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    Control system to prevent lane deviation of vehicle and control method thereof
    81.
    发明授权
    Control system to prevent lane deviation of vehicle and control method thereof 失效

    公开(公告)号：US06628210B2

    公开(公告)日：2003-09-30

    申请号：US10029935

    申请日：2001-12-31

    Applicant: Young-Seop Lee

    Inventor： Young-Seop Lee

    IPC: G08G1123

    CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/089

    Abstract: A method for preventing a vehicle from deviating from a lane is provided, in which precise determinations of whether a vehicle is deviating from a lane may also be made when driving on curved sections of a road. Using DSRC, which is a system enabling communications between a vehicle and roadside equipment, information of road curvature and lane width is received. This road information and setting information of a camera mounted to the vehicle are then used to determine a lane deviation determination standard angle, which is used in curved sections of the road. A difference between the standard angle and a center value of left and right lane marker angles is compared with a critical value to determine whether the vehicle is deviating from the lane.

    Method and apparatus for detecting deviation of automobile from lane
    82.
    发明授权
    Method and apparatus for detecting deviation of automobile from lane 失效
    检测汽车与车道偏差的方法和装置

    公开(公告)号：US06614469B1

    公开(公告)日：2003-09-02

    申请号：US09462458

    申请日：2000-01-10

    Applicant: Shin Kato ,  Sadayuki Tsugawa

    Inventor： Shin Kato ,  Sadayuki Tsugawa

    IPC: H04N718

    CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/089 ,  G05D2201/0213

    Abstract: It is detected whether an automobile is running in a direction departing from a traffic lane, has already departed from the lane, or is running in a direction recovering from departure, by mounting on the automobile a steering angle detecting device for detecting an actual steering angle based on steering wheel operation of a driver, a television camera for taking pictures of the lane and a computer for processing the pictures taken by the television camera. The television camera is used to take pictures of markers on the lane while the automobile is running on the lane, and video signals are input into the computer. The computer is then used to process the input signals, thereby setting a virtual reference line forming a cubic curve approximating the set virtual reference line, calculating a virtual standard steering angle from a coefficient of a function representing the cubic curve, and comparing the steering angle detected by the detecting device based on the steering wheel operation of the driver with the virtual standard steering angle calculated by the computer.

    Abstract translation: 通过在汽车上安装用于检测实际转向角的转向角检测装置，检测汽车是否在离开行车道的方向上行驶，已经离开车道，或者是在从出发恢复的方向上行驶 基于驾驶员的方向盘操作，用于拍摄车道的电视摄像机和用于处理由电视摄像机拍摄的照片的计算机。 电视摄像机用于在汽车在车道上行驶时拍摄车道上的标记图像，并将视频信号输入计算机。 然后将计算机用于处理输入信号，从而设置形成近似设定的虚拟参考线的三次曲线的虚拟参考线，从表示三次曲线的函数的系数中计算虚拟标准转向角，并且比较转向角 由检测装置基于驾驶员的方向盘操作以由计算机计算出的虚拟标准转向角来检测。

    Image processing method for preventing lane deviation
    83.
    发明申请
    Image processing method for preventing lane deviation 有权
    防止车道偏离的图像处理方法

    公开(公告)号：US20020080235A1

    公开(公告)日：2002-06-27

    申请号：US09991738

    申请日：2001-11-26

    Inventor： Yong-Won Jeon

    IPC: H04N007/18 ,  G06K009/00

    CPC classification number: G06T7/64 ,  B60T2201/08 ,  B60T2201/089 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/20068 ,  G06T2207/30256

    Abstract: An image processing method comprises the steps of generating a road image by photographing a road on which a vehicle is traveling; performing a brightness averaging process of the road image; filtering the road image having undergone the brightness averaging process to detect lane markers; performing an inverse perspective process on the filtered road image; compressing the road image having undergone the inverse perspective process; determining slope in the lane markers from the compressed road image; determining a curvature in the road from the determined slope in the lane markers; and determining a drive direction and a lane deviation of the vehicle.

    Abstract translation: 一种图像处理方法包括以下步骤：通过拍摄车辆行驶的道路产生道路图像; 进行道路图像的亮度平均处理; 过滤经过亮度平均处理的道路图像以检测车道标记; 对已滤波的道路图像进行反向透视处理; 压缩已经经历了逆透视过程的道路图像; 从压缩道路图像确定车道标记的斜率; 从车道标记中确定的斜率确定道路中的曲率; 以及确定车辆的行驶方向和车道偏离。

    Lane recognition apparatus for vehicle
    84.
    发明申请
    Lane recognition apparatus for vehicle 失效
    车道识别装置

    公开(公告)号：US20020042668A1

    公开(公告)日：2002-04-11

    申请号：US09951499

    申请日：2001-09-14

    Applicant: NISSAN MOTOR CO., LTD.

    Inventor： Ryota Shirato ,  Hiroshi Mouri

    IPC: G01C021/00

    CPC classification number: G06K9/4609 ,  B60T2201/08 ,  B60T2201/089 ,  G06K9/00798 ,  G06K9/4604

    Abstract: A lane recognition apparatus for a vehicle is comprised of an image picking-up section which picks up a road image in front of the vehicle, a lane-marker candidate-point detecting section which detects coordinate values of a plurality of lane marker candidate points from the road image, and a road model parameter calculating section which estimates a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using an extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points.

    Abstract translation: 一种用于车辆的车道识别装置包括：拾取车辆前面的道路图像的图像拾取部分;车道标记候选点检测部分，其检测多个车道标记候选点的坐标值; 道路图像，以及道路模型参数计算部，其基于所述车辆的坐标值来估计表示车辆前方的道路形状的道路模型参数和使用扩展卡尔曼滤波器的车辆的车辆状态量 车道标记候选点。

    Device for acquiring lane path indicative data
    85.
    发明授权
    Device for acquiring lane path indicative data 有权
    用于获取车道路径指示数据的装置

    公开(公告)号：US06292752B1

    公开(公告)日：2001-09-18

    申请号：US09187530

    申请日：1998-11-06

    Applicant: Uwe Franke ,  Zoltan Zomotor

    Inventor： Uwe Franke ,  Zoltan Zomotor

    IPC: G06G778

    CPC classification number: G06K9/00798 ,  B60T2201/08 ,  B60T2201/089 ,  G01S3/7864 ,  G01S13/723 ,  G01S13/867 ,  G01S13/931 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9353 ,  G06K9/00805

    Abstract: A device for acquiring data indicative of the path of a lane is provided. The device incorporates a lane detection sensing circuit, an object position sensing circuit that detects at least the distance of an object located in front of the vehicle and its directional angle relative to the direction of vehicle motion, and a sensing circuit for the vehicle's own motion. An estimating device is provided that is supplied with lane recognition measurement data, object position measurement data, and measurement data on the vehicle's own motion. As a function of the vehicle's own motion, the estimating device determines the lane curvature and/or the transverse position of an object ahead of the vehicle relative to the lane by estimation, using a presettable estimation algorithm including a dynamic vehicle motion model. The device preferably includes a Kalman filter for this purpose, and is used, for example, in road vehicles.

    Abstract translation: 提供了一种用于获取指示车道路径的数据的装置。 该装置包括车道检测感测电路，物体位置检测电路，其至少检测位于车辆前方的物体的距离及其相对于车辆运动方向的方向角，以及用于车辆自身运动的感测电路 。 提供了一种估计装置，其提供车辆识别测量数据，对象位置测量数据和关于车辆自身运动的测量数据。 作为车辆自身运动的函数，估计装置使用包括动态车辆运动模型的预设的估计算法，通过估计来确定车辆在车辆前方相对于车道的车道曲率和/或横向位置。 该装置优选地包括用于此目的的卡尔曼滤波器，并且例如用于道路车辆中。

    Lane detection sensor and navigation system employing the same
    87.
    发明授权
    Lane detection sensor and navigation system employing the same 失效
    车道检测传感器和采用相同的导航系统

    公开(公告)号：US5922036A

    公开(公告)日：1999-07-13

    申请号：US864428

    申请日：1997-05-28

    Applicant: Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

    Inventor： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

    IPC: G09B29/00 ,  B60W30/00 ,  G01B11/24 ,  G01B11/255 ,  G01C21/00 ,  G01C21/26 ,  G05D1/02 ,  G06T1/00 ,  G06T7/60 ,  G08G1/04 ,  G08G1/0969 ,  G08G1/16 ,  G06F165/00 ,  G06K9/36

    CPC classification number: G06K9/00798 ,  G01C21/26 ,  G05D1/0246 ,  G05D1/0278 ,  G06K9/4633 ,  G08G1/04 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0274 ,  G05D2201/0213

    Abstract: A lane detection sensor for detecting opposite lane markers of a road, comprising: an image shooting member for shooting an image of the road ahead of a running motor vehicle; an image data memory for storing data on the image of the road from the image shooting member; a contour point extracting member for extracting, by using the data on the image of the road stored in the image data memory, contour points corresponding to the lane markers of the road; a curve detecting member for calculating polynomial curves by using the contour points corresponding to the lane markers of the road from the contour point extracting member; a Hough transformation limiting member for bounding a region of Hough transformation by using coefficients of the polynomial curves calculated by the curve detecting member; a Hough transformation member for performing Hough transformation by using the polynomial curves from the curve detecting member and the region of Hough transformation bounded by the Hough transformation limiting member; and a Hough transformation detecting member which obtains a maximum value of accumulators in Hough space so as to detect a curve corresponding to the maximum value of the accumulators.

    Abstract translation: 一种用于检测道路的相对车道标记的车道检测传感器，包括：用于拍摄行驶的机动车辆前方道路的图像的图像拍摄部件; 图像数据存储器，用于从图像拍摄构件存储关于道路图像的数据; 轮廓点提取构件，用于通过使用存储在图像数据存储器中的道路的图像上的数据来提取与道路的车道标记相对应的轮廓点; 曲线检测构件，用于通过使用与来自轮廓点提取构件的道路的车道标记相对应的轮廓点来计算多项式曲线; 霍夫转换限制部件，用于通过使用由曲线检测部件计算出的多项式曲线的系数来界定霍夫变换区域; 霍夫变换构件，用于通过使用来自曲线检测构件的多项式曲线和由霍夫变换限制构件限定的霍夫变换区域来执行霍夫变换; 以及霍夫变换检测部件，其获得霍夫空间中的累加器的最大值，以检测对应于所述累加器的最大值的曲线。

    Off-lane alarm apparatus
    88.
    发明授权
    Off-lane alarm apparatus 失效
    越野报警器

    公开(公告)号：US5661472A

    公开(公告)日：1997-08-26

    申请号：US592519

    申请日：1996-01-26

    Applicant: Toshifumi Koshizawa

    Inventor： Toshifumi Koshizawa

    IPC: B60R21/00 ,  B60W30/00 ,  G05D1/02 ,  G08B21/00 ,  G08G1/16 ,  H04N5/225 ,  G08G1/00

    CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/089 ,  G05D2201/0213

    Abstract: An off-lane alarm apparatus quantizes an image signal provided from a line camera mounted on a car roof is into a corresponding binary image by an image processing device to detect a lane on a road surface, so that an alarm is generated when an off-lane state of the car from the lane is detected. After mounting a line camera on a car, markers preset at predetermined positions outside of the car are shot and preliminarily stored as binary image signals and the positional information is used as car side positional information for alarm determinations.

    Abstract translation: 通过图像处理装置对从搭载于车顶的线路摄像机提供的图像信号进行量化，以检测路面上的车道，从而在离线通道报警装置中产生报警， 检测车道从车道的车道状态。 将线摄像机安装在汽车上时，预先设定在轿厢外部的预定位置的标记被拍摄并预先存储为二进制图像信号，并且将位置信息用作用于报警确定的轿厢侧位置信息。

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