公开(公告)号：US20200079371A1

公开(公告)日：2020-03-12

申请号：US16685049

申请日：2019-11-15

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yosuke SAKAMOTO ,  Masamitsu TSUCHIYA ,  Kazuma OHARA

IPC: B60W30/095 ,  B60W40/04 ,  G06K9/00

Abstract: A prediction apparatus comprising acquisition means for acquiring information of another vehicle existing on the periphery of a self-vehicle and information of an object existing on the periphery of the other vehicle, and prediction means for predicting a behavior of the other vehicle based on the information of the other vehicle and the information of the object acquired by the acquisition means.

公开(公告)号：US20150278612A1

公开(公告)日：2015-10-01

申请号：US14658620

申请日：2015-03-16

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yosuke SAKAMOTO

IPC: G06K9/00 ,  B62D15/02 ,  G06T7/00

CPC classification number: G06K9/00798 ,  B62D15/025 ,  G06K9/4652 ,  G06K9/4661 ,  G06T7/13 ,  G06T2207/10024 ,  G06T2207/30256

Abstract: An edge image generating unit 12 generates an edge image, into which edge points whose variation in luminance relative to a surrounding portion is equal to or more than a predetermined value have been extracted, from an image captured by a camera 2. A candidate image portion extracting unit 13 extracts a candidate image portion, which is a candidate for an image portion of a lane mark, from the edge image. A lane mark recognizing unit 14 detects a lane mark candidate on the basis of the candidate image portion and, in the case of having detected a plurality of lane mark candidates 51b to 54b and 61b to 63b adjacent to each other, compares the luminance of a corresponding area in the captured image for each of the lane mark candidates and recognizes the lane mark candidate 51b to 54b having the maximum luminance value as a lane mark.

Abstract translation: 边缘图像生成单元12从相机2拍摄的图像中生成边缘图像，边缘图像的相对于周围部分的亮度变化等于或大于预定值的边缘点。候选图像部分 提取单元13从边缘图像中提取作为车道标记的图像部分的候选的候选图像部分。 车道标识识别单元14基于候选图像部分检测车道标记候选，并且在检测到彼此相邻的多个车道标记候选51b至54b和61b至63b的情况下，将 对于每个车道标记候选的拍摄图像中的对应区域，并将具有最大亮度值的车道标记候选51b至54b识别为车道标记。

公开(公告)号：US20160311428A1

公开(公告)日：2016-10-27

申请号：US15074816

申请日：2016-03-18

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yuki KIZUMI ,  Yosuke SAKAMOTO

IPC: B60W30/045 ,  B62D5/04 ,  B62D15/02 ,  G01C21/26

CPC classification number: B60W30/045 ,  B60W2550/143 ,  B60W2710/20 ,  B62D15/025 ,  G01C21/26

Abstract: There is provided a running-support system and a running-support method capable of providing more suitable running support at the time of turning a curve. In the running-support system or the running-support method, a steering-support section provides steering support using at least one of a piece of map information on a curve and a lane image picked up by an image pickup section at the time of turning the curve. The steering-support section suppresses the steering support without being based on the piece of map information when the steering-support section detects an end point of the curve on the basis of the lane image.

Abstract translation: 提供了运行支持系统和运行支持方法，其能够在转弯时提供更合适的运行支持。 在运行支持系统或行驶支持方法中，转向支撑部分使用曲线上的一条地图信息中的至少一条和在转动时图像拾取部分拾取的车道图像中的至少一个来提供转向支持 曲线。 当转向支撑部分基于车道图像检测到曲线的终点时，转向支撑部分不基于地图信息来抑制转向支撑。

公开(公告)号：US20150310282A1

公开(公告)日：2015-10-29

申请号：US14424209

申请日：2012-08-30

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yosuke SAKAMOTO ,  Kentaro YAMADA

IPC: G06K9/00 ,  G06K9/52 ,  G06K9/46

CPC classification number: G06K9/00798 ,  G06K9/4604 ,  G06K9/4661 ,  G06K9/52 ,  G06T7/73 ,  G06T2207/20061 ,  G06T2207/30256 ,  G08G1/167

Abstract: A lane mark recognition device detects an edge located in a proximal area in front of the vehicle, and determines a lane mark candidate on the basis of the detected edge and an edge that is located in a distal area farther than the proximal area in front of the vehicle and that is continuous with the edge. Therefore, an edge of another vehicle (leading vehicle) or the like located in the distal area in a captured image is not detected as a lane mark candidate (is excluded as a non lane mark candidate).

Abstract translation: 车道标识识别装置检测位于车辆前方的近侧区域中的边缘，并且基于检测到的边缘和位于比在前面的近侧区域更远的远侧区域的边缘来确定车道标记候选 车辆是与边缘连续的。 因此，位于拍摄图像中的远端区域中的另一车辆（前方车辆）等的边缘没有被检测为车道标记候选（被排除为非车道标记候选）。

公开(公告)号：US20150294164A1

公开(公告)日：2015-10-15

申请号：US14659818

申请日：2015-03-17

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yosuke SAKAMOTO

IPC: G06K9/00 ,  G06K9/46

CPC classification number: G06K9/00798

Abstract: An edge image generating unit 12 generates an edge image 22, into which edge points whose variation in luminance relative to a surrounding portion is equal to or more than a predetermined value have been extracted, from an image 21 captured by a camera 2. A candidate image portion extracting unit 13 extracts a candidate image portion, which is a candidate for an image portion of a dashed-line lane mark, from the edge image 22. A dashed-line lane mark recognizing unit 14 recognizes the dashed-line lane mark based on a plurality of candidate image portions each of whose length in the corresponding real space is within a predetermined range and which are continuous in a given direction among the candidate image portions.

Abstract translation: 边缘图像生成单元12从摄像机2拍摄的图像21中生成边缘图像22，其中相对于周围部分的亮度变化等于或大于预定值的边缘点被提取。候选者 图像部分提取单元13从边缘图像22提取作为虚线车道标记的图像部分的候选的候选图像部分。虚线车道标记识别单元14基于虚线车道标记识别基于 在多个候补图像部分中，在相应的实际空间中，其长度在预定范围内，并且在候选图像部分中在给定方向上是连续的。

公开(公告)号：US20150294163A1

公开(公告)日：2015-10-15

申请号：US14658482

申请日：2015-03-16

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yosuke SAKAMOTO

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06K9/00798 ,  G06T7/12 ,  G06T7/136 ,  G06T2207/30256

Abstract: Provided is an image processing device in which a region targeted for edge extraction of a taken image is divided into a plurality of partial regions 11(1) to 11(7) for which threshold values for edge extraction different from each other are set, respectively. An edge extraction unit 5, which extracts edges from the region targeted for edge extraction, performs processing of extracting the edges in the partial regions 11(1) to 11(7) by using the threshold values set so as to correspond to the each of the partial regions 11(1) to 11(7).

Abstract translation: 提供了一种图像处理装置，其中针对拍摄图像的边缘提取的区域被分成多个分别设置用于边缘提取的阈值的部分区域11（1）至11（7） 。 从用于边缘提取的区域中提取边缘的边缘提取单元5通过使用设置为对应于各个区域11（1）至11（7）中的每一个的阈值来执行提取部分区域11（1）至11（7）中的边缘的处理 部分区域11（1）〜11（7）。