DE602005016103D1 - Spurgrenzenerkennungsvorrichtung für ein fahrzeug - Google Patents

Spurgrenzenerkennungsvorrichtung für ein fahrzeug

Info

Publication number
DE602005016103D1
DE602005016103D1 DE602005016103T DE602005016103T DE602005016103D1 DE 602005016103 D1 DE602005016103 D1 DE 602005016103D1 DE 602005016103 T DE602005016103 T DE 602005016103T DE 602005016103 T DE602005016103 T DE 602005016103T DE 602005016103 D1 DE602005016103 D1 DE 602005016103D1
Authority
DE
Germany
Prior art keywords
vehicle
traffic lane
lane marking
line
images
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.)
Active
Application number
DE602005016103T
Other languages
English (en)
Inventor
Tetsuo Ikeda
Kiyozumi Unoura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of DE602005016103D1 publication Critical patent/DE602005016103D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Geometry (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
DE602005016103T 2004-05-19 2005-05-17 Spurgrenzenerkennungsvorrichtung für ein fahrzeug Active DE602005016103D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004148580A JP3722487B1 (ja) 2004-05-19 2004-05-19 車両用走行区分線認識装置
PCT/JP2005/008940 WO2005111966A1 (ja) 2004-05-19 2005-05-17 車両用走行区分線認識装置

Publications (1)

Publication Number Publication Date
DE602005016103D1 true DE602005016103D1 (de) 2009-10-01

Family

ID=35394365

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602005016103T Active DE602005016103D1 (de) 2004-05-19 2005-05-17 Spurgrenzenerkennungsvorrichtung für ein fahrzeug

Country Status (7)

Country Link
US (1) US7421094B2 (de)
EP (1) EP1752947B1 (de)
JP (1) JP3722487B1 (de)
CN (1) CN100524385C (de)
AT (1) ATE440355T1 (de)
DE (1) DE602005016103D1 (de)
WO (1) WO2005111966A1 (de)

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JP4358147B2 (ja) * 2005-04-28 2009-11-04 本田技研工業株式会社 車両及びレーンマーク認識装置
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FR2911713B1 (fr) * 2007-01-19 2014-03-21 Thales Sa Dispositif et procede de mesure de parametres dynamiques d'un aeronef evoluant sur une zone aeroportuaire
JP2009059132A (ja) * 2007-08-31 2009-03-19 Daihatsu Motor Co Ltd 物体認識装置
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JP5256911B2 (ja) * 2008-07-30 2013-08-07 日産自動車株式会社 車両制御装置
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WO2010128998A1 (en) * 2009-05-04 2010-11-11 Tele Atlas North America Inc. Navigation device & method
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JP5350297B2 (ja) 2010-03-17 2013-11-27 クラリオン株式会社 車両姿勢角算出装置及びそれを用いた車線逸脱警報システム
US20120019686A1 (en) * 2010-07-23 2012-01-26 Casio Computer Co., Ltd. Image synthesizing device, image synthesizing method and computer readable medium
WO2012034596A1 (en) * 2010-09-16 2012-03-22 Tomtom Polska Sp.Z.O.O. Improvements in or relating to automatic detection of the number of lanes into which a road is divided
US9648379B2 (en) * 2012-06-11 2017-05-09 At&T Intellectual Property I, L.P. Complimentary content based recording of media content
JP5981550B2 (ja) * 2012-07-27 2016-08-31 日産自動車株式会社 立体物検出装置および立体物検出方法
JP6241172B2 (ja) * 2013-09-25 2017-12-06 日産自動車株式会社 自車位置推定装置及び自車位置推定方法
JP6398294B2 (ja) * 2014-04-30 2018-10-03 日産自動車株式会社 走行車線認識装置、走行車線認識方法
KR101573764B1 (ko) * 2014-07-28 2015-12-02 현대모비스 주식회사 차량의 주행 차로 인식 시스템 및 방법
JP6361382B2 (ja) * 2014-08-29 2018-07-25 アイシン精機株式会社 車両の制御装置
JP6361415B2 (ja) * 2014-09-24 2018-07-25 株式会社デンソー 車両用画像処理装置
DE102015204213B4 (de) * 2015-03-10 2023-07-06 Robert Bosch Gmbh Verfahren zum Zusammensetzen von zwei Bildern einer Fahrzeugumgebung eines Fahrzeuges und entsprechende Vorrichtung
JP6106229B2 (ja) * 2015-08-10 2017-03-29 富士重工業株式会社 車線認識装置
KR101953128B1 (ko) * 2015-10-22 2019-05-31 현대자동차주식회사 차량 및 차량의 제어 방법
JP6975945B2 (ja) * 2016-02-24 2021-12-01 パナソニックＩｐマネジメント株式会社 判定装置、判定方法、プログラムおよびプログラムを記録した記録媒体
WO2018131061A1 (ja) 2017-01-10 2018-07-19 三菱電機株式会社 走行路認識装置及び走行路認識方法
KR20180084556A (ko) * 2017-01-17 2018-07-25 팅크웨어(주) 카메라의 촬영 영상을 이용한 운전 안내 제공 방법, 운전 안내 제공 장치, 전자 장치, 컴퓨터 프로그램 및 컴퓨터 판독 가능한 기록 매체
CN109509535A (zh) * 2018-10-08 2019-03-22 北京健康有益科技有限公司 食物体积的获取方法、食物热量的获取方法、电子设备
WO2020090388A1 (ja) * 2018-10-29 2020-05-07 三菱電機株式会社 地図生成システム、地図生成方法及び地図生成プログラム
JP7095559B2 (ja) * 2018-11-09 2022-07-05 トヨタ自動車株式会社 区画線検出装置及び区画線検出方法
DE102019209226A1 (de) * 2019-06-26 2020-12-31 Volkswagen Aktiengesellschaft Verfahren, Computerprogramm und Vorrichtung zur Verarbeitung von durch ein Kraftfahrzeug erfassten Daten
DE102019209711A1 (de) 2019-07-02 2021-01-07 Volkswagen Aktiengesellschaft Verfahren, Computerprogramm und Vorrichtung zur Verarbeitung von durch ein Kraftfahrzeug erfassten Daten, sowie zum Bereitstellen von Parametern für eine solche Verarbeitung
US11620831B2 (en) * 2020-04-29 2023-04-04 Toyota Research Institute, Inc. Register sets of low-level features without data association
CN112380956B (zh) * 2020-11-10 2024-02-27 苏州艾氪英诺机器人科技有限公司 一种车道判断方法
CN112862890B (zh) * 2021-02-07 2023-07-04 黑芝麻智能科技(重庆)有限公司 道路坡度预测方法、装置和存储介质
CN115320603B (zh) * 2021-04-26 2024-09-13 毫末智行科技有限公司 一种拍摄仰角校正方法、装置及车辆

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Also Published As

Publication number Publication date
ATE440355T1 (de) 2009-09-15
JP3722487B1 (ja) 2005-11-30
EP1752947B1 (de) 2009-08-19
EP1752947A4 (de) 2009-03-11
WO2005111966A1 (ja) 2005-11-24
JP2005332107A (ja) 2005-12-02
EP1752947A1 (de) 2007-02-14
US20080027627A1 (en) 2008-01-31
US7421094B2 (en) 2008-09-02
CN1954351A (zh) 2007-04-25
CN100524385C (zh) 2009-08-05

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