DE602005022523D1 - Fahrbahnbegrenzungsdetektor - Google Patents

Fahrbahnbegrenzungsdetektor

Info

Publication number
DE602005022523D1
DE602005022523D1 DE602005022523T DE602005022523T DE602005022523D1 DE 602005022523 D1 DE602005022523 D1 DE 602005022523D1 DE 602005022523 T DE602005022523 T DE 602005022523T DE 602005022523 T DE602005022523 T DE 602005022523T DE 602005022523 D1 DE602005022523 D1 DE 602005022523D1
Authority
DE
Germany
Prior art keywords
road boundary
boundary detector
detector
road
boundary
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
DE602005022523T
Other languages
English (en)
Inventor
Makoto Nishida
Akihiro Watanabe
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.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
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 Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of DE602005022523D1 publication Critical patent/DE602005022523D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20048—Transform domain processing
    • G06T2207/20061—Hough transform
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Image Processing (AREA)
DE602005022523T 2004-06-02 2005-06-01 Fahrbahnbegrenzungsdetektor Active DE602005022523D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004164940A JP4092308B2 (ja) 2004-06-02 2004-06-02 境界線検出装置

Publications (1)

Publication Number Publication Date
DE602005022523D1 true DE602005022523D1 (de) 2010-09-09

Family

ID=34937141

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602005022523T Active DE602005022523D1 (de) 2004-06-02 2005-06-01 Fahrbahnbegrenzungsdetektor

Country Status (4)

Country Link
US (1) US7808523B2 (de)
EP (1) EP1605404B1 (de)
JP (1) JP4092308B2 (de)
DE (1) DE602005022523D1 (de)

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JP4390631B2 (ja) * 2004-06-02 2009-12-24 トヨタ自動車株式会社 境界線検出装置
DE102004040143A1 (de) * 2004-08-19 2006-02-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrerinformation
DE102005032848A1 (de) * 2005-07-14 2007-01-25 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrerunterstützung
JP4720383B2 (ja) 2005-09-01 2011-07-13 トヨタ自動車株式会社 車両制御装置
DE102005044979A1 (de) * 2005-09-20 2007-03-22 Adc Automotive Distance Control Systems Gmbh Verfahren zur Erkennung von Fahrspurmarkierungen
JP4607193B2 (ja) * 2005-12-28 2011-01-05 本田技研工業株式会社 車両及びレーンマーク検出装置
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DE102006047636A1 (de) * 2006-10-09 2008-04-10 Robert Bosch Gmbh Verfahren für die Steuerung eines Fahrerassistenzsystems
JP4605145B2 (ja) 2006-11-14 2011-01-05 トヨタ自動車株式会社 車線検出装置
EP2085945B1 (de) * 2006-11-20 2016-12-21 Aisin Aw Co., Ltd. Verfahren und einrichtung zum beurteilen des fahrzustands eines fahrzeugs
JP4861850B2 (ja) * 2007-02-13 2012-01-25 アイシン・エィ・ダブリュ株式会社 レーン判定装置及びレーン判定方法
JP4446204B2 (ja) * 2007-10-30 2010-04-07 アイシン・エィ・ダブリュ株式会社 車両用ナビゲーション装置及び車両用ナビゲーションプログラム
JP4978863B2 (ja) * 2008-02-29 2012-07-18 本田技研工業株式会社 車線認識装置、車両及び車線認識用プログラム
DE102008034594B4 (de) * 2008-07-25 2021-06-24 Bayerische Motoren Werke Aktiengesellschaft Verfahren sowie Informationssystem zur Information eines Insassen eines Fahrzeuges
US8306269B2 (en) * 2009-03-12 2012-11-06 Honda Motor Co., Ltd. Lane recognition device
EP2246762B1 (de) 2009-04-27 2012-06-06 Magneti Marelli S.p.A. System und Verfahren zur Fahrerunterstützung an Straßenkreuzungen
JP5461065B2 (ja) * 2009-05-21 2014-04-02 クラリオン株式会社 現在位置特定装置とその現在位置特定方法
EP2455927A4 (de) * 2009-07-17 2014-03-12 Panasonic Corp Antriebshilfsvorrichtung, antriebshilfsverfahren und programm
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
JP4850963B1 (ja) * 2010-09-28 2012-01-11 富士重工業株式会社 車両の運転支援装置
JP5768666B2 (ja) * 2011-11-04 2015-08-26 トヨタ自動車株式会社 車両走行支援装置及び境界線認識装置
DE102011056671A1 (de) * 2011-12-20 2013-06-20 Conti Temic Microelectronic Gmbh Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera
US9469297B2 (en) * 2011-12-28 2016-10-18 Toyota Jidosha Kabushiki Kaisha Driving assistance apparatus for vehicle
DE102012101085A1 (de) 2012-02-10 2013-08-14 Conti Temic Microelectronic Gmbh Bestimmung einer Beschaffenheit einer Fahrbahnoberfläche mittels einer 3D-Kamera
JP5926080B2 (ja) * 2012-03-19 2016-05-25 株式会社日本自動車部品総合研究所 走行区画線認識装置およびプログラム
JP5792678B2 (ja) * 2012-06-01 2015-10-14 株式会社日本自動車部品総合研究所 車線境界線検出装置およびプログラム
JP5931691B2 (ja) * 2012-10-24 2016-06-08 アルパイン株式会社 白線検出装置および白線検出方法
JP5805619B2 (ja) * 2012-12-26 2015-11-04 株式会社日本自動車部品総合研究所 境界線認識装置
JP6105279B2 (ja) * 2012-12-26 2017-03-29 株式会社日本自動車部品総合研究所 分岐路判定装置、境界線認識装置
US10002433B2 (en) 2012-12-26 2018-06-19 Nippon Soken, Inc. Boundary line recognition apparatus and branch road determination apparatus
US9547805B1 (en) * 2013-01-22 2017-01-17 The Boeing Company Systems and methods for identifying roads in images
JP5625094B2 (ja) * 2013-08-09 2014-11-12 クラリオン株式会社 車両姿勢角算出装置
DE102013223367A1 (de) 2013-11-15 2015-05-21 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Bestimmung eines Fahrbahnzustands mittels eines Fahrzeugkamerasystems
KR102016549B1 (ko) * 2014-01-13 2019-08-30 한화디펜스 주식회사 차량 및 차선 위치 검출 시스템 및 방법
JP5977275B2 (ja) 2014-02-14 2016-08-24 株式会社日本自動車部品総合研究所 分岐路認識装置
JP6134276B2 (ja) * 2014-03-03 2017-05-24 株式会社Ｓｏｋｅｎ 走行区画線認識装置
JP5874770B2 (ja) * 2014-03-12 2016-03-02 トヨタ自動車株式会社 区画線検出システム
JP6130809B2 (ja) * 2014-04-25 2017-05-17 本田技研工業株式会社 車線認識装置
JP6096723B2 (ja) * 2014-07-11 2017-03-15 株式会社日本自動車部品総合研究所 走行区画線認識装置及び走行区画線認識プログラム
JP6105524B2 (ja) * 2014-07-11 2017-03-29 株式会社日本自動車部品総合研究所 走行区画線認識装置及び走行区画線認識プログラム
JP6220327B2 (ja) * 2014-07-23 2017-10-25 株式会社Ｓｏｋｅｎ 走行区画線認識装置、走行区画線認識プログラム
KR101573764B1 (ko) * 2014-07-28 2015-12-02 현대모비스 주식회사 차량의 주행 차로 인식 시스템 및 방법
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JP6476927B2 (ja) * 2015-01-30 2019-03-06 富士通株式会社 検出装置、検出方法および検出プログラム
JP6344275B2 (ja) * 2015-03-18 2018-06-20 トヨタ自動車株式会社 車両制御装置
JP6341191B2 (ja) * 2015-12-16 2018-06-13 トヨタ自動車株式会社 情報演算装置
CN108885831B (zh) * 2016-03-24 2020-04-14 日产自动车株式会社 行进路检测方法及行进路检测装置
RU2722356C1 (ru) * 2016-07-26 2020-05-29 Ниссан Мотор Ко., Лтд. Способ оценки собственного положения и устройство оценки собственного положения
JP6844235B2 (ja) * 2016-12-08 2021-03-17 富士通株式会社 距離測定装置および距離測定方法
JP6741603B2 (ja) 2017-01-16 2020-08-19 株式会社Ｓｏｋｅｎ 推定装置
JP6693893B2 (ja) 2017-01-16 2020-05-13 株式会社Ｓｏｋｅｎ 走路認識装置
JP2018173834A (ja) * 2017-03-31 2018-11-08 本田技研工業株式会社 車両制御装置
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Also Published As

Publication number Publication date
EP1605404A3 (de) 2006-02-15
US7808523B2 (en) 2010-10-05
JP4092308B2 (ja) 2008-05-28
EP1605404B1 (de) 2010-07-28
US20050270374A1 (en) 2005-12-08
JP2005346383A (ja) 2005-12-15
EP1605404A2 (de) 2005-12-14

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