公开(公告)号：US08170285B2

公开(公告)日：2012-05-01

申请号：US11995798

申请日：2006-07-06

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： G06K9/00798 ,  G06T7/12 ,  G06T7/90 ,  G06T2207/10016 ,  G06T2207/30256

摘要： An image processing system and the like capable of recognizing a lane mark in a road image with high accuracy are provided even if a light illumination state on a road surface is partially different. According to the image processing system (100) mounted on a vehicle (10), a color component (Rij, Gij, Bij) of the first pixel (Pij) included in an area (Aij) set in the road image is corrected with reference to a color component (Rik, Gik, Bik) of a second pixel (Pik) in view of a fact that it is highly probable that the color component of the second pixel included in the area along with the first pixel is affected by a shadow or light on the road surface. This reduces the effect of the shadow or light on the road surface and the actual color of a road surface portion corresponding to the first pixel can be sufficiently reflected in the color components (Rij, Gij, Bij) of the first pixel (Pij) and consequently in a feature value (Qij). Therefore, a lane mark (M) and its edge (E) are recognized in the road image on the basis of the feature value (Qij) of each pixel (Pij) in the road image.

摘要翻译： 即使路面上的光照射状态部分不同，也能够提供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），包括在道路图像中设置的区域（Aij）中的第一像素（Pij）的颜色分量（Rij，Gij，Bij）被校正参考 考虑到与第一像素一起包括在该区域中的第二像素的颜色分量非常可能受到阴影影响的事实，第二像素（Pik）的颜色分量（Rik，Gik，Bik） 或在路面上点亮。 这样可以减小阴影或光线对路面的影响，并且可以将与第一像素对应的路面部分的实际颜色充分地反映在第一像素（Pij）的颜色分量（Rij，Gij，Bij）中，并且 因此在特征值（Qij）中。 因此，基于道路图像中的各像素（Pij）的特征量（Qij），在道路图像中识别车道标记（M）及其边缘（E）。

公开(公告)号：US20090080704A1

公开(公告)日：2009-03-26

申请号：US11919641

申请日：2006-06-20

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

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

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  B60W30/12 ,  B60W2420/42 ,  G08G1/167

摘要： There is provided an image acquisition means (2) for acquiring a color image of a road via an imaging means (9) mounted on a vehicle (8), a lane mark detection means (3, 4) for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data, and a selection means (6) for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle (8) is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means (3, 4), and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data. Therefore, even if there are lane marks of different colors on the road, the lane marks of the respective colors can be recognized appropriately from the color image of the road acquired via the imaging means such as a camera.

摘要翻译： 提供了一种用于通过安装在车辆（8）上的成像装置（9）获取道路彩色图像的图像获取装置（2），用于执行检测车道标记的处理的车道标记检测装置（3,4） 基于彩色图像的颜色信息在道路上彼此不同的多个预定颜色的多个预定颜色，并将处理结果作为车道标记候选数据输出;以及选择装置（6），用于选择对应于 从车道标记检测装置（3,4）输出的各个预定颜色的至少车道标记候补数据中定义车辆（8）正在行进的实际车道的车道标记，并且确定并输出指示 基于所选择的车道标记候选数据的实际车道的信息。 因此，即使在道路上存在不同颜色的车道标记，也可以从通过诸如照相机的摄像装置获得的道路的彩色图像适当地识别各种颜色的车道标记。

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：US06658137B1

公开(公告)日：2003-12-02

申请号：US09534349

申请日：2000-03-24

申请人： Horimitsu Yuhara ,  Tomoyoshi Aoki

发明人： Horimitsu Yuhara ,  Tomoyoshi Aoki

IPC分类号： G06K900

CPC分类号： B60R16/0237 ,  G01S11/12 ,  G08G1/04

摘要： A road sensor system is provided which comprises at least one imaging sensor, an extraction means that captures brightness values for a plurality of windows corresponding to the area immediately in front of the vehicle from an image that is captured from the imaging sensor and is divided into a plurality of windows. It extracts a reference brightness value on the basis of the plurality of brightness values. The system includes a judgment means that compares the brightness value of at least one other window with the reference brightness value and judges that the window belongs to the road area if the difference is smaller than a predetermined value. The road area is determined by detecting the road surface based on brightness rather than the distance to the road surface.

摘要翻译： 提供了一种道路传感器系统，其包括至少一个成像传感器，提取装置，其从从成像传感器捕获的图像中捕获与车辆前面的区域对应的多个窗口的亮度值，并且被分成 多个窗口。 它基于多个亮度值提取参考亮度值。 该系统包括将至少一个其他窗口的亮度值与参考亮度值进行比较的判断装置，并且如果差值小于预定值，则判断该窗口属于道路区域。 通过基于亮度而不是到路面的距离检测路面来确定道路面积。

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：US20090284597A1

公开(公告)日：2009-11-19

申请号：US11995798

申请日：2006-07-06

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 ,  H04N7/18

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

摘要： An image processing system and the like capable of recognizing a lane mark in a road image with high accuracy are provided even if a light illumination state on a road surface is partially different. According to the image processing system (100) mounted on a vehicle (10), a color component (Rij, Gij, Bij) of the first pixel (Pij) included in an area (Aij) set in the road image is corrected with reference to a color component (Rik, Gik, Bik) of a second pixel (Pik) in view of a fact that it is highly probable that the color component of the second pixel included in the area along with the first pixel is affected by a shadow or light on the road surface. This reduces the effect of the shadow or light on the road surface and the actual color of a road surface portion corresponding to the first pixel can be sufficiently reflected in the color components (Rij, Gij, Bij) of the first pixel (Pij) and consequently in a feature value (Qij). Therefore, a lane mark (M) and its edge (E) are recognized in the road image on the basis of the feature value (Qij) of each pixel (Pij) in the road image.

摘要翻译： 即使路面上的光照射状态部分不同，也能够提供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），包括在道路图像中设置的区域（Aij）中的第一像素（Pij）的颜色分量（Rij，Gij，Bij）被校正参考 考虑到与第一像素一起包括在该区域中的第二像素的颜色分量非常可能受到阴影影响的事实，第二像素（Pik）的颜色分量（Rik，Gik，Bik） 或在路面上点亮。 这样可以减小阴影或光线对路面的影响，并且可以将与第一像素对应的路面部分的实际颜色充分地反映在第一像素（Pij）的颜色分量（Rij，Gij，Bij）中，并且 因此在特征值（Qij）中。 因此，基于道路图像中的各像素（Pij）的特征量（Qij），在道路图像中识别车道标记（M）及其边缘（E）。