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：EP1764758A4

公开(公告)日：2009-06-24

申请号：EP05741474

申请日：2005-05-17

申请人： HONDA MOTOR CO LTD

发明人： IKEDA TETSUO ,  ARA HARUYA

IPC分类号： B60R21/00 ,  G08G1/16 ,  B60R1/00 ,  B60W30/12 ,  G06K9/00 ,  G06T1/00 ,  G06T3/00 ,  G06T5/50 ,  G06T7/60 ,  H04N7/18

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

摘要： A lane boundary recognition apparatus for a vehicle having image composition means (S100 to S110) for composing images, taken by a camera at different time points, to extend the length of lane boundaries such as white lines in the taken images. Brightness of taken images is detected, the images are corrected so that their brightness is matched (S102) with one image out of the images being used as the standard, and the images are composed (S110) after the correction. Since the images to be composed are matched in brightness, lane boundaries can be precisely and accurately recognized.

摘要翻译： 在具有图像合成装置（S100〜S110）的车辆行车线标识线识别系统中，用于通过照相机合成在不同时间点拍摄的图像，以延长拍摄图像中的白线等行车道标线， 检测拍摄图像，校正亮度，以多个图像中的一个图像为基准，使得多个图像的亮度彼此相等（S102），并且多个图像在 亮度已被校正（S110）。 由此，通过使图像的亮度相互合成，能够准确无误地识别行车道标线。

公开(公告)号：EP1982906A4

公开(公告)日：2009-02-25

申请号：EP06832580

申请日：2006-11-14

申请人： HONDA MOTOR CO LTD

发明人： HANZAWA DAISUKE ,  IKEDA TETSUO ,  UNOURA KIYOZUMI ,  AOKI TOMOYOSHI

IPC分类号： B62D6/00 ,  B62D101/00 ,  B62D119/00 ,  G06T1/00 ,  G06T7/60 ,  G08G1/16

CPC分类号： B62D1/28 ,  B62D15/025

公开(公告)号：EP1775691A4

公开(公告)日：2009-03-11

申请号：EP05741476

申请日：2005-05-17

申请人： HONDA MOTOR CO LTD

发明人： IKEDA TETSUO ,  ARA HARUYA

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

CPC分类号： G06K9/00798 ,  B60W2420/42 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/30256 ,  H04N7/18

摘要： A lane boundary recognition apparatus for a vehicle, having image composition means (S100 to S110) for composing images, taken by a camera at different time points, to extend the length of lane boundaries such as white lines in the taken images. The traveling speed of a vehicle is detected, and at least one image of images taken in the past at time intervals is selected (S100) as the image to be composed with an arbitrary image, where the time intervals are determined according to a traveling speed detected relative to the arbitrary image out of images to be composed, the traveling speed detection being based on the time point, as the standard time point, at which the arbitrary image is taken. Since an image to be composed is selected according to a vehicle speed, lane boundaries can be precisely and accurately recognized.

摘要翻译： 一种用于车辆的车道边界识别装置，具有用于在不同时间点由摄像机拍摄的用于构图图像的图像构成装置（S100至S110），以延长拍摄图像中诸如白线的车道边界的长度。 检测车辆的行驶速度，并且选择以时间间隔过去拍摄的图像中的至少一个图像作为要与任意图像合成的图像（S100），其中时间间隔根据行驶速度确定 根据作为拍摄任意图像的标准时间点的时间点来检测相对于要组合的图像中的任意图像的行进速度。 由于根据车速选择要组成的图像，因此可以精确和准确地识别车道边界。

公开(公告)号：EP1752947A4

公开(公告)日：2009-03-11

申请号：EP05741496

申请日：2005-05-17

申请人： HONDA MOTOR CO LTD

发明人： IKEDA TETSUO ,  UNOURA KIYOZUMI

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

CPC分类号： G06K9/00798 ,  B60W50/14 ,  B60W2420/403 ,  B60W2510/20 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2710/20 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/30256 ,  G08G1/16 ,  G08G1/167 ,  H04N7/18

摘要： A lane boundary recognition apparatus for a vehicle, having image composition means (S100 to S110) for composing images, taken by a camera at different time points, to extend the length of lane boundaries such as white lines in the taken images. Angles in the front/rear direction of a vehicle relative to the lane boundaries and the distances between the lane boundaries and a vehicle are obtained for the taken images to measure the difference between the angles in the images and that between the distances, and based on the measured differences of the angles and distances, the images are corrected into images taken at the same angles and distances of the vehicle relative to the lane boundaries (S106). Then the images are composed (S110). Lane boundaries can be apparently extended in a composed image by performing correction according to the position and angles of a vehicle, and as a result, the lane boundaries can be precisely and accurately recognized.

摘要翻译： 一种用于车辆的车道边界识别装置，具有用于在不同时间点由摄像机拍摄的用于构图图像的图像构成装置（S100至S110），以延长拍摄图像中诸如白线的车道边界的长度。 获取车辆前/后方向相对于车道边界的角度以及车道边界与车辆之间的距离，以获取拍摄的图像以测量图像中的角度和距离之间的差异，并基于 所测量的角度和距离的差异，图像被校正为以相同的角度和车辆相对于车道边界的距离拍摄的图像（S106）。 然后组成图像（S110）。 通过根据车辆的位置和角度执行校正，车道边界可以明显地在合成图像中扩展，并且结果，车道边界可以被精确和准确地识别。