公开(公告)号：US06788817B1

公开(公告)日：2004-09-07

申请号：US09691545

申请日：2000-10-18

申请人： Masakazu Saka ,  Hiromitsu Yuhara ,  Tomoyoshi Aoki ,  Morimichi Nishigaki

发明人： Masakazu Saka ,  Hiromitsu Yuhara ,  Tomoyoshi Aoki ,  Morimichi Nishigaki

IPC分类号： G06K948

CPC分类号： G06K9/3241 ,  G06K9/00805 ,  G06K2209/23 ,  G06T7/12 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/20132 ,  G06T2207/30256 ,  G06T2207/30261

摘要： An object recognition system including a position sensor, an image sensor and a controller is provided. The position sensor determines the position of an object, and the image sensor captures an image of the object. The controller sets a processing area within the image captured by the image sensor based on the position of the object determined by the position sensor and a predetermined size for the object to be recognized. The controller extracts horizontal edges from the processing area, and identifies horizontal edges belonging to the outline of the object from the extracted edges. Thus, the object can be recognized based on the horizontal edges only. Similarly, the controller can extract vertical edges from the processing area and identify vertical edges belonging to the outline of the object. Preferably, the controller selects upper, lower, left, and right horizontal and vertical candidate ends of the object from the identified horizontal and vertical edges respectively, from which upper, lower, left, and right ends of the object are determined. If either one or both of the left and right horizontal candidate ends cannot be selected, candidate ends can be estimated based on the position of the object recognized in a previous recognition cycle, and the estimated candidate ends can be used in lieu of the candidate ends selected from the horizontal edges.

摘要翻译： 提供了一种包括位置传感器，图像传感器和控制器的对象识别系统。 位置传感器确定对象的位置，并且图像传感器捕获对象的图像。 控制器基于由位置传感器确定的对象的位置和要识别的对象的预定大小来设置由图像传感器捕获的图像内的处理区域。 控制器从处理区域提取水平边缘，并从提取的边缘识别属于对象轮廓的水平边缘。 因此，可以仅基于水平边缘来识别对象。 类似地，控制器可以从处理区域提取垂直边缘并且识别属于对象轮廓的垂直边缘。 优选地，控制器从所识别的水平和垂直边缘分别选择对象的上，下，左和右水平和垂直候选端，从该位置确定对象的上，下，左和右端。 如果不能选择左右水平候选结束中的一个或两个，则可以基于在先前识别周期中识别的对象的位置来估计候选结束，并且可以使用所估计的候选结束来代替候选结束 从水平边缘选择。

公开(公告)号：US08340866B2

公开(公告)日：2012-12-25

申请号：US12159102

申请日：2006-11-14

申请人： Daisuke Hanzawa ,  Tetsuo Ikeda ,  Kiyozumi Unoura ,  Tomoyoshi Aoki

发明人： Daisuke Hanzawa ,  Tetsuo Ikeda ,  Kiyozumi Unoura ,  Tomoyoshi Aoki

IPC分类号： B62D6/00

CPC分类号： B62D1/28 ,  B62D15/025

摘要： A steering control device for a vehicle has a steering assistance means (7) which performs steering assistance processing for driving an actuator (6) so that a vehicle (1) travels along a lane recognized by a lane recognition means (5) from an image acquired by an image acquisition means (4); a side displacement amount calculation means (8) which calculates a displacement amount in the lane width direction between the position of the vehicle (1) and the center of the recognized lane; a complexity calculation means (10) which calculates the complexity of the acquired image; and a steering assistance inhibition means (11) which inhibits, according to the displacement amount in the lane width direction calculated based on the lane recognized from the acquired image at a given time point and the complexity of the acquired image, steering assistance processing based on the lane by the steering assistance means (7). This prevents inappropriate steering control based on an incorrectly recognized lane when performing the steering control of the vehicle so that the vehicle travels along the lane recognized from the road image.

摘要翻译： 一种用于车辆的转向控制装置具有转向辅助装置（7），其执行用于驱动致动器（6）的转向辅助处理，使得车辆（1）沿着由车道识别装置（5）识别的车道从图像行进 由图像获取装置获取; 计算车辆（1）的位置与识别的车道的中心之间的车道宽度方向上的位移量的侧向位移量计算单元（8） 复杂度计算装置（10），其计算所获取的图像的复杂度; 以及转向辅助禁止装置，其根据在给定时间点从所获取的图像识别的车道计算的车道宽度方向上的位移量和所获取的图像的复杂度来禁止，基于 通过转向辅助装置（7）的车道。 这样当车辆进行转向控制时，可以防止基于不正确识别的车道的不正确的转向控制，使得车辆沿着从道路图像识别的车道行驶。

公开(公告)号：US08135175B2

公开(公告)日：2012-03-13

申请号：US11918674

申请日：2006-05-22

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/3241 ,  G06K9/00798 ,  G06T7/73

摘要： An image processing system and the like capable of accurately recognizing lane edges defined by dotted lane marks are provided. According to an image processing system (100) of the present invention, a first processing unit (110) searches a road surface image captured by a vehicle-mounted camera for a “small area,” which is composed of high- or low-luminance pixels and satisfies “eligibility conditions” on the “size,” “shape,” and “arrangement” in the road surface image. Additionally, a second processing unit (120) recognizes “lane edges” of the lane along which the vehicle travels on the basis of the “small area.” Furthermore, a third processing unit (130) sets a “search range” of the small area searched by the first processing unit (110) on the basis of a result of the foregoing recognition of the lane edges by the second processing unit (120).

摘要翻译： 提供能够准确地识别由虚线标记定义的车道边缘的图像处理系统等。 根据本发明的图像处理系统（100），第一处理单元（110）搜索由车载摄像机拍摄的路面图像的“小区域”，其由高亮度或低亮度 并且满足路面图像中的“尺寸”，“形状”和“布置”的“合格条件”。 此外，第二处理单元（120）基于“小区域”识别车辆行驶的车道的“车道边缘”。此外，第三处理单元（130）设置小的“搜索范围” 基于上述由第二处理单元（120）识别车道边缘的结果，由第一处理单元（110）搜索的区域。

公开(公告)号：US07965870B2

公开(公告)日：2011-06-21

申请号：US11994940

申请日：2006-06-23

申请人： Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori ,  Naoki Mori

发明人： Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori ,  Naoki Mori

IPC分类号： G06K9/00 ,  G06K9/46 ,  G06K9/66 ,  G05D1/00 ,  G01C22/00 ,  G06G7/76 ,  G08G1/00 ,  H04N7/18

CPC分类号： G08G1/167 ,  G06K9/00798 ,  G06K9/38 ,  G06T7/11 ,  G06T7/90 ,  G06T2207/10016 ,  G06T2207/30256

摘要： A lane mark recognition apparatus includes an image capturing means (30) which captures a color image (IM—0) of a road via a color video camera (10), a specific-color-extracted image generating means (31) which generates a luminance-extracted image (IM—1) obtained by extracting white-color data from the color image (IM—0) and a yellow-color-extracted image (IM—2) obtained by extracting yellow-color data from the color image (IM—0), and a lane mark detection means (50a) which detects a white line and a yellow line from a composite image (IM_C) formed from the luminance-extracted image (IM—1) and the yellow-color-extracted image (IM—2) and outputs position data (Pd1) of the white line and position data (Pd2) of the yellow line.

摘要翻译： 车道标识识别装置包括经由彩色摄像机（10）拍摄道路的彩色图像（IM-0）的图像拍摄装置（30），特定彩色提取图像生成装置（31），其生成 通过从彩色图像（IM-0）中提取白色数据而获得的亮度提取图像（IM-1）和通过从彩色图像中提取黄色数据而获得的黄色提取图像（IM-2） IM-0）和从由亮度提取图像（IM-1）和黄色提取图像形成的合成图像（IM_C）中检测白线和黄线的车道线检测装置（50a） （IM-2），并输出白线的位置数据（Pd1）和黄线的位置数据（Pd2）。

公开(公告)号：US20100074469A1

公开(公告)日：2010-03-25

申请号：US11919657

申请日：2006-05-18

申请人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

发明人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G06K9/4652 ,  G06K9/00798

摘要： The present invention includes: image capturing means (2) which captures a color image of a road via imaging means (7); area extraction means (6) which extracts areas having a similar color feature value from the captured color image of the road; white balance processing means (5) which performs, for each of the extracted areas, a white balance process of correcting each pixel data in the extracted area so as to reduce the degree of divergence in the level between color components according to a level balance between the color components of the pixel data in the extracted area; and road sign detection means (6) which detects a road sign on the road from the color image subjected to the white balance process. Thus, even if the road illumination state is partially different, it is possible to accurately detect a road sign such as a lane mark from the captured color image of the road via the imaging means such as a camera.

摘要翻译： 本发明包括：通过成像装置（7）捕捉道路的彩色图像的图像捕获装置（2）。 区域提取装置（6），其从所捕获的道路彩色图像中提取具有相似颜色特征值的区域; 白平衡处理装置（5）对于每个提取区域执行校正所提取的区域中的每个像素数据的白平衡处理，以便根据色彩分量之间的水平平衡来降低色彩分量之间的差异程度 提取区域中的像素数据的颜色分量; 以及从经过白平衡处理的彩色图像检测道路上的道路标志的道路标志检测单元（6）。 因此，即使道路照明状态是部分不同的，也可以通过诸如照相机的摄像装置从所拍摄的道路彩色图像中准确地检测诸如车道线的路标。

公开(公告)号：US20080317288A1

公开(公告)日：2008-12-25

申请号：US11918344

申请日：2006-03-28

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

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： 提供能够提高车道标识的识别精度的图像处理系统等。 根据本发明的图像处理系统，第一处理单元（110）基于道路图像中的每个像素的亮度来识别车道标记候选。 此外，评估表示车道标记候选的边缘的连续性的第一索引，表示车道标记候选的宽度和车道标记标准宽度之间的一致性的第二索引，以及表示车道标记候选的均匀性的第三索引 包含在车道标记候选中的像素的亮度。 根据第一，第二和第三索引，第二处理单元（120）识别最可能是真实车道标记的车道标记候选作为车道标记。

公开(公告)号：US06590521B1

公开(公告)日：2003-07-08

申请号：US09691614

申请日：2000-10-18

申请人： Masakazu Saka ,  Shigeru Inoue ,  Hisaya Izawa ,  Tomoyoshi Aoki

发明人： Masakazu Saka ,  Shigeru Inoue ,  Hisaya Izawa ,  Tomoyoshi Aoki

IPC分类号： G01S1393

CPC分类号： G01S13/867 ,  G01S13/42 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S2013/9325 ,  G01S2013/9353 ,  G01S2013/9367 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06K9/4609 ,  G06T7/12 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/20132 ,  G06T2207/30256 ,  G06T2207/30261

摘要： An object recognition system including a radar, an image sensor and a controller is provided. The radar determines the position of an object, and the image sensor captures an image of the object. The controller sets a processing area within the image captured by the image sensor based on the position of the object determined by the radar and a predetermined size for the object to be recognized. The controller extracts horizontal and vertical edges from the processing area, and preferably judges whether each of the extracted edges belongs to the object based on characteristics of the object to be recognized. The controller then recognizes the outline of the object based on the edges judged to belong to the object. The object can be recognized by determining upper, lower, left and right ends of the object. On the other hand, the controller recognizes lane lines defining the lane in which the vehicle mounting the system of the invention is running. Thus, the relative position of the object to the lane lines is determined by comparing the intersections between a horizontal line corresponding to the lower end of the object and the lane lines with the left and right ends of the object.

摘要翻译： 提供了包括雷达，图像传感器和控制器的物体识别系统。 雷达确定对象的位置，并且图像传感器捕获对象的图像。 控制器基于由雷达确定的对象的位置和要识别的对象的预定大小来设置由图像传感器捕获的图像内的处理区域。 控制器从处理区域提取水平和垂直边缘，并且优选地基于要识别的对象的特性来判断每个提取的边缘是否属于对象。 然后，控制器基于被判断为属于对象的边缘来识别对象的轮廓。 可以通过确定对象的上，下，左，右端来识别对象。 另一方面，控制器识别限定本发明的系统的车辆正在行驶的车道的车道线。 因此，通过将对象物体的下端的水平线与车道线与对象的左端和右端的交点进行比较来确定物体对车道线的相对位置。

公开(公告)号：US08306269B2

公开(公告)日：2012-11-06

申请号：US12715898

申请日：2010-03-02

申请人： Takuma Nakamori ,  Tomoyoshi Aoki ,  Jun Tanaka ,  Sachio Kobayashi

发明人： Takuma Nakamori ,  Tomoyoshi Aoki ,  Jun Tanaka ,  Sachio Kobayashi

IPC分类号： G06K9/00

CPC分类号： G06K9/00798

摘要： The lane mark recognition device is equipped with a lane mark detecting unit which executes a lane mark detection process in each predetermined control cycle, and adds a detection presence/absence data to a ring buffer, a detection presence/absence data addition inhibiting unit which inhibits addition of the detection presence/absence data to the ring buffer when the vehicle is traveling in the intersection, and a lane mark position recognizing unit which recognizes a relative position of the vehicle and the lane mark, when the lane mark is detected in the situation where a lane mark detection rate calculated from the data of the ring buffer is higher than a reliability threshold value.

摘要翻译： 车道标识识别装置配备有车道标识检测单元，其在每个预定控制周期中执行车道标记检测处理，并将检测有/无数据添加到环形缓冲器，检测有无数据添加禁止单元，其抑制 当车辆在交叉路口行驶时，将检测有无数据加到环形缓冲器;以及车道标识位置识别单元，其在该情况下检测到车道标记时识别车辆和车道标记的相对位置 其中根据环形缓冲器的数据计算的车道标记检测率高于可靠性阈值。

公开(公告)号：US08107683B2

公开(公告)日：2012-01-31

申请号：US11918344

申请日：2006-03-28

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

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： 提供能够提高车道标识的识别精度的图像处理系统等。 根据本发明的图像处理系统，第一处理单元（110）基于道路图像中的每个像素的亮度来识别车道标记候选。 此外，评估表示车道标记候选的边缘的连续性的第一索引，表示车道标记候选的宽度和车道标记标准宽度之间的一致性的第二索引，以及表示车道标记候选的均匀性的第三索引 包含在车道标记候选中的像素的亮度。 根据第一，第二和第三索引，第二处理单元（120）识别最可能是真实车道标记的车道标记候选作为车道标记。

公开(公告)号：US08050456B2

公开(公告)日：2011-11-01

申请号：US11919554

申请日：2006-05-18

申请人： Takuma Nakamori ,  Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori

发明人： Takuma Nakamori ,  Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G06K9/4652

摘要： A vehicle and road sign recognition device each includes: image capturing means (2) which captures a color image of a road via imaging means (6); feature value calculation means (4) which calculates a feature value of each pixel corresponding to the color of a road sign on the road from the color components of each pixel in the color image so as to reduce the effect of brightness on the color components; and road sign detection means (5) which detects the road sign on the road from the feature image in which the feature value of each pixel in the color image is arranged so as to match with the position of each pixel in the color image. Thus, it is possible to accurately detect a road sign such as a lane mark from the color image of the road captured via the imaging means such as a camera even if the road illumination state is partially different.

摘要翻译： 车辆和道路标识识别装置，每个都包括：图像捕捉装置，其通过成像装置捕获道路的彩色图像; 特征值计算装置（4），其从彩色图像中的每个像素的颜色分量计算与道路上的道路标志的颜色相对应的每个像素的特征值，以减少亮度对颜色分量的影响; 以及道路标志检测装置（5），其从其中布置彩色图像中的每个像素的特征值的特征图像检测道路上的道路标志，以便与彩色图像中的每个像素的位置相匹配。 因此，即使道路照明状态部分不同，也可以从通过诸如照相机的摄像装置拍摄的道路的彩色图像中准确地检测路标等路标。