CN104794775B - In-vehicle information tape deck - Google Patents
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- CN104794775B CN104794775B CN201510024437.3A CN201510024437A CN104794775B CN 104794775 B CN104794775 B CN 104794775B CN 201510024437 A CN201510024437 A CN 201510024437A CN 104794775 B CN104794775 B CN 104794775B
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Abstract
A kind of in-vehicle information tape deck that can interpolate that pavement behavior is provided.Digital tachograph (1) is one example of in-vehicle information tape deck, and it is arranged in vehicle and records the transport information on the vehicle.Digital tachograph (1) includes：Main camera (11), it is used for the image for being imaged and being exported seizure by the scenery of the travel path to being advanced including vehicle；And image recognition CPU (10), it is used to being based on the candidate item of the spectral discrimination road surface identification of the seizure exported from main camera (11) and meets under conditions of preassigned the candidate item being identified as road surface identification in the candidate item of road surface identification.The pavement behavior of the quantitative determination travel path of the candidate item of image recognition CPU (10) based on the road surface identification for being not recognized as road surface identification.
Description
Technical field
The present invention relates to a kind of in-vehicle information tape deck, the in-vehicle information tape deck is arranged in vehicle and recorded
Transport information on the vehicle.
Background technology
For example, business unit is used for commercial operation and had a problem that using vehicle：With pointing out the occupant safety of vehicle
Drive vehicle and prevent accident from being important.Thus, for example the in-vehicle information tape deck for being referred to as " digital tachograph " is used
It check that whether each occupant safely carries out daily vehicle drive in making the overseer positioned at the company of business unit etc..
What digital tachograph was mounted to each vehicle and obtained each specific time (for example, 0.5 second)
The work in such as system is automatically recorded in by cloud computing or storage facilities on the information such as speed or engine speed
Tool.Therefore, overseer can use the analysis program inspection for example in the personal computer of enterprise office to pass through number
The data that word Tachographs are collected hold the transport information of each occupant.Therefore, it is possible to promoting occupant safety, economically
Drive vehicle.Transport information for example including：It is time of vehicle operation, operating range, maximum speed, average speed, the hypervelocity time, super
Fast number of times, engine revolution exceed number of times, suddenly startup, anxious acceleration, anxious deceleration and free time more than time, revolution.
In addition, proposing a kind of technology in digital tachograph field, it is used to know by cameras capture image
Other road surface identification (for example, speed limit), by the road surface identification of identification and vehicle-state be compared and recording traffic information (for example
Hypervelocity).
Herein, such as JP-2011-43995A discloses a kind of for the technology based on image recognition road surface identification, wherein,
In-car camera record includes the image of the presumptive area of vehicle travel path.In addition, for example, JP-2005-128790A is disclosed
A kind of device for the speed limit for being capable of Real time identification travel path.In the apparatus, based on the Chinese herbaceous peony image captured by video camera
Recognize the speed limit of road surface identification and the speed limit of acquisition is output to alarming controller.Alarming controller is configured to by by speed limit
It is compared with speed and judges to exceed the speed limit and notify in the case of hypervelocity the driver of hypervelocity.
The content of the invention
However, when the image recognition road surface identification by seizure, due to the severe pavement behavior in such as night rainfall
In the case of, the identification accuracy of road surface identification declines, so road surface identification may be erroneously identified.Due to the identification that makes a mistake
When by the transport information of cumulative error, it is desirable to can correctly identify pavement behavior.
In view of said circumstances and implement the present invention, and can interpolate that pavement behavior it is an object of the invention to provide one kind
In-vehicle information tape deck.
One aspect of the present invention provides a kind of in-vehicle information tape deck, and the in-vehicle information tape deck is arranged on vehicle
In and record transport information on the vehicle, the in-vehicle information tape deck includes：Video camera, it is right that the video camera passes through
The region for the travel path advanced including the vehicle is imaged to export the image of seizure；And image recognizer, the figure
The candidate item of road surface identification is judged as image of the identifier based on the seizure exported from the video camera, and described
In the case that the candidate item of road surface identification meets preassigned, the candidate item is identified as the road surface identification, wherein described
The quantity of candidate item of the image recognizer based on the road surface identification for being not recognized as the road surface identification, judges described advance
The pavement behavior in path.
The in-vehicle information tape deck can be configured such that described image identifier accumulates the period in each cycle
The quantity of the candidate item of the road surface identification of the road surface identification is inside not recognized as, and works as the number of accumulated candidate item
When quantitative change is more than predetermined threshold value, it is determined as that the pavement behavior of the travel path is severe.
The in-vehicle information tape deck can be structured as that the quantity for working as accumulated candidate item is changed into the predetermined threshold
When the state of the value above is continued above several cycles, described image identifier is determined as that the pavement behavior of the travel path is disliked
It is bad.
The in-vehicle information tape deck can be structured as that including control system processor the control system processor compares
The state of the vehicle and the road surface identification recognized by described image identifier, and recording traffic information, and sentencing
Be set to the travel path pavement behavior it is severe in the case of, described image identifier stops the identification of the road surface identification.
It is described in accordance with the invention it is possible to by judge be not recognized as road surface identification road surface identification candidate item quantity
And it is good or severe correctly to judge pavement behavior.Therefore, it is possible to correctly recording traffic information.
Brief description of the drawings
Fig. 1 is the block diagram for showing the configuration of digital tachograph according to an embodiment of the invention.
Fig. 2 is the flow chart for the operation for illustrating the digital tachograph according to the present embodiment.
Fig. 3 is the flow chart for the operation for illustrating the digital tachograph according to the present embodiment.
Fig. 4 is the explanation figure for the identification quantity difference for showing road surface identification.
Description of reference numerals
1 digital tachograph
10 image recognition CPU
11 main cameras
12 optional video cameras
13 decoders
14 memories (ROM)
15 memories (SDRAM)
16 encoders
17 monitoring output par, cs
20 control systems handle CPU
21 memories (ROM)
22 memories (SDRAM)
23 memories (EEPROM)
25 signals of vehicles interfaces
26 GPS interfaces
27 CAN interfaces
28 sound interfaces
29 record bearer interfaces
30 PC set interface
31 vibrator output par, cs
Embodiment
Fig. 1 is the block diagram for the configuration for showing the digital tachograph 1 according to the present embodiment.Hereinafter, it will be described as root
According to the digital tachograph 1 of the in-vehicle information tape deck example of the present embodiment.Digital tachograph 1 is mounted in vehicle
In and record the instrument of the transport information on vehicle, and mainly include image recognition CPU10 and control system and handle
CPU20。
Main camera 11 is arranged near for example in-car operating seat of the vehicle of such as automobile, and to through front
Presumptive area in front of the visual travel direction of wind glass is imaged.Vehicle advance travel direction in front of travel path,
A part, front vehicles, opposed vehicle of the vehicle body of vehicle etc. are imaged all as theme by main camera 11.Main camera 11
Image can be caught during digital tachograph 1 is advanced, and is actually (for example, per second 30 in the specific frame period
Frame) in repeatedly catch image and constantly export the image captured.
In addition, optional video camera 12 can form to aid in main camera 11 or replace main camera 11.Optional video camera
12 are arranged near such as dickey seats, and to the presumptive area through the visual travel direction rear of rear seat windscreen
Imaged.All conducts such as the travel path at travel direction rear, a part for the vehicle body of vehicle, front vehicle, opposed vehicle
Theme and imaged by optional video camera 12.The image that similar main camera 11 is caught, the image that optional video camera 12 is caught can
For road surface identification identification or judge pavement behavior.
Exported from main camera 11, video signal meeting NTSC (national television system committee) standard is input to solution
Code device 13.Decoder 13 processing meet NTSC standard video signal and respectively extract be included in it is multiple in the video signal
Component of signal (Y, Cb, Cr) and carry out A/D conversions and generate available for image procossing data image signal.As in decoding
The view data of the data image signal generated in device 13 is read by image recognition CPU10.In addition, if needing, it is by control
System processing CPU20 reads the view data as data image signal.
Image recognition CPU10 has the function for the predetermined image procossing for performing such as pattern identification.Based on from master take the photograph
The image being captured that camera 11 is exported and in the case of judging the candidate item of road surface identification, met in the candidate item of road surface identification
In the case of preassigned, candidate item is identified as road surface identification by image recognition CPU10.That is, image recognition CPU10 is used as image
Identifier.In addition, the quantity of candidate items of the image recognition CPU10 based on the road surface identification for being not recognized as road surface identification, judges
The pavement behavior of travel path.
The memory 14 constructed by ROM and the memory 15 constructed by SDRAM are connected to image recognition CPU10.Memory
14 store the various constant datas or database for recording each feature for representing various patterns in advance, and the various patterns are used
Compareed in the pattern that road surface identification is carried out by image recognition CPU10.Memory 15 is used to temporarily preserve such as image recognition
The data of the image of CPU10 processing.
Image recognition CPU10 performs communication function, and is communicated with control system processing CPU20.Specifically, when image is known
During other CPU10 identifications road surface identification, identified road surface identification is notified control system processing CPU20 by image recognition CPU10.
If desired, image recognition CPU10 can be to the output image data of encoder 16.Encoder 16 handles view data
And generate the video signal for meeting NTSC standard.Encoder 16 be connected to monitoring output par, c 17, and by by monitor (not
Show) monitoring output par, c 17 is connected to, monitor can be output to by carrying out the video signal of self-encoding encoder 16.
The pre-set program of inside is had previously been stored in by performing, control system processing CPU20 performs numeral traveling note
Record the various necessary functions of instrument 1.Specifically, when control system, which handles CPU20, reads the information inputted by various interfaces, control
System processed processing CPU20 records as transport information set in advance information, or by the state of vehicle and image recognition
The road surface identification of CPU10 identifications, which is compared to record its comparative result, is used as transport information (control system processor).Example
Such as, control system processing CPU20 reads speed, engine revolution that each special time (for example, 0.5 second) obtains etc., and
Generation correspond to such as time of vehicle operation, operating range, maximum speed, average speed, the hypervelocity time, hypervelocity number of times, start
Machine revolution exceed time, revolution exceed number of times, it is anxious start, it is anxious accelerate, it is anxious slow down and free time etc. transport information text
Part, and this document is stored in memory 23 described below.
The memory 21 constructed by ROM, the memory 22 constructed by SDRAM and the memory 23 constructed by EEPROM are connected
CPU20 is handled to control system.The storage in advance of memory 21 for example handles program or the various quilts that CPU20 is performed by control system
The constant data that control system processing CPU20 is used.Memory 22 is used for the ephemeral data for storing the data in such as handling.Deposit
The data of the various constants of the storage control system of reservoir 23 processing CPU20 references.Because memory 23 is nonvolatile memory,
In the state of its power supply for being in power supply stops, data can be also preserved.If desired, being stored in the number in memory 23
According to content can rewrite.
In addition, control system processing CPU20 is connected to various interfaces etc..
Signals of vehicles interface (I/F) 25, which is performed, for example to be inputted the various signals exported from vehicle side and converts the signal into
The processing of the signal of CPU20 processing can be handled by control system.The signal handled by signals of vehicles interface 25 includes triggering defeated
Go out, light a fire (IGN), hand switch (SW), brake, left-side signal lamp, right-side signal lamp, vehicle speed pulse etc..
GPS interface (I/F) 26 performs such as input and comes from GPS location information and convert this information into signal and can be controlled
The processing of the signal of system processing CPU20 processing processed.Gps receiver is to be used to receive to come from multiple GPS (GPS system)
The incoming radio wave of satellite and the current location for obtaining receiving point, i.e. by based on the time difference between the radio wave
Calculate the current location (lat/lon) of vehicle.Therefore, control system processing CPU20 can obtain vehicle from gps receiver
Current location.
CAN interface (I/F) 27 performs the information that for example inputs the equipment being arranged on from other in vehicle and by the information
The processing of signal of CPU20 processing can be handled by control system by being converted to signal.
Sound interface (I/F) 28 is connected to the audio output unit point of such as loudspeaker (not shown), and execution for example will
The sound for the voice signal for handling CPU20 voice signal input from control system and dividing basis from audio output unit
The processing of output.
Record bearer interface (I/F) 29 has the slot that the predetermined record carrier of such as storage card can be attached to, and
And including signal processing function necessary to control system processing CPU20 access record carriers.Control system processing CPU20 can
By record bearer interface 29 by the file storage of transport information record carrier in.In addition, by administrator PC etc., management is closed
It can be obtained in the manager of the transport information of vehicle and CPU20 is handled by recording the transport information of vector accumulation by control system
File.
PC setting interfaces (I/F) 30 are that the host apparatus of such as PC is connected into numeral traveling record for connecting
The interface of instrument 1.Interface 30 is set by the way that host apparatus is connected into PC, for example, violating the condition judged and control system processing
The various threshold values of CPU20 references can be changed by the instruction from host apparatus.
Vibrator output par, c 31 is produced including miniature motor etc. according to the signal that CPU20 is handled from control system
Raw mechanical oscillation are noted with reminding passengers.
Fig. 2 is the flow chart for the operation for illustrating the digital tachograph 1 according to the present embodiment.Place shown in flow chart
Reason image recognition CPU10 is performed, and corresponding to the conventional treatment of recording traffic information.
First, in step S10, image recognition CPU10 performs road surface identification identifying processing.Specifically, when from main camera
When 11 readings correspond to the view data of a frame, image recognition CPU10 is based on the view data and figure stored in memory 14
The control information of case performs pattern control., should when road surface identification is included in the image being captured corresponding to view data
Road surface identification corresponds to pattern and compares information, as a result its candidate item for being judged as road surface identification.In addition, in the time of road surface identification
Similarity is calculated in the judgement of option, the similarity refers between the road surface identification in the image of pattern control information and seizure
The degree of similarity.When road surface identification with the image in seizure can recognize that in the form of show when, this represent its road surface identification with
Pattern control information has high similarity.Therefore, image recognition CPU10 meets predetermined in the candidate item of the road surface identification of extraction
Standard, i.e. show and candidate item is identified as road surface identification under conditions of numerical value more than certain similarity.Therefore, it is possible to
Recognize road surface identification (species of road surface identification).
In step s 11, image recognition CPU10 judges whether road surface identification is identified.When making a negative judgment, i.e.
Road surface identification is unrecognized in step s 11, flow chart return to step S10 processing.On the other hand, when the judgement for making affirmative
When, i.e. road surface identification is identified in step s 11, and flow chart proceeds to step S12 processing.
In step s 12, identified road surface identification is notified control system processing CPU20 by image recognition CPU10.Response
In the notice, control system processing CPU20 records time, current location, the travel direction of travel path and known hereof
The species (such as speed limit) of other road surface identification is used as transport information.In addition, control system processing CPU20 can by speed and
Between the species (such as speed limit) of identified road surface identification relatively come judge hypervelocity, and when be determined as hypervelocity when, its believe
Breath can be recorded on the file of transport information.
Fig. 3 is the flow chart for the operation for illustrating the digital tachograph 1 according to the present embodiment.Place shown in flow chart
Reason image recognition CPU10 is performed, and corresponding to the processing for judging pavement behavior.
First, in step S20, image recognition CPU10 performs road surface identification identifying processing.Step S20 processing with it is above-mentioned
Processing shown in step S10 is identical.
In the step s 21, in the candidate item of the step S20 road surface identifications judged, image recognition CPU10 accumulations are not known
Not Wei road surface identification road surface identification candidate item quantity.In step S21, for each cycle (such as per minute),
The quantity of the candidate item of the road surface identification judged in the time is accumulation.
In step S22, image recognition CPU10 judges whether the road surface of the accumulation within past a few minutes (such as three minutes)
The quantity of the candidate item of mark is changed into more than threshold value.Herein, Fig. 4 be show the severe road environment such as moistened situation and
In the case of the good road surface environment such as dried, (per unit distance) is not recognized as the candidate of the road surface identification of road surface identification
The explanation figure of the quantity of item.Under the dampness (especially night) of rainfall etc., compared to the drying regime of fair weather, not
The quantity for being identified as the candidate item of the road surface identification of road surface identification tends to increase.Because, even if when the figure being captured
Road surface identification as shown in internal is judged as the candidate item of road surface identification, and spy can not be met due to the influence of road reflection etc.
Calibration is accurate, and is not recognized as the quantity increase of the candidate item of the road surface identification of road surface identification.Therefore, in step S22, root
Judge the situation of the pavement behavior severe in rainfall etc. and fine according to the difference in the quantity of the candidate item of the road surface identification of accumulation
The situation of good pavement behavior when bright etc., and from this viewpoint, obtain threshold value.In addition, the situation of severe pavement behavior is not
Be limited to rainfall, and also include snowfall, frost, construction section etc., and these situations tendency with rainfall when it is similar.In addition,
Threshold value can be variably set according to the situation of when snowfall (such as rainfall or) severe pavement behavior.
When the judgement for making affirmative, i.e. the quantity of the candidate item for the road surface identification accumulated in step S22 be changed into threshold value with
When upper, flow chart proceeds to step S23 processing.On the other hand, when the judgement for making negative, i.e. accumulated in step S22
When the quantity of the candidate item of road surface identification is unchanged as more than threshold value, flow chart return to step S20 processing.
In step S23, image recognition CPU10 judges whether that the quantity of the candidate item of the road surface identification of accumulation is changed into threshold value
State above (state judged certainly in step S22) continue for specific time (exceeding multiple cycles).Even if due to
In the case where pavement behavior is not severe, according to interference or noise, the quantity of the candidate item of road surface identification may also be reduced, therefore
Should clearly it judge under conditions of the quantity of the candidate item of the road surface identification of accumulation persistently reduces the state of specific time
Pavement behavior is severe.
When the judgement for making affirmative, i.e. when predetermined state continues the specific time in step S23, flow chart advances
To step S24 processing.On the other hand, when the judgement for making negative, i.e. predetermined state does not continue specific in step S23
Time when, flow chart return to step S20 processing.
In step s 24, image recognition CPU10 judges that pavement behavior is severe.In addition, being judged as that pavement behavior is severe
In the case of, image recognition CPU10 stops the identification of road surface identification.Therefore, it is possible to the situation for the transport information for preventing cumulative error.
In addition, image recognition CPU10 will determine that result notifies control system processing CPU20.In response to the notice, control system processing
CPU20 to the input audio signal of sound interface 28 and exports sound or to shaking according to the voice signal from audio output unit point
Dynamic device output par, c 31 exports operation signal.Therefore, it is possible to the attention for the influence for promoting to cause driver's road pavement harsh conditions.
Therefore, in the present embodiment, in vehicle and record on vehicle transport information numeral traveling record
Instrument 1 has：Video camera (such as main camera 1), the video camera is used for the scenery by the travel path to being advanced including vehicle
Imaged and exported the image of seizure；And image recognition CPU10, image recognition CPU10 are to be used to be based on from camera
The candidate item of the spectral discrimination road surface identification of the seizure of output and meet the condition of preassigned in the candidate item of road surface identification
It is lower that the candidate item is identified as road surface identification.Times of the image recognition CPU10 based on the road surface identification for being not recognized as road surface identification
The pavement behavior of the quantitative determination travel path of option.
In road surface identification identification, for the situation of the good road surface situation of such as fair weather, road surface identification is being caught
Image in clearly illustrate and be judged as road surface identification multiple positions of candidate item meet standard, and be identified as
Road surface identification.As a result, in the position of candidate item of road surface identification is judged as, it is not recognized as the road surface identification of road surface identification
Candidate item quantity tend to reduce.On the other hand, in the situation of severe road environment, due to showing in the image of seizure
The road surface identification shown is unclear, although road surface identification is judged as the candidate item of road surface identification, but candidate item is unsatisfactory for standard
And it is not recognized as the quantity increase of the candidate item of road surface identification.Therefore, the road of road surface identification is not recognized as by considering
The quantity of the candidate item of face mark, it is good or severe that can correctly judge pavement behavior.As a result, it is possible to correctly remember
Record transport information.
In addition, in the present embodiment, image recognition CPU10, which was accumulated in the period in each cycle, is not recognized as road marking
The quantity of the candidate item of the road surface identification of knowledge, and the judgement row when the quantity of the candidate item of accumulation is changed into more than predetermined threshold value
The pavement behavior of inbound path is severe.When the quantity of the candidate item of accumulation is changed into more than predetermined threshold value being continued above several cycles
When, image recognition CPU can be determined that the pavement behavior of travel path is severe.
According to such configuration, by accumulating the candidate item quantity in each cycle, road surface identification can be statistically handled
The quantity of candidate item.Therefore, it is possible to accurately judge that pavement behavior is severe.
In addition, in the present embodiment, digital tachograph 1 further comprises that control system handles CPU20, the control system
System processing CPU20 is as comparing vehicle-state and by the image recognition CPU10 road surface identifications recognized and recording traffic letter
The example of the controller of breath.Herein, in the case where the pavement behavior for being determined as travel path is severe, in image recognition CPU10
The only identification of road surface identification.
According to such configuration, due to can be from road surface identification recording traffic information, so can be closed correctly grasping
In vehicle advance travel path speed-limiting messages after record the transport information.In addition, severe and occur mistake in pavement behavior
In the case of road surface identification is recognized by mistake, the identification of road surface identification can be stopped.Therefore, it is possible to prevent the information of mistake as friendship
Communication ceases and accumulated, and then improves the accuracy driven using the transport information evaluation.
In addition, according to the present embodiment, can be exported by sound output or vibrator, promote to cause driver's road pavement
The attention of the influence of harsh conditions.Therefore, it is possible to drive vehicle with promoting driver safety in real time.
The in-vehicle information tape deck according to the present embodiment is hereinbefore described, but the invention is not restricted to the implementation
Example, and various changes can be made in the case of without departing substantially from the scope of the present invention.For example, in-vehicle information tape deck is not limited
In digital tachograph, and it is applicable to other dresses with such as drive recorder or similar data recording function
Put.In addition, in the present embodiment, it has been described that using memory carrier as manager, the technology of acquisition transport information shows
Example, but it is also possible to use for example wired or wireless communication technology.
The Japanese patent application No.2014-006653 that the present invention was submitted based on January 17th, 2014.
Claims (4)
1. a kind of in-vehicle information tape deck, the in-vehicle information tape deck is arranged in vehicle and recorded on the vehicle
Transport information, the in-vehicle information tape deck includes：
Video camera, the video camera is imaged to export seizure by the region of the travel path to advancing including the vehicle
Image；And
Image recognizer, image of the image recognizer based on the seizure exported from the video camera and judge road surface identification
Candidate item, and in the case where the candidate item of the road surface identification meets preassigned, the candidate item is identified as institute
Road surface identification is stated, wherein
The quantity of candidate item of the described image identifier based on the road surface identification for being not recognized as the road surface identification, judges
The pavement behavior of the travel path.
2. in-vehicle information tape deck according to claim 1, wherein
Described image identifier accumulates the road surface identification that the road surface identification is not recognized as in the period in each cycle
Candidate item quantity, and when the quantity for the candidate item accumulated is changed into more than predetermined threshold value, be determined as the traveling
The pavement behavior in path is severe.
3. in-vehicle information tape deck according to claim 1, wherein
Described image identifier accumulates the road surface identification that the road surface identification is not recognized as in the period in each cycle
Candidate item quantity, and work as the state that the quantity of accumulated candidate item is changed into more than predetermined threshold value be continued above it is several
During the cycle, described image identifier is determined as that the pavement behavior of the travel path is severe.
4. the in-vehicle information tape deck according to any one of Claim 1-3, further comprises：
Control system processor, the state of the control system processor vehicle and the road of described image identifier identification
Face is identified, and recording traffic information, wherein
In the case where the pavement behavior for being determined as the travel path is severe, described image identifier stops the road surface identification
Identification.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014006653A JP6251577B2 (en) | 2014-01-17 | 2014-01-17 | In-vehicle information recording device |
| JP2014-006653 | 2014-01-17 |
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| Publication Number | Publication Date |
|---|---|
| CN104794775A CN104794775A (en) | 2015-07-22 |
| CN104794775B true CN104794775B (en) | 2017-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510024437.3A Active CN104794775B (en) | 2014-01-17 | 2015-01-16 | In-vehicle information tape deck |
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| JP (1) | JP6251577B2 (en) |
| CN (1) | CN104794775B (en) |
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| CN112840349A (en) * | 2018-10-04 | 2021-05-25 | 日立安斯泰莫株式会社 | Mark recognition device |
| JP7290506B2 (en) * | 2019-08-06 | 2023-06-13 | 矢崎エナジーシステム株式会社 | Specific character string detector and driving evaluation system |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3766909B2 (en) * | 2001-11-30 | 2006-04-19 | 株式会社日立製作所 | Driving environment recognition method and apparatus |
| JP4654163B2 (en) * | 2006-07-14 | 2011-03-16 | 日立オートモティブシステムズ株式会社 | Vehicle surrounding environment recognition device and system |
| JP5090313B2 (en) * | 2008-10-28 | 2012-12-05 | 日立オートモティブシステムズ株式会社 | Road marking recognition device |
| CN101508300B (en) * | 2009-03-12 | 2011-04-06 | 上海交通大学 | Vehicle intelligent method capable of automatically recognizing road speed-limit sign |
| DE102009016580A1 (en) * | 2009-04-06 | 2010-10-07 | Hella Kgaa Hueck & Co. | Data processing system and method for providing at least one driver assistance function |
| CN101609607B (en) * | 2009-07-23 | 2011-07-27 | 华为终端有限公司 | Road information acquisition method and equipment |
| DE102010039634B4 (en) * | 2010-08-23 | 2013-05-08 | Ford Global Technologies, Llc | Arrangement and method for traffic sign recognition |
| CN202084185U (en) * | 2011-06-16 | 2011-12-21 | 长安大学 | Automatic traffic sign identification device |
| KR101326991B1 (en) * | 2011-12-01 | 2013-11-13 | 현대자동차주식회사 | Apparatus and method for sensing property of road surface |
| JP6089456B2 (en) * | 2012-06-08 | 2017-03-08 | 日本電気株式会社 | Driving behavior diagnostic device, driving behavior diagnostic method, and driving behavior diagnostic program |
-
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- 2014-01-17 JP JP2014006653A patent/JP6251577B2/en active Active
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- 2015-01-16 CN CN201510024437.3A patent/CN104794775B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP6251577B2 (en) | 2017-12-20 |
| CN104794775A (en) | 2015-07-22 |
| JP2015135594A (en) | 2015-07-27 |
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