公开(公告)号：US5904725A

公开(公告)日：1999-05-18

申请号：US637417

申请日：1996-04-25

申请人： Atsushi Iisaka ,  Nobuhiko Yasui ,  Mamoru Kaneko

发明人： Atsushi Iisaka ,  Nobuhiko Yasui ,  Mamoru Kaneko

IPC分类号： G01S5/16 ,  G06T5/00 ,  G06T7/00 ,  G06F165/00

CPC分类号： G01S5/16 ,  G06K9/00798 ,  G06T7/0044 ,  G06T7/0083 ,  G06T2207/10016 ,  G06T2207/30256

摘要： A local positioning device detects a local position of an automobile advancing along a lane formed on a road in a direction. A digital image data indicative of an advancing direction view observed from the automobile in the advancing direction is applied to the local position device. An edge extractor, a threshold generator, and a contour extractor are operable for extracting a contour data indicative of the lane from the image signal. A coordinate convertor converts the contour data into a plane view data indicating the dimensions of extracted contours correctly. A matching operator matches a line or an arc with each of extracted contour. A lane mark contour extractor selectively extracts a pair of extracted contours corresponding to the lane on which the automobile is located.

摘要翻译： 本地定位装置检测沿着在道路上形成的车道沿方向前进的汽车的局部位置。 将表示从行驶方向观察到的前进方向图的数字图像数据应用于本地位置装置。 边缘提取器，阈值生成器和轮廓提取器可用于从图像信号中提取表示车道的轮廓数据。 坐标转换器将轮廓数据转换为指示提取轮廓的尺寸正确的平面视图数据。 匹配的操作符将线或弧与每个提取的轮廓相匹配。 车道标记轮廓提取器选择性地提取对应于汽车所在的车道的一对提取轮廓。

公开(公告)号：US6091833A

公开(公告)日：2000-07-18

申请号：US917815

申请日：1997-08-27

申请人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

发明人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

IPC分类号： G06T1/00 ,  G05D1/02 ,  G06K9/00 ,  G06T5/00 ,  G06T7/00 ,  G08G1/04 ,  G08G1/16

CPC分类号： G06K9/00798 ,  G05D1/0246 ,  G06T7/0042 ,  G06T7/0044 ,  G06T7/0083 ,  G08G1/04 ,  G08G1/161 ,  B60T2201/08 ,  B60T2201/089 ,  G06T2207/10016 ,  G06T2207/30256

摘要： An apparatus and method for correctly determining the position of a vehicle in a traffic lane by obtaining correct information about the position of the traffic lane without being affected by variations in the road surface, weather, time of day, or such imaging conditions as fixed or moving lighting, are provided. An edge signal of a high spatial frequency component and a luminance signal of a low spatial frequency component of a digital image signal representing the view of the local area to the front of a vehicle are extracted. A road contour signal is then extracted from the edge signal, and a road region signal is extracted from the luminance signal. The position of the lane Sre is then detected with high precision by evaluating the lane contour Sre based on the road region signal Srr and lane contour data Sre.

摘要翻译： 通过获取关于行车道的位置的正确信息而不受路面，天气，时间的变化或诸如固定或 提供移动照明。 提取高空间频率分量的边缘信号和表示车辆前方的局部区域的视图的数字图像信号的低空间频率分量的亮度信号。 然后从边缘信号中提取道路轮廓信号，并从亮度信号中提取道路区域信号。 然后通过基于道路区域信号Srr和车道轮廓数据Sre评估车道轮廓Sre，高精度地检测车道Sre的位置。

公开(公告)号：US06493458B2

公开(公告)日：2002-12-10

申请号：US09216957

申请日：1998-12-21

申请人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

发明人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

IPC分类号： G06K900

CPC分类号： G06K9/00798 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0246 ,  G06T7/12 ,  G06T7/73 ,  G06T7/74 ,  G06T2207/10016 ,  G06T2207/30256 ,  G08G1/04 ,  G08G1/161

摘要： An apparatus and method for correctly determining the position of a vehicle in a traffic lane by obtaining correct information about the position of the traffic lane without being affected by variations in the road surface, weather, time of day, or such imaging conditions as fixed or moving lighting, are provided. An edge signal of a high spatial frequency component and a luminance signal of a low spatial frequency component of a digital image signal representing the view of the local area to the front of a vehicle are extracted. A road contour signal is then extracted from the edge signal, and a road region signal is extracted from the luminance signal. The position of the lane Sre is then detected with high precision by evaluating the lane contour Sre based on the road region signal Srr and lane contour data Sre.

摘要翻译： 通过获取关于行车道的位置的正确信息而不受路面，天气，时间的变化或诸如固定或 提供移动照明。 提取高空间频率分量的边缘信号和表示车辆前方的局部区域的视图的数字图像信号的低空间频率分量的亮度信号。 然后从边缘信号中提取道路轮廓信号，并从亮度信号中提取道路区域信号。 然后通过基于道路区域信号Srr和车道轮廓数据Sre评估车道轮廓Sre，高精度地检测车道Sre的位置。

公开(公告)号：US5922036A

公开(公告)日：1999-07-13

申请号：US864428

申请日：1997-05-28

申请人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

发明人： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

IPC分类号： 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分类号： G06K9/00798 ,  G01C21/26 ,  G05D1/0246 ,  G05D1/0278 ,  G06K9/4633 ,  G08G1/04 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0274 ,  G05D2201/0213

摘要： 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.

摘要翻译： 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。

公开(公告)号：US06483429B1

公开(公告)日：2002-11-19

申请号：US09692540

申请日：2000-10-20

申请人： Nobuhiko Yasui ,  Atsushi Iisaka

发明人： Nobuhiko Yasui ,  Atsushi Iisaka

IPC分类号： B60Q100

CPC分类号： B60R1/00 ,  B60Q9/005 ,  B60R2300/30 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/404 ,  B60R2300/607 ,  B60R2300/806 ,  B60R2300/8093 ,  B60T2201/10 ,  G01S5/16 ,  G06K9/00812

摘要： A parking assistance system is mounted in a vehicle, and has an image pick-up with a single camera, an image processing device, a display, a steering angle sensor, a wheel speed sensor, and a pulse counter. An A/D converter subjects two analog images picked up by the image pick-up at different locations to A/D conversion, and sends the results to frame memories. A CPU uses the digital image data and the transition data of the vehicle to calculate object data and a distance from the vehicle to the 3D object. An image thus obtained is then converted into a view from the above. The view from the above is stored in a frame memory, and outputted to the display under the control of a controller for display.

摘要翻译： 车辆中安装有停车辅助系统，并且具有单个照相机，图像处理装置，显示器，转向角传感器，车轮速度传感器和脉冲计数器的图像拾取器。 A / D转换器将由不同位置的图像拾取器拾取的两个模拟图像进行A / D转换，并将结果发送到帧存储器。 CPU使用数字图像数据和车辆的转换数据来计算对象数据和从车辆到3D对象的距离。 然后将如此获得的图像从上述转换成视图。 从上述的视图被存储在帧存储器中，并且在控制器的控制下输出到显示器以进行显示。

公开(公告)号：US06825779B2

公开(公告)日：2004-11-30

申请号：US09885095

申请日：2001-06-21

申请人： Nobuhiko Yasui ,  Takashi Yoshida ,  Atsushi Iisaka ,  Akira Ishida

发明人： Nobuhiko Yasui ,  Takashi Yoshida ,  Atsushi Iisaka ,  Akira Ishida

IPC分类号： G08G1123

CPC分类号： G06T11/00 ,  B60W2420/42 ,  G08G1/166

摘要： In a rendering device, a processor derives an estimated path to be traced by the left- and right-rear wheels of a vehicle based on a rudder angle that is provided by a rudder angle sensor. The processor then determines positions for overlaying indicators on the derived estimated path. The processor then renders the indicators on the determined points in a captured image which is provided by an image capture device, and generates a display image. In the display image, the indicators move along the estimated path in the direction the vehicle is heading towards. In this manner, the estimated path in the display image that is generated by the rendering device becomes noticeable for a driver of the vehicle.

摘要翻译： 在再现装置中，处理器基于由舵角传感器提供的方向舵角度，导出由车辆的左后轮和右后轮跟踪的估计路径。 然后处理器确定在导出的估计路径上覆盖指示符的位置。 然后，处理器在由图像捕获设备提供的捕获图像中的确定的点上呈现指示符，并且生成显示图像。 在显示图像中，指示器沿着车辆朝向的方向沿估计路径移动。 以这种方式，由该再现装置生成的显示图像中的估计路径对于车辆的驾驶员而言是显而易见的。

公开(公告)号：US06546118B1

公开(公告)日：2003-04-08

申请号：US09228401

申请日：1999-01-12

申请人： Atsushi Iisaka ,  Nobuhiko Yasui

发明人： Atsushi Iisaka ,  Nobuhiko Yasui

IPC分类号： G06K900

CPC分类号： G06K9/00798 ,  G06T7/246 ,  G06T7/73

摘要： An image processing device for a vehicle according to the present invention has an edge extractor for emphasizing edges of a traffic lane in a front road image signal generated by a digital image pick-up device, a threshold setter for setting a threshold to extract the edges of the traffic lane based on the result detected by the edge extractor, an outline extractor for extracting an outline of the traffic lane to generate an outline data based on the result detected by the edge extractor and the threshold set by the threshold setter, a noise eliminator for eliminating noise components from the outline data, a white line detector for detecting lane-indicating lines based on the outline data from which the noise components have been eliminated, an attitude change detector for estimating the attitude of the vehicle based on the detected lane-indicating lines, and a target advance direction detector for detecting a target direction to advance the vehicle based on the result obtained by the white line detector and the estimated attitude of the vehicle. According to the image processing apparatus, the target direction to advance the vehicle can be exactly measured, even if the helix angle (i.e. pitch angle) changes.

摘要翻译： 根据本发明的用于车辆的图像处理装置具有用于强调由数字图像拾取装置产生的前道路图像信号中的行车道边缘的边缘提取器，用于设置阈值以提取边缘的阈值设置器 基于由边缘提取器检测到的结果的轮廓提取器，用于基于由边缘提取器检测到的结果和由阈值设置器设置的阈值来提取行车道的轮廓以生成轮廓数据的轮廓提取器，噪声 用于从轮廓数据中消除噪声分量的消除器，用于基于已经消除了噪声分量的轮廓数据来检测车道指示线的白线检测器，用于基于检测到的车道估计车辆的姿态的姿态变化检测器 - 指示线，以及目标提前方向检测器，用于基于由th获得的结果来检测目标方向以推进车辆 e白线检测器和车辆的估计姿态。 根据图像处理装置，即使螺旋角（即俯仰角）发生变化，也可以精确地测量推进车辆的目标方向。

公开(公告)号：US06366221B1

公开(公告)日：2002-04-02

申请号：US09892744

申请日：2001-06-28

申请人： Atsushi Iisaka ,  Nobuhiko Yasui ,  Akira Ishida ,  Takashi Yoshida

发明人： Atsushi Iisaka ,  Nobuhiko Yasui ,  Akira Ishida ,  Takashi Yoshida

IPC分类号： B60Q148

CPC分类号： B60R1/00 ,  B60Q9/005 ,  B60R2300/105 ,  B60R2300/30 ,  B60R2300/302 ,  B60R2300/304 ,  B60R2300/305 ,  B60R2300/806 ,  B60R2300/8086 ,  B60T2201/10 ,  B62D15/0275

摘要： In a rendering device 10, ROM 4 stores a vehicle model. A rudder angle sensor 3 detects a rudder angle of the vehicle, and based thereon, CPU 6 calculates an estimated path for the vehicle. The CPU 6 receives captured images from cameras 21 to 2N. The CPU 6 generates a display image based on those captured images, the estimated path, and the vehicle model. This display image includes the vehicle model arranged on the estimated path, and displayed on a display device 8 placed in the vehicle. In this manner, the display image generated by the rendering device 10 is indicative and helpful for a driver of the vehicle to exactly figure out a parking space available for the vehicle.

摘要翻译： 在再现装置10中，ROM4存储车辆模型。 方向舵角传感器3检测车辆的舵角，并且基于此，CPU6计算车辆的估计路径。 CPU6从摄像机21至2N接收捕获的图像。 CPU6基于这些拍摄图像，估计路径和车辆模型生成显示图像。 该显示图像包括布置在估计路径上的车辆模型，并且显示在放置在车辆中的显示装置8上。 以这种方式，由再现装置10生成的显示图像是对车辆的驾驶者进行准确地确定可用于车辆的停车空间的指示和帮助。

公开(公告)号：US07266219B2

公开(公告)日：2007-09-04

申请号：US10088606

申请日：2001-07-19

申请人： Shusaku Okamoto ,  Masamichi Nakagawa ,  Kunio Nobori ,  Atsushi Morimura ,  Nobuhiko Yasui ,  Akira Ishida ,  Atsushi Iisaka ,  Takashi Yoshida

发明人： Shusaku Okamoto ,  Masamichi Nakagawa ,  Kunio Nobori ,  Atsushi Morimura ,  Nobuhiko Yasui ,  Akira Ishida ,  Atsushi Iisaka ,  Takashi Yoshida

IPC分类号： G06K9/36 ,  H04N7/18 ,  H04N9/47 ,  B60Q1/48 ,  G08G1/14

CPC分类号： H04N7/181 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/207 ,  B60R2300/30 ,  B60R2300/305 ,  B60R2300/404 ,  B60R2300/607 ,  B60R2300/806 ,  B60R2300/8086 ,  G06T15/10

摘要： For supporting a complicated driving operation, a synthesized image is presented to the driver. The driver can view this image and thus drive with a sense of security. The synthesized image may include an image of at least one tire and may have an enlargement/reduction ratio that is relatively higher in a nearby area of the vehicle, including a grounding portion of at least one tire of the vehicle, as compared with a peripheral area of the vehicle.

摘要翻译： 为了支持复杂的驾驶操作，向驾驶员呈现合成图像。 司机可以查看此图像，从而以安全感驱动。 合成图像可以包括至少一个轮胎的图像，并且可以具有在车辆的附近区域中相对较高的放大/缩小比率，包括车辆的至少一个轮胎的接地部分，与外围设备相比 车辆区域。

公开(公告)号：US06999602B2

公开(公告)日：2006-02-14

申请号：US09892741

申请日：2001-06-28

申请人： Takashi Yoshida ,  Nobuhiko Yasui ,  Atsushi Iisaka ,  Akira Ishida

发明人： Takashi Yoshida ,  Nobuhiko Yasui ,  Atsushi Iisaka ,  Akira Ishida

IPC分类号： G06K9/00

CPC分类号： G06T11/00 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/607 ,  B60R2300/8086

摘要： In a rendering device Urnd1, a CPU 7 receives a captured image each from two image capture devices 1 and 2. The CPU 7 then receives a steering angle of a steering wheel of a vehicle from a steering angle sensor 3. Based on the steering angle, the CPU 7 derives an estimated trajectory for the vehicle to take in the course of time. Then, with reference to the estimated trajectory, the CPU 7 selects several pixels each from the captured images, and then generates a drive assistant image based on those pixels. In this manner, the drive assistant image generated by the rendering device Urnd1 hardly causes the driver to feel strange.

摘要翻译： 在渲染设备Urnd 1中，CPU7从两个图像捕获设备1和2接收捕获的图像。然后，CPU 7从转向角传感器3接收车辆的方向盘的转向角。基于转向 角度，CPU 7导出车辆在时间过程中估计的轨迹。 然后，参考估计的轨迹，CPU7从捕获的图像中选择几个像素，然后基于这些像素生成驱动辅助图像。 以这种方式，由渲染装置Urnd 1生成的驱动辅助图像几乎不会使驾驶员感到奇怪。