公开(公告)号：EP1897751A3

公开(公告)日：2009-07-29

申请号：EP07017490.9

申请日：2007-09-06

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Shimada, Tadao

IPC分类号： B60R1/00 ,  B60R21/34 ,  G06T7/20 ,  G08G1/16 ,  H04N7/18 ,  G06K9/00

CPC分类号： B60R1/00 ,  B60R2300/106 ,  B60R2300/305 ,  B60R2300/8033 ,  B60R2300/8053 ,  G06K9/00369 ,  G06K9/00805 ,  G06T7/11 ,  G06T2207/10016 ,  G06T2207/10048 ,  G06T2207/30196 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/161

摘要： A driving assist system for a vehicle comprises an imaging device configured to take an image of a region forward of the vehicle, a road region detector configured to detect a road region corresponding to a road from the image taken by the imaging device, a person candidate detector configured to detect a person candidate from the image taken by the imaging device, and a person determiner configured to determine whether or not the detected person candidate is a person, based on a positional relationship between the road region detected by the road region detector and the person candidate detected by the person candidate detector.

公开(公告)号：EP1760662A4

公开(公告)日：2009-06-17

申请号：EP05741423

申请日：2005-05-17

申请人： HONDA MOTOR CO LTD

发明人： IKEDA TETSUO ,  UNOURA KIYOZUMI ,  KOBAYASHI SACHIO

IPC分类号： B60R21/00 ,  G06T7/60 ,  B60R1/00 ,  B60W30/12 ,  G06T1/00 ,  G06T3/00 ,  G06T5/00 ,  G06T5/50 ,  G06T7/00 ,  G08G1/16 ,  H04N7/18

CPC分类号： G06T5/50 ,  B60W50/14 ,  B60W2420/403 ,  B60W2510/20 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2710/20 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/10016 ,  G06T2207/20061 ,  G06T2207/30256 ,  H04N7/18

摘要： A travel section line recognizer for vehicle comprising a section line recognizing means capable of recognizing at least a broken travel section line, e.g. a white line, on a pavement in an image photographed by means of a camera, and an image synthesizing means for synthesizing a plurality of images photographed at different times to extend the length of the travel section line in the photographed image (S10-S16), wherein the photographed images are synthesized in a processing stage that causes no variation in the shape of at least the travel section line in the photographed image in the recognition processing of the travel section line, i.e. in a stage before detecting an edge (S12). Since a series of points corresponding to a remote travel section line is not lost when the photographed images are synthesized, the travel section line can be recognized with high accuracy.

摘要翻译： 在具有行车线标识线识别装置的车辆的行车道标线生成线识别系统中，被配置为能够识别由拍摄的图像中拍摄的拍摄图像中的诸如白线的道路表面上的至少一条虚线的行车道标线 照相机和图像合成装置（S10至S16），用于合成在不同时间点拍摄的图像以延长拍摄图像中的行车线标记线，将图像合成到处理阶段，使得不会改变 在行车线标识线识别处理中，特别是在边缘检测之前的处理阶段中，至少在拍摄图像中的行车线标记线的形状（S12）。 由此，当合成拍摄图像时，防止远距离的行车线标记线被切掉，从而能够准确和无意识地识别行车道标线。

公开(公告)号：EP2068269A2

公开(公告)日：2009-06-10

申请号：EP08150604.0

申请日：2005-01-19

申请人： Mobileye Technologies Limited

发明人： Stein, Gideon P. ,  Dagan, Erez ,  Mano, Ofer ,  Shashua, Amnon

IPC分类号： G06K9/00 ,  G06K9/32 ,  G06T7/20 ,  B60W30/08 ,  G08G1/16 ,  G05D1/02

CPC分类号： G06K9/00805 ,  B60Q9/008 ,  B60T7/22 ,  G06T7/248 ,  G06T7/337 ,  G06T7/74 ,  G06T2207/10004 ,  G06T2207/30232 ,  G06T2207/30236 ,  G06T2207/30241 ,  G06T2207/30252 ,  G06T2207/30256 ,  G08G1/16 ,  G08G1/161 ,  G08G1/166

摘要： A method of determining whether a vehicle and an object are one a collision course, the method comprising the steps of: acquiring a plurality of images of the object; determining from the images respective motions of at least two features of the object; determining a time-to-collision (TTC) from the images; and determining if the vehicle and the object are on a collision course from the relative motions at the TTC.

摘要翻译： 一种确定车辆和物体是否是碰撞过程中的一种的方法，所述方法包括以下步骤：获取所述对象的多个图像; 从所述图像确定所述对象的至少两个特征的相应运动; 确定图像中的碰撞时间（TTC）; 以及确定车辆和物体是否处于来自TTC的相对运动的碰撞过程。

公开(公告)号：EP2026247A2

公开(公告)日：2009-02-18

申请号：EP08014520.4

申请日：2008-08-14

申请人： Magna Electronics Inc.

发明人： Lu, Yuesheng ,  Higgins-Luthman, Michael ,  Jeyaraj, Antony V. ,  Phirke, Manoj R.

IPC分类号： G06K9/00 ,  B60Q1/14

CPC分类号： G06T7/80 ,  B60Q1/085 ,  B60Q1/1423 ,  B60Q2300/41 ,  B60Q2300/42 ,  B60R1/00 ,  G06K9/00798 ,  G06K9/00825 ,  G06T2207/10016 ,  G06T2207/30252 ,  G06T2207/30256

摘要： A vehicular imaging system (12) includes a forward facing photosensor array (15) and a control (13) responsive to the photosensor array. The control processes an image data set indicative of captured images, and the control processes a reduced image data set of the image data set to determine whether an object of interest is within a target zone of the captured image. The reduced image data set is representative of a portion of the captured images as captured by a particular grouping (15b) of the photosensor elements (15a). The control adjusts the reduced image data set so as to be representative of a portion of the captured images as captured by a different particular grouping of the photosensor elements, and adjusts the reduced image data set in response to a determination of a change in a focus of expansion of the captured images.

摘要翻译： 车载成像系统（12）包括响应于光传感器阵列的前向光传感器阵列（15）和控制器（13）。 控制处理指示捕捉图像的图像数据集，并且控制处理图像数据集的缩小图像数据集以确定感兴趣对象是否在捕捉图像的目标区域内。 缩小的图像数据集表示由光传感器元件（15a）的特定分组（15b）捕获的捕获图像的一部分。 该控制调整缩小的图像数据组以便代表由光电传感器元件的不同特定分组所捕获的一部分捕获图像，并且响应于确定焦点中的变化而调整缩小的图像数据组 扩大拍摄的图像。

公开(公告)号：EP2012088A2

公开(公告)日：2009-01-07

申请号：EP08011549.6

申请日：2008-06-25

申请人： Aisin AW Co., Ltd.

发明人： Miyazaki, Hideto

IPC分类号： G01C21/26

CPC分类号： G01C21/26 ,  G01C21/32 ,  G01C21/3658 ,  G06K9/00798 ,  G06T7/70 ,  G06T2207/30256

摘要： Host vehicle position information that indicates a position of a host vehicle is acquired, image information that includes a road along which the host vehicle is traveling is acquired, a host vehicle travel lane along which the host vehicle is traveling is detected based on the image information, lane information that indicates the position of the host vehicle travel lane is generated based on the host vehicle position information, and this lane information is registered on a storage medium.

公开(公告)号：EP1914700A4

公开(公告)日：2008-11-26

申请号：EP06767923

申请日：2006-07-06

申请人： HONDA MOTOR CO LTD

发明人： NAKAMORI TAKUMA ,  KOBAYASHI SACHIO ,  AOKI TOMOYOSHI ,  MORI NAOKI

IPC分类号： G08G1/16 ,  G06T1/00 ,  G06T7/60

CPC分类号： G06K9/00798 ,  G06T7/12 ,  G06T7/90 ,  G06T2207/10016 ,  G06T2207/30256

摘要： An image processing system or the like capable of with high precision recognizing a lane mark in a road image even if light irradiation conditions onto a road surface are partially different. According to an image processing system (100) mounted on a vehicle (10), in view of a high probability with which the color components of a second pixel included in an area along with a first pixel are receiving effects of shadows or lights on a road surface portion, the color components Rij, Gij, Bij of the first pixel Pij included in an area Aij set in a road surface image are corrected based on the color components Rik, Gik, Bik of the second pixel Pik. Accordingly, the effects of shadows or lights on a road surface can be reduced, and the actual color of a road surface portion equivalent to the first pixel can be satisfactorily reflected in the color components Rij, Gij, Bij of the first pixel Pij and accordingly in a feature quantity Qij. Therefore, a lane mark M and its edge E can be recognized in a road surface image based on the feature quantity Qij of each pixel Pij of a road surface image.

摘要翻译： 即使在路面上的光照射条件部分不同的情况下，也能够高精度地识别道路图像中的车道标记的图像处理系统等。 根据安装在车辆（10）上的图像处理系统（100），鉴于包括在与第一像素一起的区域中的第二像素的颜色分量正在接收 基于第二像素Pik的颜色分量Rik，Gik，Bik来校正包括在设置在路面图像中的区域Aij中的第一像素Pij的颜色分量Rij，Gij，Bij。 因此，可以减少路面上的阴影或光线的影响，并且可以令人满意地反映第一像素Pij的颜色分量Rij，Gij，Bij的相当于第一像素的路面部分的实际颜色，并相应地 以特征量Qij表示。 因此，可以基于路面图像的每个像素Pij的特征量Qij在路面图像中识别车道标记M及其边缘E.

公开(公告)号：EP1901259A1

公开(公告)日：2008-03-19

申请号：EP06766969.7

申请日：2006-06-20

申请人： HONDA MOTOR CO., LTD.

发明人： MORI, Naoki ,  KOBAYASHI, Sachio

IPC分类号： G08G1/16 ,  B60R21/00 ,  G06T1/00 ,  G06T11/60

CPC分类号： G08G1/167 ,  B60W30/12 ,  B60W2050/046 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/20061 ,  G06T2207/30256

摘要： A lane recognizing device comprises: an image processing means (2) which performs a process of estimating a lane of a road by processing an image of the road obtained via an imaging means (8) and outputs a result of the process as first lane information; a holding means (3) which holds map data of the road; a position information obtaining means (4) which obtains the current position information of a vehicle; a lane estimating means (5) which performs a process of estimating the lane of the road using the map data and the current position information and outputs a result of the process as second lane information; and an actual lane recognizing means (6) which recognizes an actual lane of the road on the basis of the first lane information and the second lane information. Thereby, even if there is an unpredictable skid mark or road repaired part, it is possible to detect the lane accurately while increasing the opportunities for detecting the lane as much as possible by processing the road image obtained via the imaging means such as a camera and obtaining the road information from a GPS or the like and the map data.

摘要翻译： 一种车道识别装置，包括：图像处理装置（2），其通过处理经由成像装置（8）获得的道路的图像来执行估计道路的车道的处理，并将处理结果作为第一车道信息 ; 保持装置（3），其保持道路的地图数据; 位置信息获取装置（4），其获取车辆的当前位置信息; 车道估计装置（5），其使用地图数据和当前位置信息来执行估计道路车道的处理，并将处理结果作为第二车道信息输出; 以及基于第一车道信息和第二车道信息识别道路的实际车道的实际车道识别装置（6）。 因此，即使存在不可预知的打滑标记或道路修复部分，也可以通过处理经由诸如照相机的成像装置获得的道路图像，尽可能地增加检测车道的机会，同时精确地检测车道，并且 从GPS等获得道路信息和地图数据。

公开(公告)号：EP1890264A1

公开(公告)日：2008-02-20

申请号：EP06730261.2

申请日：2006-03-28

申请人： HONDA MOTOR CO., LTD.

发明人： AOKI, Tomoyoshi, c/o HONDA R & D CO., LTD. ,  KOBAYASHI, Sachio, c/o HONDA R & D CO., LTD. ,  MORI, Naoki, c/o HONDA R & D CO., LTD. ,  NAKAMORI, Takuma, c/o HONDA R & D CO., LTD.

IPC分类号： G06T7/60 ,  G06T1/00

CPC分类号： G06K9/4604 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/10016 ,  G06T2207/30256

摘要： An image processing system and the like capable of improving recognition accuracy of a lane mark are provided. According to the image processing system of the present invention, a first processing unit (110) recognizes a lane mark candidate on the basis of the luminance of each pixel in a road image. Moreover, there are evaluated a first index which represents continuity of an edge of the lane mark candidate, a second index which represents conformance between the width of the lane mark candidate and a lane mark standard width, and a third index which represents uniformity of the luminance of pixels contained in the lane mark candidate. According to the first, second, and third indices, a second processing unit (120) recognizes a lane mark candidate most likely to be a true lane mark as a lane mark.

摘要翻译： 提供了一种图像处理系统和一种能够改善行车路线标识的识别精度的等。 。根据本发明的图像处理系统中，第一处理单元（110）确认在道路图像中的每个像素的亮度的基础上的车道标记的候选。 更并且，那里被评估哪个darstellt车道线的候选，第二索引的边缘的连续性的第一索引哪个车道线的候选的宽度和车道标记标准宽度和第三索引的哪darstellt均匀性之间darstellt一致性 包含在车道标志候选像素的亮度。 。根据所述第一，第二和第三指数，第二处理单元（120）确认最有可能是一个真正的行车路线标识作为车道标志的车道标记候选。

公开(公告)号：EP1817761A2

公开(公告)日：2007-08-15

申请号：EP05810778.0

申请日：2005-11-29

申请人： Nissan Motor Company Limited

发明人： FUJIMOTO, Kazumi

IPC分类号： G08G1/16

CPC分类号： G06K9/00362 ,  G06K9/00798 ,  G06K9/00805 ,  G06T7/12 ,  G06T7/215 ,  G06T2207/10016 ,  G06T2207/30256

摘要： The invention provides seamless activation of a mobile terminal-integrated short-range communication reader along with activation and execution of an application required to further process the information read from a tag. In this regard, the user of the mobile terminal can intuitively control the applications/operations that will be triggered in connection with reading a short­range communication tag. As such the invention is able to provide an efficient and reliable means for accessing additional information related to the tag data, storing data included in the tag data or performing other functions related to the tag data.

摘要翻译： 设备可以从安装在车辆上的照相机拍摄的图像自动检测道路上的边界线。 该装置包括对图像执行图像处理以计算图像中的每个像素的速度信息的控制器，并且基于所计算的图像中的每个像素的速度信息，提取包含速度信息的像素，检测 由所提取的像素形成的倾斜线，并且基于检测到的斜线来检测道路上的边界线。

公开(公告)号：EP1806595A1

公开(公告)日：2007-07-11

申请号：EP06124013.1

申请日：2006-11-14

申请人： Mobileye Technologies Limited

发明人： Stein, Gideon, P. ,  Ferencz, Andras, D. ,  Avni, Ofer

IPC分类号： G01S11/12 ,  G01S17/93 ,  G01C3/08

CPC分类号： G06T7/0061 ,  B60R11/04 ,  B60R2001/1253 ,  B60R2300/105 ,  B60R2300/802 ,  B60R2300/8093 ,  G01B11/026 ,  G01B11/14 ,  G01C3/00 ,  G01C3/22 ,  G01C22/00 ,  G01S11/12 ,  G01S17/93 ,  G06K9/00805 ,  G06T7/55 ,  G06T2207/10016 ,  G06T2207/20024 ,  G06T2207/30196 ,  G06T2207/30252 ,  G06T2207/30256 ,  G06T2207/30261

摘要： In a computerized system including a camera mounted in a moving vehicle. The camera acquires consecutively in real time image frames including images of an object within the field of view of the camera. Range to the object from the moving vehicle is determined in real time. A dimension, e.g., a width, is measured in the respective images of two or more image frames, thereby producing measurements of the dimension. The measurements are processed to produce a smoothed measurement of the dimension. The dimension is measured subsequently in one or more subsequent frames. The range from the vehicle to the object is calculated in real time based on the smoothed measurement and the subsequent measurements. The processing preferably includes calculating recursively the smoothed dimension using a Kalman filter.