公开(公告)号：JP3684395B2

公开(公告)日：2005-08-17

申请号：JP2001399294

申请日：2001-12-28

Applicant: 現代自動車株式会社

Inventor： ヨン 燮 李

IPC: B60R21/00 ,  B60Q9/00 ,  B62D1/28 ,  G05D1/02 ,  G06T1/00 ,  G08G1/00 ,  G08G1/09 ,  G08G1/16

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/089

公开(公告)号：JP2005088890A

公开(公告)日：2005-04-07

申请号：JP2004273860

申请日：2004-09-21

Applicant: Nissan Motor Co Ltd ,  日産自動車株式会社

Inventor： KAWAZOE HIROSHI

IPC: B60R21/00 ,  B62D5/04 ,  B62D6/00 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  G08G1/16

CPC classification number: B60T2201/08 ,  B60T2201/089

Abstract: PROBLEM TO BE SOLVED: To perform a steering control so as to extend a distance to lane deviation or a time to lane deviation by detecting the lane deviation of a vehicle based on the road shape of a traveling.
SOLUTION: Whether the vehicle tends to come out of the lane or not is judged by detecting a white line from the image of the front of the vehicle photographed with a camera 1. When the vehicle tends to come out of the lane, an alarm is issued, and a steering control mechanism is controlled by gradually varying a control curvature ρ
c as a steering control parameter. Thus, the distance to deviation or the time to lane deviation can be extended, and a widthwise deviation distance can be reduced.
COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：基于行驶的道路形状，通过检测车辆的车道偏离来执行转向控制以便延伸到车道偏离的距离或车道偏离的时间。 通过从用摄像机1拍摄的车辆的前方的图像中检测出白线来判断车辆是否倾向于从车道出来。当车辆倾向于从车道出来时， 发出报警，通过逐渐改变作为转向控制参数的控制曲率ρ c 控制转向控制机构。 因此，可以延长到偏差的距离或车道偏离的时间，并且可以减小宽度方向的偏离距离。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2004330995A

公开(公告)日：2004-11-25

申请号：JP2003132899

申请日：2003-05-12

Applicant: Nissan Motor Co Ltd ,  日産自動車株式会社

Inventor： MATSUMOTO SHINJI ,  TAYA SATOSHI ,  SUZUKI TATSUYA

IPC: B60R21/00 ,  B60T7/12 ,  B60T8/17 ,  B60T8/1755 ,  B60W30/00 ,  B60W30/12 ,  B62D15/02 ,  G08G1/16 ,  H04N7/18 ,  B60T8/58

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/089 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: PROBLEM TO BE SOLVED: To improve lane deviation avoiding performance when there is no road white line in an image pick-up region.
SOLUTION: This device detects a road white line from an picked up image in front of a vehicle, and performs lane deviation avoiding control for avoiding deviation of the vehicle from a travel lane (step S17) when it is detected based on the road white line that the vehicle is apt to deviate from the travel lane (step S8). When no road white line can be detected (step S9 "No"), this device performs vehicle control for directing the vehicle to a center position of the travel lane (step S17) based on the state where it is detected that the vehicle is apt to deviate from the travel lane (step S10) and a state where it is detected that the vehicle travels on uneven part on a road surface disposed on the road white line (step S11).
COPYRIGHT: (C)2005,JPO&NCIPI

公开(公告)号：KR1020150141188A

公开(公告)日：2015-12-17

申请号：KR1020157032159

申请日：2014-06-03

Applicant: 히다치 오토모티브 시스템즈 가부시키가이샤

Inventor： 다카하시아키라 ,  구보준 ,  사사키미츠오

IPC: B60W30/12 ,  B60W40/114 ,  B60W10/188 ,  B60W10/20 ,  B62D6/00 ,  B60T7/12 ,  B60T7/22 ,  B60T8/172 ,  B60T8/1755 ,  H04N7/18

CPC classification number: B60W30/02 ,  B60T8/17 ,  B60T8/1755 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60T2201/089 ,  B60T2210/13 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/09 ,  B60W30/0953 ,  B60W40/114 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2520/00 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2550/10 ,  B60W2710/18 ,  B60W2710/202 ,  B62D5/0463 ,  B62D15/025

Abstract: 천천히스핀하는경우라도, 안정성을확보할수 있는차량제어시스템을제공하는것. 본발명에서는, 자차량의진행방향영역의정보로부터주행로의주행로규정선을인식하고, 자차량에서진행방향으로뻗는진행방향가상선을인식하며, 적어도, 진행방향가상선과주행로규정선이형성하는각도가증가했을때는, 형성되는각도가감소하도록차량운동을제어하는것으로했다.

公开(公告)号：KR100435654B1

公开(公告)日：2004-06-12

申请号：KR1020010035140

申请日：2001-06-20

Applicant: 현대자동차주식회사

Inventor： 이영섭

IPC: B60Q9/00

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/089

Abstract: A method for preventing a vehicle from deviating from a lane is provided, in which precise determinations of whether a vehicle is deviating from a lane may also be made when driving on curved sections of a road. Using DSRC, which is a system enabling communications between a vehicle and roadside equipment, information of road curvature and lane width is received. This road information and setting information of a camera mounted to the vehicle are then used to determine a lane deviation determination standard angle, which is used in curved sections of the road. A difference between the standard angle and a center value of left and right lane marker angles is compared with a critical value to determine whether the vehicle is deviating from the lane.

Abstract translation: 提供了一种用于防止车辆偏离车道的方法，其中当在道路弯曲部分上行驶时，还可以进行车辆是否偏离车道的精确确定。 使用DSRC（车辆和路边设备之间的通信系统），可以收到道路曲率和车道宽度的信息。 然后使用安装到车辆的摄像机的该道路信息和设置信息来确定在道路的弯曲区段中使用的车道偏离确定标准角度。 将标准角度与左右车道标记角度的中心值之间的差异与临界值进行比较以确定车辆是否偏离车道。

公开(公告)号：KR100257592B1

公开(公告)日：2000-06-01

申请号：KR1019970020916

申请日：1997-05-27

Applicant: 파나소닉 주식회사

Inventor： 야스이노부히코 ,  이사카아쓰시 ,  가네코마모루

IPC: G08G1/0962

CPC classification number: G06K9/00798 ,  B60T2201/08 ,  B60T2201/089 ,  G01C21/26 ,  G05D1/0246 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/4633 ,  G08G1/04

Abstract: 도로 양편의 차선표시를 검출하기 위한 차선 검출센서(K1)는: 주행하는 차량의 전방에 있는 도로의 영상을 촬영하는 영상촬영수단(1)과; 영상촬영수단(1)으로 부터의 도로의 영상에 대한 데이터를 저장하는 영상데이터 메모리수단(2)과; 영상데이터 메모리수단(2)에 저장된 도로의 영상에 대한 데이터를 사용하여 도로의 차선표시에 대응하는 윤곽점을 추출하는 윤곽점 추출수단(3)과; 윤곽점 추출수단(3)으로부터의 도로의 차선표시에 대응하는 윤곽점을 사용하여 다항식 곡선을 계산하는 곡선 검출수단(4)과; 곡선 검출수단(4)에 의해 계산된 다항식 곡선의 계수를 사용하여 허프변환의 범위를 제한하는 허프변환 제한수단(5)과; 허프변환 제한수단(5)에 의해 제한된 허프변환의 범위와 곡선 검출수단(4)으로부터의 다항식 곡선을 사용하여 허프변환을 실행하는 허프변환수단(6)과; 그리고 허프공간내 어큐뮬레이터의 최대값을 구하여 어큐뮬레이터의 최대값에 대응하는 곡선을 검출하는 허프변환 검출수단(7)을 포함한다.

公开(公告)号：KR1020140040983A

公开(公告)日：2014-04-04

申请号：KR1020120107729

申请日：2012-09-27

Applicant: 한국전자통신연구원

Inventor： 노명찬 ,  변재민 ,  나기인 ,  김성훈

IPC: B60W30/12 ,  G01C21/30 ,  B60W40/06

CPC classification number: B60R1/00 ,  B60G2400/41 ,  B60G2400/824 ,  B60G2401/142 ,  B60G2800/24 ,  B60T2201/08 ,  B60T2201/089 ,  B60W10/20 ,  B60W30/12 ,  B60W2510/20 ,  B60W2540/18 ,  B60W2550/146 ,  B60W2710/20 ,  B62D1/28 ,  B62D6/00 ,  B62D15/025 ,  G05D1/0246 ,  G06T2207/30256 ,  G08G1/167

Abstract: Disclosed are a lane tracking device using a camera direction control and a method thereof. The lane tracking device using a camera direction control according to the present invention includes a lane recognition unit which obtains lane information from an image filmed by a camera, a road curvature calculation unit for calculating a road curvature using the lane information, and a camera angle control unit which controls camera angles considering the road curvature. [Reference numerals] (110) Lane recognition unit; (120) Road curvature calculation unit; (130) Camera angle control unit; (140) Vehicle steering angle sensor unit; (150) Road recognition unit; (160) Vehicle steering angle correction unit

Abstract translation: 公开了使用照相机方向控制的车道跟踪装置及其方法。 使用根据本发明的照相机方向控制的车道跟踪装置包括车道识别单元，其从由照相机拍摄的图像获取车道信息，路面曲率计算单元，用于使用车道信息计算道路曲率，以及相机角度 控制单元，其考虑道路曲率来控制摄像机角度。 （附图标记）（110）车道识别单元; （120）道路曲率计算单位; （130）相机角度控制单元; （140）车辆转向角传感器单元; （150）道路识别单位; （160）车辆转向角修正单元

公开(公告)号：KR101071732B1

公开(公告)日：2011-10-11

申请号：KR1020070132838

申请日：2007-12-17

Applicant: 현대자동차주식회사

Inventor： 김력 ,  유제훈

IPC: B60W30/10

CPC classification number: B60W50/0098 ,  B60T2201/08 ,  B60T2201/089 ,  B60T2210/32 ,  B60W2420/42 ,  B60W2550/143

Abstract: 전방도로정보를이용하여차량의주행속도를제어하는장치및 방법이소개된다. 본발명에따른차량의주행속도제어장치는차량의전방도로를촬영하고영상데이터를획득하고, 상기영상데이터로부터칼만필터를이용하여전방도로정보를추출하는전방영상센서; 상기전방도로정보를이용하여차량의주행에필요한속도를계산하는제어부; 및상기계산된차량의속도에따라차량의주행동작을조절하는구동부;를포함한다. 본발명에따른차량의주행속도제어장치및 그방법은주행중인차량의조향각, 요레이트뿐 아니라차량의전방도로의정보를미리검출하여곡선로진입또는진출시차량의속도를감속하여차량의안전성을유도하고승차감을향상시키는효과가있다.

公开(公告)号：KR1020020097357A

公开(公告)日：2002-12-31

申请号：KR1020010035140

申请日：2001-06-20

Applicant: 현대자동차주식회사

Inventor： 이영섭

IPC: B60Q9/00

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/089

Abstract: PURPOSE: A control method for preventing a definition of a lane for a vehicle is provided not to generate a miss-warning in a curved road. CONSTITUTION: Road information and a reference angle of a lane definition are inputted from a road transmitter to a loaded device. A delta value is calculated by using a road width from the road information. The delta value is set to secure an image from a photographed image from a CCD(Charge Coupled Device) camera. Edges of a left lane and a right lane are detected from the image. A gravity center and an inclination of each lane are detected. An intermediate value of inclination angles of each lane is detected. A modulus is calculated by subtracting the reference value from the intermediate value. An alarming is generated when the modulus is larger than the delta value. Otherwise, the delta value is reset. Thereby, the definition of the lane is warned exactly.

Abstract translation: 目的：提供一种用于防止车辆的车道定义的控制方法，其不会在弯道中产生错误警告。 规定：道路信息和车道定义的参考角度从道路发射机输入到装载的设备。 通过使用道路信息的道路宽度来计算差值。 设置增量值以确保来自CCD（电荷耦合器件）照相机的拍摄图像的图像。 从图像中检测左车道和右车道的边缘。 检测每个车道的重心和倾斜度。 检测每个车道的倾斜角度的中间值。 通过从中间值减去参考值来计算模量。 当模量大于增量值时会产生报警。 否则，delta值被重置。 因此，准确地警告车道的定义。

公开(公告)号：TWI306816B

公开(公告)日：2009-03-01

申请号：TW095146602

申请日：2006-12-13

Applicant: 財團法人工業技術研究院 INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： 王裕龍 WANG, YU-LONG ,  廖永盛 LIAO, YUNG-SHENG ,  葉志賢 YEH, CHIN-SHEN ,  劉憲鎗 LIU, SIAN-CHIANG

IPC: B60R ,  B60W

CPC classification number: B60Q9/008 ,  B60T2201/082 ,  B60T2201/089 ,  B60W40/02 ,  G08G1/16 ,  G08G1/167

Abstract: 本發明揭露一種車道偏移警示方法,其係可以根據天候以及環境亮度狀況來選擇資訊擷取的來源以降低車道偏移影像解析誤判的狀況產生。利用該方法,本發明更提供一種車道偏移警示裝置,利用具有兩個資訊擷取單元,其係分別可以擷取車輛周圍以及底部之影像資訊,並將此資訊送至一資訊處理控制單元進行演算,以精確判斷車道偏移,避免環境之影響造成誤判之狀況。該資訊處理控制單元可以根據天候以及環境亮度之狀況來選擇依據其中之一資訊擷取單元偵測之影像資訊進行解析車輛之偏移。當有異常偏移現象出現時,可以產生警示以提醒駕駛員注意。

Abstract in simplified Chinese: 本发明揭露一种车道偏移警示方法,其系可以根据天候以及环境亮度状况来选择信息截取的来源以降低车道偏移影像解析误判的状况产生。利用该方法,本发明更提供一种车道偏移警示设备,利用具有两个信息截取单元,其系分别可以截取车辆周围以及底部之影像信息,并将此信息送至一信息处理控制单元进行演算,以精确判断车道偏移,避免环境之影响造成误判之状况。该信息处理控制单元可以根据天候以及环境亮度之状况来选择依据其中之一信息截取单元侦测之影像信息进行解析车辆之偏移。当有异常偏移现象出现时,可以产生警示以提醒驾驶员注意。