JPH0991594A - Rear white line recognition device - Google Patents
Rear white line recognition deviceInfo
- Publication number
- JPH0991594A JPH0991594A JP7246393A JP24639395A JPH0991594A JP H0991594 A JPH0991594 A JP H0991594A JP 7246393 A JP7246393 A JP 7246393A JP 24639395 A JP24639395 A JP 24639395A JP H0991594 A JPH0991594 A JP H0991594A
- Authority
- JP
- Japan
- Prior art keywords
- white line
- vehicle
- information
- road
- lane
- 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
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 241000981595 Zoysia japonica Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、車両前方の道路画
像等から認識される道路前方の白線情報に基づいて自車
後方の白線位置情報を求める後方白線認識装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear white line recognition device for obtaining white line position information behind a vehicle based on road front white line information recognized from a road image ahead of a vehicle.
【０００２】[0002]
【関連する背景技術】車両は基本的には道路に設定され
た走行レーンに沿って走行する。従って、例えば車両間
の危険度を判断する場合、自車周辺を走行中の他車が同
じ走行レーンを走行しているか否かを知ることが重要と
なる。また道路上の障害物を認識するに際しても、走行
レーンに沿って定められる所定の道路幅の領域を障害物
認識の対象とすることが望ましい。2. Related Background Art A vehicle basically runs along a traveling lane set on a road. Therefore, for example, when determining the degree of danger between vehicles, it is important to know whether or not another vehicle traveling around the vehicle is traveling in the same traveling lane. Further, when recognizing an obstacle on the road, it is desirable to set an area of a predetermined road width defined along the traveling lane as an object of obstacle recognition.
【０００３】このような認識処理に利用される情報とし
て、道路上における走行レーンを区画している白線があ
る。従来、このような白線の認識は、専ら車両搭載カメ
ラにて撮像される車両前方の道路画像を認識処理するこ
とにより行われる。具体的には、例えば車両前方の道路
画像を座標変換して道路面を基準とする平面画像に変換
し、その平面画像内における白線の成分の座標系列を求
めることによってなされる。As information used for such recognition processing, there is a white line that divides a traveling lane on the road. Conventionally, recognition of such a white line is performed by recognizing a road image in front of the vehicle, which is captured by a vehicle-mounted camera. Specifically, for example, the road image in front of the vehicle is subjected to coordinate conversion to be converted into a plane image with the road surface as a reference, and a coordinate series of white line components in the plane image is obtained.
【０００４】[0004]
【発明が解決しようとする課題】ところが上述した白線
認識は、専ら車両前方の道路画像に基づいて道路前方の
白線情報を求めているに過ぎない。この為、自車後方を
走行する他車の挙動を把握するべく、車両後方の白線を
も認識したい場合には、車両後方の道路画像を撮像する
為の専用カメラを用いる必要があった。この為、システ
ム構成が大掛かりになると言う問題があった。However, in the above-described white line recognition, the white line information in front of the road is exclusively obtained based on the road image in front of the vehicle. Therefore, in order to recognize the behavior of another vehicle traveling behind the own vehicle, when it is desired to recognize the white line behind the vehicle, it is necessary to use a dedicated camera for capturing a road image behind the vehicle. Therefore, there is a problem that the system configuration becomes large.
【０００５】本発明はこのような事情を考慮してなされ
たもので、その目的は、車両後方用のカメラを用いるこ
となく、前方白線認識手段にて求められた道路前方の白
線情報に基づいて車両後方の白線情報を求めるようにし
た後方白線認識装置を提供することにある。The present invention has been made in consideration of such circumstances, and its object is to use the white line information in front of the road obtained by the front white line recognition means without using a camera for the rear of the vehicle. An object of the present invention is to provide a rear white line recognition device that obtains white line information behind the vehicle.
【０００６】[0006]
【課題を解決するための手段】本発明に係る後方白線認
識装置は、上述した目的を達成するべく、前方白線認識
手段にて求められた道路前方の白線情報を、車両挙動検
出手段にて検出される自車の挙動情報に従って座標変換
して自車後方の白線位置情報を求めることを特徴とする
ものである。In order to achieve the above-mentioned object, a rear white line recognition apparatus according to the present invention detects road front white line information obtained by a front white line recognition means by a vehicle behavior detection means. It is characterized in that coordinate conversion is performed according to the behavior information of the own vehicle to obtain white line position information behind the own vehicle.
【０００７】特に請求項２に記載のように自車の挙動情
報を、車速情報およびヨー角情報として求め、これらの
車速情報およびヨー角情報に基づいて前方白線の位置座
標を座標変換して後方白線の位置座標を算出するように
したことを特徴とするものである。更に請求項３に記載
のように自車が走行する車線の変更が検出された際、既
に求められた後方白線の位置座標を、車線幅の情報に従
って新たな車線における白線の位置座標に変更する手段
を備えたことを特徴とするものである。Particularly, as described in claim 2, the behavior information of the own vehicle is obtained as the vehicle speed information and the yaw angle information, and the position coordinates of the front white line are coordinate-converted based on these vehicle speed information and the yaw angle information to rearward. It is characterized in that the position coordinates of the white line are calculated. Furthermore, when a change in the lane in which the vehicle is traveling is detected as in claim 3, the position coordinates of the rearward white line already obtained are changed to the position coordinates of the white line in the new lane in accordance with the lane width information. It is characterized by having means.
【０００８】即ち、本発明は、例えば前方道路画像を認
識処理して求められる道路前方の白線情報を利用し、車
速やヨー角等の自車の挙動情報に応じて道路座標系の変
化を捉え、この情報に基づいて上記道路前方の白線情報
として与えられる位置座標を座標変換することで、その
変換位置座標を後方白線の位置情報として求めるように
したものである。That is, the present invention utilizes the white line information in front of the road obtained by recognizing the road image in front, for example, and detects the change of the road coordinate system according to the behavior information of the vehicle such as the vehicle speed and the yaw angle. The position coordinates given as the white line information in front of the road are coordinate-converted based on this information, and the converted position coordinates are obtained as the position information of the rear white line.
【０００９】[0009]
【発明の実施の形態】以下、図面を参照して本発明の一
実施例に係る後方白線認識装置について説明する。図１
は実施例装置のシステム的な概略構成図であり、全体的
にはマイクロプロセッサを主体として構成される。前方
白線認識手段１は、例えば車両搭載カメラ２にて撮像入
力される車両前方の道路画像を入力し、所定の画像処理
を施すことによってその白線成分（白線の座標値系列）
を検出するものである。この際、前方白線認識手段１で
は、検出した白線情報に従って走行レーンの車線幅Ｗや
該走行レーンに対する車両（自車）の横ずれ量，また障
害物の検出対象領域を規定する道路領域を求める。BEST MODE FOR CARRYING OUT THE INVENTION A back white line recognition apparatus according to an embodiment of the present invention will be described below with reference to the drawings. FIG.
FIG. 3 is a systematic schematic configuration diagram of the embodiment apparatus, which is mainly configured by a microprocessor. The front white line recognition means 1 inputs a road image in front of the vehicle, which is imaged and input by the vehicle-mounted camera 2, for example, and performs predetermined image processing to obtain the white line component (white line coordinate value series).
Is to be detected. At this time, the front white line recognition means 1 obtains the lane width W of the traveling lane, the lateral shift amount of the vehicle (own vehicle) with respect to the traveling lane, and the road region that defines the obstacle detection target region according to the detected white line information.
【００１０】この前方白線検出処理自体は、基本的に
は、例えば本出願人が先に提唱した特願平5-230563号
（特開平7-85249号公報）に示されるように、車両搭載
カメラにて撮像入力された車両前方の道路画像を、あた
かも上空から道路を見たような道路平面を基準とする平
面視画像に変換し、この平面視画像中の白線成分を座標
値の系列として求めることにより行われる。具体的には
図２に示すように自車Ｍの直ぐ左側の白線Ｌを、例えば （ｘ−ａ）2＋（ｙ−ｂ）2＋ｃ＝０ なる一般的で円近似される関数ｆ(ｘ,ｙ)として求め、
これを前方白線情報として認識する。This front white line detection processing itself is basically carried out by a vehicle-mounted camera as shown in, for example, Japanese Patent Application No. 5-230563 (Japanese Unexamined Patent Publication No. 7-85249) previously proposed by the present applicant. Convert the road image in front of the vehicle imaged and input in to a plane view image based on the road plane as if you were looking at the road from the sky, and find the white line component in this plane view image as a series of coordinate values It is done by Specifically, as shown in FIG. 2, the white line L on the immediate left side of the host vehicle M is represented by, for example, a general circular approximation function f (x that is (x−a) 2 + (y−b) 2 + c = 0. , y),
This is recognized as front white line information.
【００１１】さて後方白線認識手段３は、概略的には座
標変換処理３ａと車線変更処理３ｂとを実行して前記前
方白線認識手段１にて求められた前方白線情報から後方
白線情報を求める。即ち、後方白線認識手段３は上述し
た如く前方白線認識手段１にて求められた前方白線情報
を自車Ｍの左側白線位置（ｘ0，ｙ0）として入力し、こ
の位置座標（ｘ0，ｙ0）を車両挙動センサ４にて検出さ
れる自車Ｍの挙動情報に従って座標変換する。この座標
変換により、自車Ｍの走行に伴って車両後方に過ぎ去っ
た白線の位置座標（ｘbi，ｙbi）が順次求められる。こ
のような座標変換処理３ａにて順次求められる座標値の
系列を、例えば ｙ＝｛（ｙb2−ｙb1）／（ｘb2−ｘb1）｝（ｘ−ｘb1）
＋ｙb1 として直線近似することにより、後方白線情報が前記左
側白線位置（ｘ0，ｙ0）の後方移動した履歴として求め
られる。The rear white line recognition means 3 roughly executes coordinate conversion processing 3a and lane change processing 3b to obtain rear white line information from the front white line information obtained by the front white line recognition means 1. That is, the rear white line recognition means 3 inputs the front white line information obtained by the front white line recognition means 1 as the left white line position (x 0 , y 0 ) of the own vehicle M, and the position coordinates (x 0 , y 0 ) is coordinate-converted according to the behavior information of the vehicle M detected by the vehicle behavior sensor 4. By this coordinate conversion, the position coordinates (x bi , y bi ) of the white line passing behind the vehicle as the vehicle M travels are sequentially obtained. A series of coordinate values sequentially obtained by such coordinate conversion processing 3a is, for example, y = {(y b2 −y b1 ) / (x b2 −x b1 )} (x−x b1 ).
By linearly approximating + y b1 , the backward white line information is obtained as a history of backward movement of the left white line position (x 0 , y 0 ).
【００１２】尚、上記車両挙動センサ４は、その車速Ｖ
を求めると共に、ヨーレートセンサにて検出されるヨー
角速度から自車Ｍのヨー角ψを求め、これらの情報に従
って自車Ｍの移動量（Δｘ，Δｙ）を求める。これらの
移動量（Δｘ，Δｙ）およびヨー角ψが、車両挙動情報
として後方白線認識処理手段３に与えられる。以上の処
理手順を図３を参照して更に詳しく説明する。It should be noted that the vehicle behavior sensor 4 uses the vehicle speed V
And the yaw angle ψ of the own vehicle M from the yaw angular velocity detected by the yaw rate sensor, and the movement amount (Δx, Δy) of the own vehicle M is obtained according to these information. The movement amount (Δx, Δy) and the yaw angle ψ are given to the rear white line recognition processing means 3 as vehicle behavior information. The above processing procedure will be described in more detail with reference to FIG.
【００１３】後方白線認識処理手段３は、先ず前方白線
認識手段１にて車両前方の道路画像から求められた前方
白線情報に従い、自車Ｍの横位置における白線位置の座
標データ（ｘ0，ｙ0）を入力する（ステップＳ１）。し
かる後、そのときの車両挙動情報を、前述した移動量Δ
ｘ，Δｙおよびヨー角ψとしてそれぞれ入力する（ステ
ップＳ２）。この状態においてThe rear white line recognition processing means 3 firstly, according to the front white line information obtained from the road image ahead of the vehicle by the front white line recognition means 1, coordinate data (x 0 , y) of the white line position in the lateral position of the vehicle M. 0 ) is input (step S1). After that, the vehicle behavior information at that time is calculated based on the movement amount Δ mentioned above.
Input as x, Δy and yaw angle ψ (step S2). In this state
【００１４】[0014]
【数１】 [Equation 1]
【００１５】なる行列演算にて座標変換処理３ａを実行
し、車両の後方に移動した白線の位置（ｘbi，ｙbi）を
求める（ステップＳ３）。しかる後、上述した如く求め
られた白線の位置（ｘbi，ｙbi）をベースとしてデータ
置換処理が行われる（ステップＳ４）。このデータ置換
処理は左側後方白線の位置情報を基準として右側後方白
線の位置を（ｘci，ｙci）として推定するもので、 ｘci＝ｘbi ， ｙci＝ｙbi−Ｗ として、その位置座標を車線幅Ｗだけ横方向にシフトす
る処理からなる。従って図２にその概念を示すように、
右側後方白線の情報が点線で示すように求められる。The coordinate conversion process 3a is executed by the matrix calculation to obtain the position (x bi , y bi ) of the white line moved to the rear of the vehicle (step S3). Then, data replacement processing is performed based on the position (x bi , y bi ) of the white line obtained as described above (step S4). In this data replacement process, the position of the right rear white line is estimated as (x ci , y ci ) based on the position information of the left rear white line, and x ci = x bi , y ci = y bi −W The process consists of laterally shifting the coordinates by the lane width W. Therefore, as shown in FIG.
The information of the right rear white line is obtained as shown by the dotted line.
【００１６】以上のようにして左側および右側の後方車
線の情報をそれぞれ求めた後、次に車線変更があったか
否かが判断される（ステップＳ５）。この車線変更は、
例えば白線を跨いで車両が位置変位したか否かを、前述
した車両前方の道路画像に基づき、注目している白線の
位置座標が左右に大きく変位したか否かを調べる等して
判断される。そして車線変更があった場合には、次にそ
の車線変更が左側車線への変更か否かが判断される（ス
テップＳ６）。After the information on the left lane and the information on the right lane are respectively obtained as described above, it is next determined whether or not there has been a lane change (step S5). This lane change is
For example, it is determined whether or not the position of the vehicle is displaced across the white line by checking whether or not the position coordinates of the white line of interest are largely displaced left and right based on the road image in front of the vehicle described above. . Then, if there is a lane change, it is next determined whether or not the lane change is to the left lane (step S6).
【００１７】左側車線への変更であると判断された場合
には、前述した如く求めた後方白線情報を車線幅Ｗだけ
右シフトし、これを新たな後方白線情報としてデータ修
正する（ステップＳ７）。また右側車線への変更である
と判断された（車線変更が左側車線への変更ではない）
場合には、前述した後方白線情報を車線幅Ｗだけ左シフ
トし、これを新たな後方白線情報としてデータ修正する
（ステップＳ８）。When it is determined that the vehicle is changing to the left lane, the rear lane information obtained as described above is right-shifted by the lane width W, and the data is corrected as new rear lane information (step S7). . Also, it was determined that the lane was changed to the right lane (the lane change was not a change to the left lane)
In this case, the above-mentioned rear white line information is left-shifted by the lane width W and the data is corrected as new rear white line information (step S8).
【００１８】このような車線変更に伴うデータ修正によ
り、走行レーンが変った場合であっても、それに追従し
て後方白線情報が求められることになる。尚、車線変更
がない場合には、このようなデータ修正を行わないこと
は勿論のことである。以上の処理手続きを、例えば車両
が走行中であるか否かに応じて、つまり処理すべき前方
白線情報が残っているか否かを判断し（ステップＳ
９）、処理すべき前方白線情報がある場合には、繰り返
し実行する。この処理の繰り返し実行は、例えば車両の
走行に伴って所定の周期で、或いは車両が所定距離移動
する毎に行われ、これによって後方白線の履歴が位置情
報の系列として求められる。Due to the data correction associated with such a lane change, even if the driving lane changes, the rear lane line information is obtained following the change. Needless to say, such data correction is not performed when there is no lane change. The above processing procedure is determined, for example, depending on whether or not the vehicle is traveling, that is, whether or not the front white line information to be processed remains (step S
9) If there is front white line information to be processed, it is repeatedly executed. This process is repeatedly executed, for example, at a predetermined cycle as the vehicle travels or each time the vehicle moves by a predetermined distance, whereby the history of the rear white line is obtained as a series of position information.
【００１９】かくして上述した如く構成され、車両の挙
動に応じて前方白線情報に基づいて後方白線情報を順次
求めていく実施例装置によれば、従来のように後方画像
を求めるための専用のカメラを用いなくても非常に効率
的に車両後方に過ぎ去った白線を認識することができ
る。従って車両前方のみならず、車両後方を走行してい
る他車についても同じ走行レーンを走行中であるか否か
を判断する際のレーン情報として、上述した如く求めら
れる後方白線情報を簡易にして有効に利用することが可
能となる。Thus, according to the embodiment apparatus which is configured as described above and sequentially obtains the rear white line information based on the front white line information according to the behavior of the vehicle, the dedicated camera for obtaining the rear image as in the conventional case is used. It is possible to recognize a white line passing behind the vehicle very efficiently without using. Therefore, the rear white line information obtained as described above is simplified as lane information when determining whether or not another vehicle traveling not only in front of the vehicle but also behind the vehicle is traveling in the same traveling lane. It can be used effectively.
【００２０】尚、本発明は上述した実施例に限定される
ものではない。実施例装置では車両搭載カメラ２にて得
られた道路画像から前方白線情報を求め、この前方白線
情報に従って後方白線情報を求めたが、画像処理以外の
手段により求められ前方白線情報に従って後方白線情報
を求めるものであっても良い。また座標変換によって求
められる後方白線情報については、そのときの車速にも
よるが、例えば車両後方４０メートル程度に亘って、そ
の履歴を記憶保持するようにしておけば、後方危険度の
算出に十分利用可能である。その他、本発明の要旨を逸
脱しない範囲でその実施の形態を適宜変更可能である。The present invention is not limited to the above embodiment. In the embodiment, the front white line information is obtained from the road image obtained by the vehicle-mounted camera 2 and the rear white line information is obtained according to the front white line information. However, the rear white line information is obtained by means other than image processing and the rear white line information is obtained. May be required. Further, the rear white line information obtained by the coordinate conversion depends on the vehicle speed at that time, but if the history is stored and held for about 40 meters behind the vehicle, it is sufficient for calculating the rear risk. It is available. In addition, the embodiment can be appropriately changed without departing from the scope of the present invention.
【００２１】[0021]
【発明の効果】以上説明したように本発明によれば、例
えば車両前方の道路画像から求められる前方白線情報に
従って後方白線情報を求めるので、車両後方の道路状況
を撮像する専用のカメラを用いることなく、車両周辺の
障害物認識で利用される後方白線情報を効率的に求める
ことができる。従って車両の前方および後方の道路画像
についてそれぞれ画像処理を行う必要がなくなるので、
システム構成の大幅な簡略化を図ることができる等の効
果が奏せられる。As described above, according to the present invention, the rear white line information is obtained according to the front white line information obtained from the road image in front of the vehicle, so that a dedicated camera for imaging the road condition behind the vehicle is used. Instead, it is possible to efficiently obtain the back white line information used for recognizing obstacles around the vehicle. Therefore, it is not necessary to perform image processing for road images in front of and behind the vehicle.
An effect such as a great simplification of the system configuration can be achieved.
【図１】本発明の一実施例に係る後方白線認識装置の概
略的なシステム構成を示す図。FIG. 1 is a diagram showing a schematic system configuration of a rear white line recognition device according to an embodiment of the present invention.
【図２】前方白線と後方白線との関係を示す概念図。FIG. 2 is a conceptual diagram showing a relationship between a front white line and a rear white line.
【図３】実施例装置における処理手続きの一例を示す
図。FIG. 3 is a diagram showing an example of a processing procedure in the embodiment apparatus.
１ 前方白線認識手段 ２ 車両搭載カメラ ３ 後方白線認識手段 ４ 車両挙動センサ 1 Front White Line Recognition Means 2 Vehicle Mounted Camera 3 Rear White Line Recognition Means 4 Vehicle Behavior Sensor
───────────────────────────────────────────────────── フロントページの続き (72)発明者 菅原 正 東京都港区芝五丁目33番８号 三菱自動車 工業株式会社内 (72)発明者 井上 紀夫 東京都港区芝五丁目33番８号 三菱自動車 工業株式会社内 ─────────────────────────────────────────────────── ─── Continued front page (72) Tadashi Inventor Tadashi Sugawara 5-3-8, Shiba, Minato-ku, Tokyo Within Mitsubishi Motors Corporation (72) Inventor Norio Inoue 5-33-8 Shiba, Minato-ku, Tokyo Mitsubishi Automotive Industry Co., Ltd.
Claims (3)
手段と、自車の挙動を検出する車両挙動検出手段と、前
記前方白線認識手段にて求められた道路前方の白線情報
を、前記車両挙動検出手段にて検出される自車の挙動情
報に従って座標変換して自車後方の白線位置情報を求め
る後方白線認識手段とを具備したことを特徴とする後方
白線認識装置。1. A front white line recognition means for recognizing a white line ahead of a road, a vehicle behavior detection means for detecting a behavior of a vehicle, and white line information ahead of the road obtained by the front white line recognition means for the vehicle. A rear white line recognition device comprising: a rear white line recognition means for converting coordinates according to the behavior information of the own vehicle detected by the behavior detection means to obtain white line position information behind the own vehicle.
びヨー角情報を検出するものであって、後方白線認識手
段はこれらの車速情報およびヨー角情報に基づいて前方
白線の位置座標を座標変換して後方白線の位置座標を算
出することを特徴とする請求項１に記載の後方白線認識
装置。2. The vehicle behavior detection means detects vehicle speed information and yaw angle information, and the rear white line recognition means performs coordinate conversion of the position coordinates of the front white line based on the vehicle speed information and yaw angle information. The rear white line recognition device according to claim 1, wherein the position coordinates of the rear white line are calculated.
線幅の情報に従って既に求められた後方白線の位置座標
を新たな車線の位置座標に変更する手段を備えたことを
特徴とする請求項１に記載の後方白線認識装置。3. When the lane change of the own vehicle is detected, a means for changing the position coordinates of the rear white line, which has already been obtained according to the information of the lane width, to the position coordinates of a new lane is provided. The rear white line recognition device according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24639395A JP3365168B2 (en) | 1995-09-25 | 1995-09-25 | Rear white line recognition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24639395A JP3365168B2 (en) | 1995-09-25 | 1995-09-25 | Rear white line recognition device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0991594A true JPH0991594A (en) | 1997-04-04 |
| JP3365168B2 JP3365168B2 (en) | 2003-01-08 |
Family
ID=17147859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24639395A Expired - Lifetime JP3365168B2 (en) | 1995-09-25 | 1995-09-25 | Rear white line recognition device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3365168B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003044978A (en) * | 2001-07-27 | 2003-02-14 | Mitsubishi Motors Corp | Travel lane recognition device |
| JP2005173882A (en) * | 2003-12-10 | 2005-06-30 | Nissan Motor Co Ltd | Rear side image control device and method |
| JP2007240319A (en) * | 2006-03-08 | 2007-09-20 | Toyota Motor Corp | Map data preparation device for vehicle, and map data updating device for vehicle |
| JP2007310595A (en) * | 2006-05-17 | 2007-11-29 | Denso Corp | Traveling environment recognition system |
-
1995
- 1995-09-25 JP JP24639395A patent/JP3365168B2/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003044978A (en) * | 2001-07-27 | 2003-02-14 | Mitsubishi Motors Corp | Travel lane recognition device |
| JP2005173882A (en) * | 2003-12-10 | 2005-06-30 | Nissan Motor Co Ltd | Rear side image control device and method |
| JP4513318B2 (en) * | 2003-12-10 | 2010-07-28 | 日産自動車株式会社 | Rear side image control apparatus and method |
| US8553087B2 (en) | 2003-12-10 | 2013-10-08 | Nissan Motor Co., Ltd. | Vehicular image display system and image display control method |
| JP2007240319A (en) * | 2006-03-08 | 2007-09-20 | Toyota Motor Corp | Map data preparation device for vehicle, and map data updating device for vehicle |
| JP2007310595A (en) * | 2006-05-17 | 2007-11-29 | Denso Corp | Traveling environment recognition system |
| US8694236B2 (en) | 2006-05-17 | 2014-04-08 | Denso Corporation | Road environment recognition device and method of recognizing road environment |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3365168B2 (en) | 2003-01-08 |
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