CN101804813A - Auxiliary driving device based on image sensor and working method thereof - Google Patents
Auxiliary driving device based on image sensor and working method thereof Download PDFInfo
- Publication number
- CN101804813A CN101804813A CN 201019026038 CN201019026038A CN101804813A CN 101804813 A CN101804813 A CN 101804813A CN 201019026038 CN201019026038 CN 201019026038 CN 201019026038 A CN201019026038 A CN 201019026038A CN 101804813 A CN101804813 A CN 101804813A
- Authority
- CN
- China
- Prior art keywords
- image
- auxiliary driving
- processing systems
- embedded processing
- imageing sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses an auxiliary driving device based on an image sensor and a working method thereof, belonging to the field of automobile active safety. The device consists of the image sensor (1), a fan (2), a power supply (3), a liquid crystal drive board (4), a liquid crystal screen (5), a touch screen (6), a touch screen drive board (7), an embedded processing system (8) and an extending device (9); and the auxiliary driving system directly adopts the image sensor as an information sensing part, lane line and vehicle obstacle information is extracted by an image processing algorithm of the embedded system, thus achieving the function of auxiliary driving. The system has compact structure, light weight, low energy consumption, easy operation, good mobility, good detection effect, good timeliness and high performance price ratio, and is applicable to the fields of vehicle auxiliary driving and intelligent vehicle vision navigation.
Description
Technical field
The present invention relates to a kind of auxiliary driving device and method of work thereof, belong to the automobile active safety field based on imageing sensor.
Background technology
Active sensors such as lane mark detects and detection of obstacles is the prerequisite of realization intelligent vehicle driver assistance and automatic obstacle avoiding, and main sensing means have radar, laser and based on the passive sensor of vision.Radar and laser detection are effective, and range finding accurately but can not the inspection vehicle diatom, and owing to the popularization of still being unrealized of reasons such as price.And vision is human the observation and the important way in the understanding world, chaufeur in the steering vehicle process information needed 90% from vision.The visual pattern sensor has high cost performance, has obtained application in a lot of occasions, as lane mark identification, and landmark identification etc., and, environment is not almost had adverse influence as passsive sensor.
The domestic and international enterprise or the scientific research institution of research vehicle DAS (Driver Assistant System) are a lot of at present, but function singleness, the cost height can not realize simultaneously that lane mark detects and detection of obstacles, as the driveway deviation alarming system of Bayerische Motorne Werke Aktiengeellschaft; The night vision system of benz; The auxiliary system etc. that changes of Volvo has generally used radar, and the is infrared sensor of Denging, system cost is difficult to realize marketing than higher.
Auxiliary driving method that exists on the comprehensive market and device, utilize image processing techniques and embedded system, design a kind of image processing cheaply and display system, give the information of relevant lane mark of chaufeur and obstacle, thereby realize the purpose of driver assistance and intelligent navigation.
Summary of the invention
Purpose of the present invention is exactly on the basis of the auxiliary driving method of forefathers' research and device, overcome its cost height, shortcomings such as function singleness design a kind of have good travelling performance, stronger vehicle compatibility, reliable for effect, image auxiliary driving device and method of work thereof that weight is lighter.
Technical solution of the present invention is achieved in that
A kind of auxiliary driving device based on imageing sensor, comprise cabinet and interior arrangement, described interior arrangement comprises imageing sensor, power supply, liquid crystal drive plate and liquid crystal display, touch-screen, touch-screen drive plate, embedded processing systems, wherein power supply difference out-put supply is to embedded processing systems, liquid crystal drive plate, imageing sensor is connected with the input end of embedded processing systems, first mouth of embedded processing systems connects liquid crystal drive plate, liquid crystal display successively, and second mouth of embedded processing systems connects touch-screen drive plate, touch-screen successively.
Auxiliary driving device based on imageing sensor of the present invention is provided with in a side of described cabinet and is used for described interior arrangement is carried out the heat-dissipation fan, and power supply is powered to fan.
The interior arrangement of the auxiliary driving device based on imageing sensor of the present invention comprises that also expansion equipment is connected with embedded processing systems; expansion equipment is a PCB circuit card, and this PCB circuit card comprises external power supply access port, embedded processing systems power port, display system power port, cooling fan power port, display system tandem signal port, display system control signal port, circuit protection electric capacity and PORT COM.
The method of work of auxiliary driving device of the present invention, concrete steps are:
A, initialize routine adopt imageing sensor to carry out image acquisition; The graphicinformation that collects is buffered in the memory device of embedded processing systems;
The single frames picture of B, the described graphicinformation of embedded processing systems read step A;
C, embedded processing systems are carried out grey level transformation with the described graphicinformation of step B, convert this graphicinformation to gray level image;
D, embedded processing systems are carried out the lane mark detection, detection of obstacles is handled, and extract lane mark and obstacle information;
Indicate lane mark and the obstacle information that step D extracts on E, the image that in step B, reads, on liquid crystal display, show in the lump, give the chaufeur prompting, read the next frame image then and handle.
The method that lane mark detects described in the step D of the method for work of the auxiliary driving device based on imageing sensor of the present invention is specially:
F, the described conversion of step B back gray level image is carried out rim detection;
The template of G, design one cover 3*3 is carried out template matches to the gray level image of left-lane and right lane respectively according to the directivity of line segment;
H, the image after the G step coupling is carried out Hough conversion, filtering operation, filtering part short line segment;
I, carry out clustering processing a little, connect long line segment, detect lane mark information, proceed the next frame treatment of picture.
The method that vehicle barrier detects described in the step D of the method for work of the auxiliary driving device based on imageing sensor of the present invention is specially:
J, the described conversion of step B back gray level image is carried out rim detection;
K, select area-of-interest according to the actual target locations in the image;
L, according to the gray scale difference of shade at the bottom of road background and the car in gray scale image, select suitable gray threshold, in area-of-interest, carry out image and cut apart; Dash area forms connected domain at the bottom of the car, with the remainder of image tangible border difference is arranged, and thinks that thus this connected domain is shade at the bottom of the detected car, marks horizontal line section;
M, utilize the vertical symmetry of the image outline and the half-tone information of vehicle afterbody, detect the axis of symmetry of vehicle in area-of-interest, the result of integrating step L determines the position of obstacle target;
N, read in the next frame graphicinformation,, utilize the mean shift algorithm to carry out target tracking according to the detected target location of previous frame;
O, after certain frame number, again the obstacle in the present image is detected, carry out target tracking again.Beneficial effect:
Compared with prior art, auxiliary driving device provided by the invention as imageing sensor, is installed simply with the higher imageing sensor of cost performance, car body is not had destruction, and can realize controlling of touch-screen; The travelling performance of built-in power design can raising system; External power supply can use vehicle-borne electronic cigarette lighter.Algorithm has partly adopted traditional grey level transformation, rim detection, and region-of-interest extracts, curve fitting etc., calculated amount is little, and real-time is good.Therefore, the vehicle that this system is installed can give the chaufeur dangerous tip under the road environment of complexity, and can give Unmanned Systems's environmental information.
Description of drawings
Fig. 1 is the hardware configuration frame diagram of the embodiment of the invention.
Fig. 2 is an installation level scheme drawing shown in Figure 1.
Fig. 3 is a software system scheme drawing shown in Figure 1.
Fig. 4 is the described method for detecting lane lines scheme drawing of Fig. 3.
Fig. 5 is the described obstacle detection method scheme drawing of Fig. 3.
The number in the figure title:
1. imageing sensor, 2. fan, 3. power-supply system, 4. liquid crystal drive plate, 5. liquid crystal display, 6. touch-screen, 7. touch-screen drive plate, 8. embedded processing systems, 9. expansion equipment.
The specific embodiment
In conjunction with Fig. 1～shown in Figure 3, a kind of auxiliary driving device and method of work hardware configuration thereof based on imageing sensor of the present invention is as follows:
A kind of auxiliary driving device based on imageing sensor, form by image capturing system, image processing system, image display system etc., wherein imageing sensor is fixed on the vehicle interior Windshield by sucker, perhaps imageing sensor is fixed on the car inner top, gather road ahead information, the DAS (Driver Assistant System) cabinet is placed on the instrument desk in chaufeur the place ahead, and both connect by data line.Imageing sensor is fixed together by a semi-rigid metal angle bar and sucker, can change the pitch angle of imageing sensor by the angle of regulating angle bar.Embedded processing systems and power-supply system are fixed in the described cabinet, liquid crystal drive plate and liquid crystal display bond together, whole by bolted connection on cabinet, described line related interface and communication interface are integrated on the PCB circuit card, and source switch is fixed on the cabinet.
Above-mentioned auxiliary driving device constitutes: be carrier with the cabinet, internal electric source and embedded processing systems are fixed on the cabinet, its upper end junction circuit plate, the circuit card upper end is by the bolt display system, and touch-screen is bonded on the read-out, and cabinet stays communication interface in advance, power interface, switch interface, radiator fan mouth, and a series of thermovent.
Above-mentioned circuit card comprises switch port; the input supply terminal mouth; and embedded processing systems; display system; the power port of cooling system; and with they corresponding circuit protection electric capacity, the signal port that display system needs with show control port, and the touch-screen drive plate is fixed by bolts on this circuit card.Relevant PORT COM is fixed on the circuit card, can realize the communication with external equipment.
The image that imageing sensor collects is stored in spatial cache, reads the picture frame of spatial cache by software, detects and detection of obstacles by lane mark then, and mark comes out on former figure, is shown on the liquid crystal display.
Imageing sensor is fixed on the Windshield by sucker, disposal system and display system are placed on the gauge panel, the road image in imageing sensor collection vehicle the place ahead, be transferred to memory cell by data line, read buffer memory with image software, carry out image processing, processing is presented at the result on the liquid crystal display after finishing, and continues to read next frame.
Power-supply system is made up of two parts, built-in lithium battery and external power supply, and external power supply can connect the Cigarette lighter power supply, by the switching of three phase switch, realizes the use under the varying environment.
System is divided into 4 layers from top to bottom, and ground floor is touch pad and liquid crystal display part, and the four-wire resistance type touch pad sticks on the surface of liquid crystal display, comes touch pad is carried out contact alignment by four point locations.The second layer is the drive circuit board of liquid crystal display and touch pad, the 3rd layer is circuit card shown in Figure 3, integrated line related port and PORT COM, the 4th layer is embedded type CPU system and power-supply system, be fixed on the box, left end at box has a cooling fan simultaneously, from the circuit card power supply, gives system cools.
Principle of work is as follows:
A, initialize routine adopt imageing sensor to carry out image acquisition; The graphicinformation that collects is buffered in the memory device of embedded processing systems;
The single frames picture of B, the described graphicinformation of embedded processing systems read step A;
C, the described graphicinformation of embedded processing systems step B are carried out grey level transformation, convert this graphicinformation to gray level image;
D, embedded processing systems are carried out the lane mark detection, detection of obstacles is handled, and extract lane mark and obstacle information;
Indicate lane mark and the obstacle information that step D extracts on E, the image that in step B, reads, on liquid crystal display, show together, give the chaufeur prompting, read the next frame image then and handle.
The method that lane mark described in the step D detects is specially:
F, the described conversion of step B back gray level image is carried out rim detection;
The template of G, design one cover 3*3 is carried out template matches to the gray level image of left-lane and right lane respectively according to the directivity of line segment;
H, the image after the G step coupling is carried out Hough conversion, filtering operation, filtering part short line segment;
I, carry out clustering processing a little, connect long line segment, detect lane mark information, proceed the next frame treatment of picture.
The method of detection of obstacles described in the step D is specially:
J, the described conversion of step B back gray level image is carried out rim detection;
K, select area-of-interest according to the actual target locations in the image;
L, according to the gray scale difference of shade at the bottom of road background and the car in gray scale image, select suitable gray threshold, in area-of-interest, carry out image and cut apart; Dash area forms connected domain at the bottom of the car, with the remainder of image tangible border difference is arranged, and thinks that thus this connected domain is shade at the bottom of the detected car, marks horizontal line section;
M, utilize the vertical symmetry of the image outline and the half-tone information of vehicle afterbody, detect the axis of symmetry of vehicle in area-of-interest, the result of integrating step L determines the position of obstacle target;
N, read in the next frame graphicinformation,, utilize the mean shift algorithm to carry out target tracking according to the detected target location of previous frame;
O, after certain frame number, again the obstacle in the present image is detected, carry out target tracking again.
Claims (6)
1. auxiliary driving device based on imageing sensor, comprise cabinet and interior arrangement, it is characterized in that: described interior arrangement comprises imageing sensor (1), power supply (3), liquid crystal drive plate (4) and liquid crystal display (5), touch-screen (6), touch-screen drive plate (7), embedded processing systems (8), wherein power supply (3) difference out-put supply is to embedded processing systems (8), liquid crystal drive plate (4), imageing sensor (1) is connected with the input end of embedded processing systems (8), first mouth of embedded processing systems (8) connects liquid crystal drive plate (4) successively, liquid crystal display (5), second mouth of embedded processing systems (8) connects touch-screen drive plate (7) successively, touch-screen (6).
2. the auxiliary driving device based on imageing sensor according to claim 1 is characterized in that: be provided with in a side of described cabinet and be used for described interior arrangement is carried out heat-dissipation fan (2), power supply (3) is given fan (2) power supply.
3. the auxiliary driving device based on imageing sensor according to claim 1; it is characterized in that: described interior arrangement comprises that also expansion equipment (9) is connected with embedded processing systems (8); expansion equipment (9) is a PCB circuit card, and this PCB circuit card comprises external power supply access port, embedded processing systems power port, display system power port, cooling fan power port, display system tandem signal port, display system control signal port, circuit protection electric capacity and PORT COM.
4. method of work based on the described auxiliary driving device based on imageing sensor of claim 1, it is characterized in that: concrete steps are:
A, initialize routine adopt imageing sensor (1) to carry out image acquisition; The graphicinformation that collects is buffered in the memory device of embedded processing systems (8);
The single frames picture of B, the described graphicinformation of embedded processing systems (8) read step A;
C, embedded processing systems (8) are carried out grey level transformation with the described graphicinformation of step B, convert this graphicinformation to gray level image;
D, embedded processing systems (8) are carried out the lane mark detection, detection of obstacles is handled, and extract lane mark and obstacle information;
Indicate lane mark and the obstacle information that step D extracts on E, the image that in step B, reads, on liquid crystal display, show in the lump, give the chaufeur prompting, read the next frame image then and handle.
5. the method for work of the auxiliary driving device based on imageing sensor according to claim 4 is characterized in that: the method that lane mark described in the step D detects is specially:
F, the described conversion of step B back gray level image is carried out rim detection;
The template of G, design one cover 3*3 is carried out template matches to the gray level image of left-lane and right lane respectively according to the directivity of line segment;
H, the image after the G step coupling is carried out Hough conversion, filtering operation, filtering part short line segment;
I, carry out clustering processing a little, connect long line segment, detect lane mark information, proceed the next frame treatment of picture.
6. the method for work of the auxiliary driving device based on imageing sensor according to claim 4 is characterized in that: the method that vehicle barrier described in the step D detects is specially:
J, the described conversion of step B back gray level image is carried out rim detection;
K, select area-of-interest according to the actual target locations in the image;
L, according to the gray scale difference of shade at the bottom of road background and the car in gray scale image, select suitable gray threshold, in area-of-interest, carry out image and cut apart; Dash area forms connected domain at the bottom of the car, with the remainder of image tangible border difference is arranged, and thinks that thus this connected domain is shade at the bottom of the detected car, marks horizontal line section;
M, utilize the vertical symmetry of the image outline and the half-tone information of vehicle afterbody, detect the axis of symmetry of vehicle in area-of-interest, the result of integrating step L determines the position of obstacle target;
N, read in the next frame graphicinformation,, utilize the mean shift algorithm to carry out target tracking according to the detected target location of previous frame;
O, after certain frame number, again the obstacle in the present image is detected, carry out target tracking again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201019026038 CN101804813B (en) | 2010-02-04 | 2010-02-04 | Auxiliary driving device based on image sensor and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201019026038 CN101804813B (en) | 2010-02-04 | 2010-02-04 | Auxiliary driving device based on image sensor and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101804813A true CN101804813A (en) | 2010-08-18 |
| CN101804813B CN101804813B (en) | 2013-04-24 |
Family
ID=42606812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201019026038 Expired - Fee Related CN101804813B (en) | 2010-02-04 | 2010-02-04 | Auxiliary driving device based on image sensor and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101804813B (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102729902A (en) * | 2012-07-19 | 2012-10-17 | 西北工业大学 | Embedded panoramic display device and method served for automobile safe driving |
| CN102768808A (en) * | 2011-04-19 | 2012-11-07 | 通用汽车环球科技运作有限责任公司 | Device and method for driver assistance |
| CN102897091A (en) * | 2012-09-22 | 2013-01-30 | 浙江中呼科技有限公司 | Vehicle-mounted image display device, mobile vehicle-mounted display device and monitoring device |
| CN103186771A (en) * | 2011-12-27 | 2013-07-03 | 哈曼（中国）投资有限公司 | Method of detecting an obstacle and driver assist system |
| CN103786726A (en) * | 2012-11-05 | 2014-05-14 | 财团法人车辆研究测试中心 | Intuitive energy-saving driving assisting method and intuitive energy-saving driving assisting system |
| CN104076920A (en) * | 2013-03-28 | 2014-10-01 | 索尼公司 | Information processing apparatus, information processing method, and storage medium |
| CN104483966A (en) * | 2014-11-17 | 2015-04-01 | 范良志 | AGV (Automatic Guided Vehicle) navigation control system |
| CN106015069A (en) * | 2016-06-27 | 2016-10-12 | 张宏 | Automatic fan driving system |
| CN106326850A (en) * | 2016-08-18 | 2017-01-11 | 宁波傲视智绘光电科技有限公司 | Fast lane line detection method |
| CN106740471A (en) * | 2016-09-21 | 2017-05-31 | 同济大学 | A kind of information acquisition system and a kind of vehicle |
| CN106855061A (en) * | 2016-06-27 | 2017-06-16 | 张宏 | Automation fan drive system |
| CN108501808A (en) * | 2017-02-28 | 2018-09-07 | 通用汽车环球科技运作有限责任公司 | Region control is triggered using the area image coating on vehicle-carrying display screen |
| CN108628320A (en) * | 2018-07-04 | 2018-10-09 | 广东猪兼强互联网科技有限公司 | A kind of intelligent automobile Unmanned Systems |
| CN108875657A (en) * | 2018-06-26 | 2018-11-23 | 北京茵沃汽车科技有限公司 | A kind of method for detecting lane lines |
| CN109733409A (en) * | 2017-10-31 | 2019-05-10 | 奥迪股份公司 | Driving assistance system and method |
| CN109753843A (en) * | 2017-11-02 | 2019-05-14 | 郭宇铮 | The driving DAS (Driver Assistant System) of view-based access control model sensor |
| CN110641366A (en) * | 2019-10-12 | 2020-01-03 | 爱驰汽车有限公司 | Obstacle tracking method and system during driving, electronic device and storage medium |
| CN110962847A (en) * | 2019-11-26 | 2020-04-07 | 清华大学苏州汽车研究院（吴江） | Lane centering auxiliary self-adaptive cruise trajectory planning method and system |
| CN114194186A (en) * | 2020-08-28 | 2022-03-18 | 本田技研工业株式会社 | Vehicle travel control device |
| CN115139788A (en) * | 2021-03-30 | 2022-10-04 | 本田技研工业株式会社 | Driving support system, driving support method, and storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005055347A1 (en) * | 2005-11-21 | 2007-05-24 | Robert Bosch Gmbh | Driver assistance system |
| CN101470807A (en) * | 2007-12-26 | 2009-07-01 | 河海大学常州校区 | Accurate detection method for highroad lane marker line |
| CN101567086B (en) * | 2009-06-03 | 2014-01-08 | 北京中星微电子有限公司 | Method of lane line detection and equipment thereof |
| CN101620732A (en) * | 2009-07-17 | 2010-01-06 | 南京航空航天大学 | Visual detection method of road driving line |
| CN201594886U (en) * | 2010-02-04 | 2010-09-29 | 南京航空航天大学 | Assistant driving device based on image sensor |
-
2010
- 2010-02-04 CN CN 201019026038 patent/CN101804813B/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102768808B (en) * | 2011-04-19 | 2017-03-01 | 通用汽车环球科技运作有限责任公司 | The apparatus and method of auxiliary driver |
| CN102768808A (en) * | 2011-04-19 | 2012-11-07 | 通用汽车环球科技运作有限责任公司 | Device and method for driver assistance |
| CN103186771A (en) * | 2011-12-27 | 2013-07-03 | 哈曼（中国）投资有限公司 | Method of detecting an obstacle and driver assist system |
| CN102729902B (en) * | 2012-07-19 | 2014-10-15 | 西北工业大学 | Embedded panoramic display device and method served for automobile safe driving |
| CN102729902A (en) * | 2012-07-19 | 2012-10-17 | 西北工业大学 | Embedded panoramic display device and method served for automobile safe driving |
| CN102897091A (en) * | 2012-09-22 | 2013-01-30 | 浙江中呼科技有限公司 | Vehicle-mounted image display device, mobile vehicle-mounted display device and monitoring device |
| CN103786726A (en) * | 2012-11-05 | 2014-05-14 | 财团法人车辆研究测试中心 | Intuitive energy-saving driving assisting method and intuitive energy-saving driving assisting system |
| CN104076920A (en) * | 2013-03-28 | 2014-10-01 | 索尼公司 | Information processing apparatus, information processing method, and storage medium |
| CN104076920B (en) * | 2013-03-28 | 2018-01-26 | 索尼公司 | Message processing device, information processing method and storage medium |
| CN104483966A (en) * | 2014-11-17 | 2015-04-01 | 范良志 | AGV (Automatic Guided Vehicle) navigation control system |
| CN106855061A (en) * | 2016-06-27 | 2017-06-16 | 张宏 | Automation fan drive system |
| CN106015069A (en) * | 2016-06-27 | 2016-10-12 | 张宏 | Automatic fan driving system |
| CN106326850A (en) * | 2016-08-18 | 2017-01-11 | 宁波傲视智绘光电科技有限公司 | Fast lane line detection method |
| CN106740471A (en) * | 2016-09-21 | 2017-05-31 | 同济大学 | A kind of information acquisition system and a kind of vehicle |
| CN108501808A (en) * | 2017-02-28 | 2018-09-07 | 通用汽车环球科技运作有限责任公司 | Region control is triggered using the area image coating on vehicle-carrying display screen |
| CN109733409A (en) * | 2017-10-31 | 2019-05-10 | 奥迪股份公司 | Driving assistance system and method |
| CN109753843A (en) * | 2017-11-02 | 2019-05-14 | 郭宇铮 | The driving DAS (Driver Assistant System) of view-based access control model sensor |
| CN108875657A (en) * | 2018-06-26 | 2018-11-23 | 北京茵沃汽车科技有限公司 | A kind of method for detecting lane lines |
| CN108628320A (en) * | 2018-07-04 | 2018-10-09 | 广东猪兼强互联网科技有限公司 | A kind of intelligent automobile Unmanned Systems |
| CN110641366A (en) * | 2019-10-12 | 2020-01-03 | 爱驰汽车有限公司 | Obstacle tracking method and system during driving, electronic device and storage medium |
| CN110962847A (en) * | 2019-11-26 | 2020-04-07 | 清华大学苏州汽车研究院（吴江） | Lane centering auxiliary self-adaptive cruise trajectory planning method and system |
| CN114194186A (en) * | 2020-08-28 | 2022-03-18 | 本田技研工业株式会社 | Vehicle travel control device |
| CN114194186B (en) * | 2020-08-28 | 2023-12-05 | 本田技研工业株式会社 | Vehicle travel control device |
| CN115139788A (en) * | 2021-03-30 | 2022-10-04 | 本田技研工业株式会社 | Driving support system, driving support method, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101804813B (en) | 2013-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101804813B (en) | Auxiliary driving device based on image sensor and working method thereof | |
| CN103854320B (en) | Vehicle automatic identifying method based on laser radar | |
| CN203318408U (en) | Automatic parking system | |
| CN103901895B (en) | Target positioning method based on unscented FastSLAM algorithm and matching optimization and robot | |
| US8565958B1 (en) | Removing extraneous objects from maps | |
| CN106598039B (en) | A kind of Intelligent Mobile Robot barrier-avoiding method based on laser radar | |
| CN103413313A (en) | Binocular vision navigation system and method based on power robot | |
| CN104266823A (en) | Daytime tunnel portal section lighting standard calculating method based on safety visual cognition and system thereof | |
| CN101008566A (en) | Intelligent vehicular vision device based on ground texture and global localization method thereof | |
| CN110091875A (en) | Deep learning type intelligent driving context aware systems based on Internet of Things | |
| CN101566471A (en) | Intelligent vehicular visual global positioning method based on ground texture | |
| CN205644275U (en) | Unmanned intelligent vehicle | |
| CN105612909A (en) | Vision and multisensory fusion based intelligent mowing robot control system | |
| CN203066007U (en) | Sweeping car with monitoring device | |
| CN201594886U (en) | Assistant driving device based on image sensor | |
| CN103723161A (en) | Real-time automatic detection equipment for train loading safety | |
| CN206885205U (en) | Autonomous patrol intelligent vehicle based on embedded system | |
| CN105336217A (en) | Driving safety prewarning system based on machine vision and Android platform | |
| CN103295401A (en) | Road surface weather condition monitoring system | |
| CN203047039U (en) | Multi-degree of freedom automotive headlamp control device | |
| CN105678221B (en) | Pedestrian detection method and system in rainy and snowy weather | |
| CN109857113A (en) | A kind of independent navigation trolley of view-based access control model SLAM method | |
| CN204398994U (en) | A kind of intelligent vehicle | |
| CN203070098U (en) | Indoor and outdoor autonomous navigation system for patrol robot | |
| CN204228168U (en) | A kind of field navigation picture collecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130424 Termination date: 20150204 |
|
| EXPY | Termination of patent right or utility model |