds a margin region filled with predetermined image data to a periphery of a captured image captured by a camera to create an expanded image larger than the captured image. When a person is too close to the camera, a part of a person image protrudes from the captured image, but a large detection window which also includes the margin region is set, whereby a window image including a protruding region is taken out of the expanded image. The window image lacks a protruding part of the person image, but it is an image showing an entire body of the person image. The image recognition device stores many reference images assuming various states of a person. The image recognition device extracts features from the window image, and compares them with a feature of the reference image, thereby recognizing the person image.

Abstract: During movement control wherein a moving body tracks a user while in front of the user, a coordinate obtained from the torso of the user is used as the X coordinate of the position of the user, and among the position of the body of the user and the position of the feet of the user, the position which is closer to the moving body is used as the Y coordinate. Thus, the moving body is able to move to a target position in the left/right direction (the X coordinate) and the front/back direction (the Y coordinate) that is appropriate with respect to the user. Accordingly, the distance between the moving body and the user can be maintained appropriately, and movement control in front of the user and that is not an impediment to the user can be accomplished.

Abstract: A hardware configuration is constructed for calculating at high speed the co-occurrence of luminance gradient directions between differing resolutions for a subject image. In an image processing device, a processing line for high-resolution images, a processing line for medium-resolution images, and a processing line for low-resolution images are arranged in parallel, and the luminance gradient directions are extracted for each pixel simultaneously in parallel from images having the three resolutions. Co-occurrence matrix preparation units prepare co-occurrence matrices by using the luminance gradient directions extracted from these images having the three resolutions, and a histogram preparation unit outputs a histogram as an MRCoHOG feature amount by using these matrices. To concurrently processing the images having the three resolutions, high-speed processing can be performed, and moving pictures output from a camera can be processed in real time.

Abstract: A power transmission system that can prevent a plunge in power transmission efficiency even when there is a positional shift of a power reception antenna with respect to a power transmission antenna. A power transmission system includes: a power transmission antenna that includes a wound power transmission coil that is placed on the ground; a power reception antenna that is disposed in such a way as to face the power transmission antenna, includes a wound power reception coil, and receives electric energy from the power transmission antenna via an electromagnetic field, wherein an area of a first projection plane that is formed by the power transmission coil in a vertical direction with respect to a horizontal plane is larger than an area of a second projection plane that is formed by the power reception coil in the vertical direction with respect to the horizontal plane.

Abstract: A vehicle is configured to travel, when a vehicle velocity is within a velocity range from not less than a first velocity of at least zero to not more than a second velocity larger than the first velocity, in a mode in which a vehicle body is leaned by a lean mechanism according to an input into an operation input unit, and a wheel angle of a turn wheel changes following a lean of the vehicle body. A natural frequency of roll oscillation of the vehicle body is either within a range of smaller than a reference frequency or within a range of larger than the reference frequency, the reference frequency being a frequency at which oscillation of the wheel angle of the turn wheel has phase delay of 90 degrees relative to the roll oscillation of the vehicle body in its width direction.