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：US20100228437A1

公开(公告)日：2010-09-09

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：US07421095B2

公开(公告)日：2008-09-02

申请号：US11596900

申请日：2005-05-17

申请人： Tetsuo Ikeda ,  Sachio Kobayashi ,  Kiyozumi Unoura

发明人： Tetsuo Ikeda ,  Sachio Kobayashi ,  Kiyozumi Unoura

IPC分类号： G06K9/00 ,  G06K9/32 ,  G01C22/00 ,  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 traffic lane marking line recognition system for vehicle including a traffic lane marking line recognizing device configured to recognize at least a traffic lane marking line in broken (e.g., white) line on a road surface in a camera photographed image, and an image compositing device which composites images photographed at different time points to elongate the traffic lane marking line in the photographed image, wherein the images are composited in a processing stage in such a manner that no change will be imparted to at least a shape of the traffic lane marking line in the photographed image in a traffic lane marking line recognition processing, specifically in a processing stage prior to edge detection. With this, a distant traffic lane marking line is prevented from being chipped away when compositing the photographed images, thereby enabling accurate and unerring recognition of the traffic lane marking line.

摘要翻译： 一种用于车辆的行车线标识线识别系统，包括行车线标识线识别装置，被配置为至少识别摄像机拍摄图像中路面上的破碎（例如，白色）线中的行车道标线，以及图像合成装置 其复合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，其中，图像在处理阶段被合成，使得不会对行车道标线的至少一个形状施加变化 在行车线标识线识别处理中的拍摄图像中，具体地在边缘检测之前的处理阶段。 由此，当合成拍摄的图像时，防止远距离的行车线标记线被切掉，从而使得能够准确和无意识地识别行车线标记线。

公开(公告)号：US07421094B2

公开(公告)日：2008-09-02

申请号：US11596898

申请日：2005-05-17

申请人： Tetsuo Ikeda ,  Kiyozumi Unoura

发明人： Tetsuo Ikeda ,  Kiyozumi Unoura

IPC分类号： G06K9/00 ,  G06K9/32 ,  G01C22/00 ,  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： In the traffic lane marking line recognition system for vehicle having an image compositing device for compositing images photographed at different time points by a camera to elongate a traffic lane marking line in the photographed image, a fore-aft direction angle of the vehicle relative to the traffic lane marking line and a distance of the vehicle from the line in each of the images to be composited are detected to determine deviations of the angles and distances between the images; and the images are composited after having been corrected such that the angles and distances of the vehicle relative to the line are equal to each other based on the determined deviations of the angles and distances. With this, the traffic lane marking lines are elongated in appearance in the composited image due to the correction, thereby enabling accurate and unerring recognition of the traffic lane marking line.

摘要翻译： 在具有图像合成装置的车辆行车道标线生成线识别系统中，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行车线标记线，车辆相对于 检测行车线标记线和车辆与要合成的每个图像中的线的距离，以确定图像之间的角度和距离的偏差; 并且在已经被校正之后，基于所确定的角度和距离的偏差，车辆相对于线的角度和距离彼此相等来合成图像。 由此，由于校正，行车道标线在外观上呈现出细长的形状，从而能够对行车道标线进行准确无误的识别。

公开(公告)号：US20080027627A1

公开(公告)日：2008-01-31

申请号：US11596898

申请日：2005-05-17

申请人： Tetsuo Ikeda ,  Kiyozumi Unoura

发明人： Tetsuo Ikeda ,  Kiyozumi Unoura

IPC分类号： G06G7/76

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： In the traffic lane marking line recognition system for vehicle having an image compositing device for compositing images photographed at different time points by a camera to elongate a traffic lane marking line in the photographed image, a fore-aft direction angle of the vehicle relative to the traffic lane marking line and a distance of the vehicle from the line in each of the images to be composited are detected to determine deviations of the angles and distances between the images; and the images are composited after having been corrected such that the angles and distances of the vehicle relative to the line are equal to each other based on the determined deviations of the angles and distances. With this, the traffic lane marking lines are elongated in appearance in the composited image due to the correction, thereby enabling accurate and unerring recognition of the traffic lane marking line.

摘要翻译： 在具有图像合成装置的车辆行车道标线生成线识别系统中，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行车线标记线，车辆相对于 检测行车线标记线和车辆与要合成的每个图像中的线的距离，以确定图像之间的角度和距离的偏差; 并且在已经被校正之后，基于所确定的角度和距离的偏差，车辆相对于线的角度和距离彼此相等来合成图像。 由此，由于校正，行车道标线在外观上呈现出细长的形状，从而能够对行车道标线进行准确无误的识别。

公开(公告)号：US20070198146A1

公开(公告)日：2007-08-23

申请号：US11596900

申请日：2005-05-17

申请人： Tetsuo Ikeda ,  Sachio Kobayashi ,  Kiyozumi Unoura

发明人： Tetsuo Ikeda ,  Sachio Kobayashi ,  Kiyozumi Unoura

IPC分类号： G05D1/00

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 traffic lane marking line recognition system for vehicle including a traffic lane marking line recognizing device configured to recognize at least a traffic lane marking line in broken (e.g., white) line on a road surface in a camera photographed image, and an image compositing device which composites images photographed at different time points to elongate the traffic lane marking line in the photographed image, wherein the images are composited in a processing stage in such a manner that no change will be imparted to at least a shape of the traffic lane marking line in the photographed image in a traffic lane marking line recognition processing, specifically in a processing stage prior to edge detection. With this, a distant traffic lane marking line is prevented from being chipped away when compositing the photographed images, thereby enabling accurate and unerring recognition of the traffic lane marking line.

摘要翻译： 一种用于车辆的行车线标识线识别系统，包括行车线标识线识别装置，被配置为至少识别摄像机拍摄图像中路面上的破碎（例如，白色）线中的行车道标线，以及图像合成装置 其复合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，其中，图像在处理阶段被合成，使得不会对行车道标线的至少一个形状施加变化 在行车线标识线识别处理中的拍摄图像中，具体地在边缘检测之前的处理阶段。 由此，当合成拍摄的图像时，防止远距离的行车线标记线被切掉，从而使得能够准确和无意识地识别行车线标记线。

公开(公告)号：US5517412A

公开(公告)日：1996-05-14

申请号：US307367

申请日：1994-09-16

申请人： Kiyozumi Unoura

发明人： Kiyozumi Unoura

IPC分类号： B60W10/04 ,  B60W10/06 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/00 ,  B60W30/10 ,  B60W40/04 ,  B60W40/105 ,  B60W40/107 ,  B60W40/114 ,  B62D6/00 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00 ,  G05D1/02 ,  G06K9/46 ,  G06T1/00 ,  G08G1/09 ,  G06F165/00

CPC分类号： G06K9/00798 ,  G05D1/0246 ,  G05D1/0255 ,  G06K9/4638 ,  G05D1/0251

摘要： A lane boundary recognition system for a self-navigating vehicle which enables the vehicle to self-navigate on an expressway or other such roadway having lane boundaries while simultaneously identifying and discriminating the continuity of the lane boundaries. Vehicle position to the lane boundaries are determined at times T0 and T1. A vehicle locus occurred in a period between the times is estimated and the position at the time T0 is corrected. A difference between said corrected position and said position at the time T1 is calculated and is adding to lane boundary numbers and by comparing them with each other, it is determining if the lane boundaries recognized at the times T0 and T1 are continuous. If determined to be continuous, the same number is assigned and is stored in a common memory.

摘要翻译： 一种用于自导航车辆的车道边界识别系统，其使得车辆能够在高速公路或其他具有车道边界的道路上自行导航，同时识别和区分车道边界的连续性。 在时间T0和T1确定车道边界的车辆位置。 在估计时间之间的时间段和时间T0的位置被校正之间发生车辆轨迹。 计算出在时间T1处的所述校正位置和所述位置之间的差异，并且将其添加到车道边界号并通过彼此比较，确定在时间T0和T1处识别的车道边界是否连续。 如果确定为连续的，则分配相同的数字并存储在公共存储器中。

公开(公告)号：US08208021B2

公开(公告)日：2012-06-26

申请号：US12097430

申请日：2006-11-14

申请人： Kiyozumi Unoura

发明人： Kiyozumi Unoura

IPC分类号： H04N7/18

CPC分类号： G08G1/167 ,  B60W30/12 ,  B60W2420/42 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/10016 ,  G06T2207/20061 ,  G06T2207/30256

摘要： A vehicle includes: an image acquisition means (4) which acquires a road image via an imaging means (3); an edge extraction means (5) which extracts edge points from the acquired image; a line search means (6) which searches the extracted edge points for line components; an evaluation value calculation means (7) which calculates an evaluation value indicating the degree that each line component approximates a linear lane mark on the road for the line components searched for; a lane mark candidate selection means (8) which selects line components each having an evaluation value greater than a predetermined threshold value as candidates for a line component corresponding to the lane mark from the line components searched for; and a lane mark detection means (9) which detects the lane mark by determining the line component corresponding to the lane mark from the selected candidates for the line component. This allows the detection accuracy to be increased by preventing an object other than a lane mark on the road from being incorrectly detected as a linear lane mark such as a white line when detecting a linear lane mark such as a white line from the road image.

摘要翻译： 车辆包括：经由成像装置（3）获取道路图像的图像获取装置（4）。 边缘提取装置（5），其从所获取的图像中提取边缘点; 线搜索装置（6），其搜索所提取的边缘点以获得线分量; 评估值计算装置（7），其计算指示每个线分量接近所搜索的线分量的道路上的线性车道标记的程度的评估值; 车道候选选择装置（8），其从所搜索的线分量中选择各自具有大于预定阈值的评估值的线分量作为与所述车道标记相对应的线分量的候选; 以及车道标记检测装置（9），其通过从所选线路分量的候选中确定与车道线对应的线分量来检测车道标记。 这允许通过在从路面图像检测诸如白线的线性车道标记检测到时，通过防止道路上的道路标记以外的对象被错误地检测为诸如白线的线性车道标记来提高检测精度。

公开(公告)号：US07920721B2

公开(公告)日：2011-04-05

申请号：US11886566

申请日：2006-03-16

申请人： Kiyozumi Unoura

发明人： Kiyozumi Unoura

IPC分类号： G06K9/00

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

摘要： A system or the like capable of detecting lane marks more accurately by preventing false lane marks from being erroneously detected as true lane marks. A vehicle-use image processing system (100) allows a “road surface cluster” to be extracted from the “histogram” of luminance of each pixel in a “reference area” in a road surface image. Among “primary lane mark candidates,” those that overlap the “reference area” are detected as “secondary lane mark candidates.” Among the “secondary lane mark candidates,” those that have “luminance parameter” values falling within the luminance range of the “road surface cluster” are not detected as true lane marks. Thereby, lane marks are prevented from being erroneously detected (erroneous detection). This allows only lane marks to be detected more accurately.

摘要翻译： 能够通过防止错误的路标被错误地检测为真道标记，能够更准确地检测车道线标的系统等。 车辆用图像处理系统（100）允许从路面图像中的“参考区域”中的每个像素的亮度的“直方图”中提取“路面簇”。 在“主车道标记候选”中，与“参考区域”重叠的那些被检测为“次要车道标记候补”。在“次要车道标记候补”中，具有落在亮度范围内的“亮度参数” “路面群集”未被检测为真道标记。 由此，防止车道标记被错误地检测（错误检测）。 这只允许更准确地检测车道标记。

公开(公告)号：US20090167864A1

公开(公告)日：2009-07-02

申请号：US12097430

申请日：2006-11-14

申请人： Kiyozumi Unoura

发明人： Kiyozumi Unoura

IPC分类号： H04N7/18

CPC分类号： G08G1/167 ,  B60W30/12 ,  B60W2420/42 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/10016 ,  G06T2207/20061 ,  G06T2207/30256

摘要： A vehicle includes: an image acquisition means (4) which acquires a road image via an imaging means (3); an edge extraction means (5) which extracts edge points from the acquired image; a line search means (6) which searches the extracted edge points for line components; an evaluation value calculation means (7) which calculates an evaluation value indicating the degree that each line component approximates a linear lane mark on the road for the line components searched for; a lane mark candidate selection means (8) which selects line components each having an evaluation value greater than a predetermined threshold value as candidates for a line component corresponding to the lane mark from the line components searched for; and a lane mark detection means (9) which detects the lane mark by determining the line component corresponding to the lane mark from the selected candidates for the line component. This allows the detection accuracy to be increased by preventing an object other than a lane mark on the road from being incorrectly detected as a linear lane mark such as a white line when detecting a linear lane mark such as a white line from the road image.

摘要翻译： 车辆包括：经由成像装置（3）获取道路图像的图像获取装置（4）。 边缘提取装置（5），其从所获取的图像中提取边缘点; 线搜索装置（6），其搜索所提取的边缘点以获得线分量; 评估值计算装置（7），其计算指示每个线分量接近所搜索的线分量的道路上的线性车道标记的程度的评估值; 车道候选选择装置（8），其从所搜索的线分量中选择各自具有大于预定阈值的评估值的线分量作为与所述车道标记相对应的线分量的候选; 以及车道标记检测装置（9），其通过从所选线路分量的候选中确定与车道线对应的线分量来检测车道标记。 这允许通过在从路面图像检测诸如白线的线性车道标记检测到时，通过防止道路上的道路标记以外的对象被错误地检测为诸如白线的线性车道标记来提高检测精度。