DE68925091T2 - Verfahren und Vorrichtung zur Einschätzung des Fahrweges - Google Patents

Verfahren und Vorrichtung zur Einschätzung des Fahrweges

Info

Publication number
DE68925091T2
DE68925091T2 DE68925091T DE68925091T DE68925091T2 DE 68925091 T2 DE68925091 T2 DE 68925091T2 DE 68925091 T DE68925091 T DE 68925091T DE 68925091 T DE68925091 T DE 68925091T DE 68925091 T2 DE68925091 T2 DE 68925091T2
Authority
DE
Germany
Prior art keywords
estimating
route
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.)
Expired - Fee Related
Application number
DE68925091T
Other languages
English (en)
Other versions
DE68925091D1 (de
Inventor
Shigeto Nakayama
Hiroshi Hasegawa
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
Priority claimed from JP63243329A external-priority patent/JPH0624035B2/ja
Priority claimed from JP63243330A external-priority patent/JPH0290380A/ja
Priority claimed from JP63243331A external-priority patent/JPH0624036B2/ja
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of DE68925091D1 publication Critical patent/DE68925091D1/de
Publication of DE68925091T2 publication Critical patent/DE68925091T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • 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
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/48—Extraction of image or video features by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
DE68925091T 1988-09-28 1989-09-28 Verfahren und Vorrichtung zur Einschätzung des Fahrweges Expired - Fee Related DE68925091T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP63243329A JPH0624035B2 (ja) 1988-09-28 1988-09-28 走行路判別装置
JP63243330A JPH0290380A (ja) 1988-09-28 1988-09-28 走行路判別方法
JP63243331A JPH0624036B2 (ja) 1988-09-28 1988-09-28 走行路判別方法

Publications (2)

Publication Number Publication Date
DE68925091D1 DE68925091D1 (de) 1996-01-25
DE68925091T2 true DE68925091T2 (de) 1996-05-09

Family

ID=27333130

Family Applications (1)

Application Number Title Priority Date Filing Date
DE68925091T Expired - Fee Related DE68925091T2 (de) 1988-09-28 1989-09-28 Verfahren und Vorrichtung zur Einschätzung des Fahrweges

Country Status (2)

Country Link
EP (1) EP0361914B1 (de)
DE (1) DE68925091T2 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19710234B4 (de) * 1996-03-13 2004-09-30 Toyota Jidosha K.K., Toyota Automatische Fahrvorrichtung für Fahrzeuge
DE102005028608A1 (de) * 2005-06-21 2006-12-28 Robert Bosch Gmbh Nachtsichtgerät für ein Kraftfahrzeug

Families Citing this family (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5202742A (en) * 1990-10-03 1993-04-13 Aisin Seiki Kabushiki Kaisha Laser radar for a vehicle lateral guidance system
EP0479271B1 (de) 1990-10-03 1998-09-09 Aisin Seiki Kabushiki Kaisha Automatisches Steuersystem für Seitenführung
US5390118A (en) 1990-10-03 1995-02-14 Aisin Seiki Kabushiki Kaisha Automatic lateral guidance control system
FR2674354A1 (fr) * 1991-03-22 1992-09-25 Thomson Csf Procede d'analyse de sequences d'images routieres, dispositif pour sa mise en óoeuvre et son application a la detection d'obstacles.
US5245422A (en) * 1991-06-28 1993-09-14 Zexel Corporation System and method for automatically steering a vehicle within a lane in a road
US5351044A (en) * 1992-08-12 1994-09-27 Rockwell International Corporation Vehicle lane position detection system
US6822563B2 (en) 1997-09-22 2004-11-23 Donnelly Corporation Vehicle imaging system with accessory control
US5877897A (en) 1993-02-26 1999-03-02 Donnelly Corporation Automatic rearview mirror, vehicle lighting control and vehicle interior monitoring system using a photosensor array
JP3169483B2 (ja) * 1993-06-25 2001-05-28 富士通株式会社 道路環境認識装置
JP3357749B2 (ja) * 1994-07-12 2002-12-16 本田技研工業株式会社 車両の走行路画像処理装置
DE19507956C2 (de) * 1995-03-07 2002-11-07 Daimler Chrysler Ag Einrichtung zur Bestimmung des Fahrzeugabstandes von einer seitlichen Fahrbahnmarkierung
US5904725A (en) * 1995-04-25 1999-05-18 Matsushita Electric Industrial Co., Ltd. Local positioning apparatus
US6891563B2 (en) 1996-05-22 2005-05-10 Donnelly Corporation Vehicular vision system
US7655894B2 (en) 1996-03-25 2010-02-02 Donnelly Corporation Vehicular image sensing system
DE19615240A1 (de) * 1996-04-18 1997-10-23 Daimler Benz Ag Anordnung zur optischen Erfassung des Fahrbahnverlaufs
JP3556766B2 (ja) * 1996-05-28 2004-08-25 松下電器産業株式会社 道路白線検出装置
DE69736764T2 (de) * 1996-08-28 2007-01-25 Matsushita Electric Industrial Co., Ltd., Kadoma Lokales Positionierungsgerät und Verfahren dafür
FR2779518B1 (fr) * 1998-06-09 2000-08-18 Thomson Csf Procede optique de reconstruction du trace d'une voie le long de laquelle se deplace un vehicule guide
US7697027B2 (en) 2001-07-31 2010-04-13 Donnelly Corporation Vehicular video system
EP1504276B1 (de) 2002-05-03 2012-08-08 Donnelly Corporation Objektdetektionssystem für ein fahrzeug
US7526103B2 (en) 2004-04-15 2009-04-28 Donnelly Corporation Imaging system for vehicle
JP4703136B2 (ja) * 2004-06-02 2011-06-15 トヨタ自動車株式会社 線図形化処理装置
US7720580B2 (en) 2004-12-23 2010-05-18 Donnelly Corporation Object detection system for vehicle
JP4232794B2 (ja) * 2006-05-31 2009-03-04 アイシン・エィ・ダブリュ株式会社 運転支援方法及び運転支援装置
US7972045B2 (en) 2006-08-11 2011-07-05 Donnelly Corporation Automatic headlamp control system
JP4315991B2 (ja) 2007-04-20 2009-08-19 本田技研工業株式会社 車両周辺監視装置、車両周辺監視方法、車両周辺監視プログラム
JP4937030B2 (ja) 2007-07-24 2012-05-23 ルネサスエレクトロニクス株式会社 車両用画像処理装置
US8017898B2 (en) 2007-08-17 2011-09-13 Magna Electronics Inc. Vehicular imaging system in an automatic headlamp control system
DE112010005977B4 (de) * 2010-11-04 2015-08-06 Toyota Jidosha Kabushiki Kaisha Strassenformschätzvorrichtung
US9900522B2 (en) 2010-12-01 2018-02-20 Magna Electronics Inc. System and method of establishing a multi-camera image using pixel remapping
EP2615597B1 (de) * 2010-12-15 2017-05-10 Honda Motor Co., Ltd. Spurerkennungsvorrichtung
WO2012145818A1 (en) 2011-04-25 2012-11-01 Magna International Inc. Method and system for dynamically calibrating vehicular cameras
WO2012145822A1 (en) 2011-04-25 2012-11-01 Magna International Inc. Method and system for dynamically calibrating vehicular cameras
WO2013016409A1 (en) 2011-07-26 2013-01-31 Magna Electronics Inc. Vision system for vehicle
WO2013019707A1 (en) 2011-08-01 2013-02-07 Magna Electronics Inc. Vehicle camera alignment system
WO2013074604A2 (en) 2011-11-15 2013-05-23 Magna Electronics, Inc. Calibration system and method for vehicular surround vision system
US9349069B2 (en) * 2011-11-21 2016-05-24 Analog Devices, Inc. Dynamic line-detection system for processors having limited internal memory
WO2013086249A2 (en) 2011-12-09 2013-06-13 Magna Electronics, Inc. Vehicle vision system with customized display
DE102012008780A1 (de) * 2012-04-28 2013-10-31 Volkswagen Aktiengesellschaft Verfahren und Einrichtung zur Erfassung wenigstens eines Fahrbahnrandes und Kraftfahrzeug
US9723272B2 (en) 2012-10-05 2017-08-01 Magna Electronics Inc. Multi-camera image stitching calibration system
US10179543B2 (en) 2013-02-27 2019-01-15 Magna Electronics Inc. Multi-camera dynamic top view vision system
US9688200B2 (en) 2013-03-04 2017-06-27 Magna Electronics Inc. Calibration system and method for multi-camera vision system
US9563951B2 (en) 2013-05-21 2017-02-07 Magna Electronics Inc. Vehicle vision system with targetless camera calibration
US9205776B2 (en) 2013-05-21 2015-12-08 Magna Electronics Inc. Vehicle vision system using kinematic model of vehicle motion
US9916660B2 (en) 2015-01-16 2018-03-13 Magna Electronics Inc. Vehicle vision system with calibration algorithm
US10946799B2 (en) 2015-04-21 2021-03-16 Magna Electronics Inc. Vehicle vision system with overlay calibration
WO2018053834A1 (zh) * 2016-09-26 2018-03-29 深圳市锐明技术股份有限公司 一种成对车道线的高效检测方法和装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19710234B4 (de) * 1996-03-13 2004-09-30 Toyota Jidosha K.K., Toyota Automatische Fahrvorrichtung für Fahrzeuge
DE102005028608A1 (de) * 2005-06-21 2006-12-28 Robert Bosch Gmbh Nachtsichtgerät für ein Kraftfahrzeug

Also Published As

Publication number Publication date
EP0361914B1 (de) 1995-12-13
DE68925091D1 (de) 1996-01-25
EP0361914A2 (de) 1990-04-04
EP0361914A3 (de) 1991-06-05

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee