Honda Motor Co., Ltd.

Toyoda Gosei Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Honda Research Institute Europe Gmbh

Naoki Mori

Sachio Kobayashi

Tomoyoshi Aoki

Takuma Nakamori

Sven Rebhan

Marcus Kleinehagenbrock

Robert Kastner

Hiroyuki Kamiya

Shunsuke Kusuhara

Kazuya Watanabe

Hiroyuki Hagano

Kenichiro Kaneko

Morimichi Nishigaki

Hiroshi Nishi

Takashi Maeno

Yutaka Ogasawara

Kazuma Ohara

Jens Schmüdderich

Masato Ueno

Tatsuya Ishikawa

Yoshikazu Kaneyasu

Kenta Kuwayama

Masahiro Ogata

Shoji Uhara

Masaru Tomimatsu

Yuichi Konishi

Go Oue

Shoji Horiba

Tsuneichi Furuie

Jens Schmudderich

Masaki Inoue

Kouji Kawamoto

Jens Dr Schmüdderich

A map generation apparatus includes a microprocessor configured to perform: extracting feature points from detection information detected by an in-vehicle detection unit; selecting feature points for which three-dimensional positions are to be calculated from extracted feature points; based on a plurality of the detection information, calculating the three-dimensional positions of same feature points in the plurality of the detection information for the selected feature points by using a position and posture of the in-vehicle detection unit; and generating a map including information of each of the three-dimensional positions by using the three-dimensional positions of the calculated feature points, wherein the microprocessor is configured to perform the selecting including selecting the feature points on an object with a high priority among a plurality of objects included in the detection information based on a priority information set for each of the plurality of objects in advance.

Map generation apparatus

A map generation apparatus includes: an in-vehicle detection unit configured to detect a situation around a subject vehicle in traveling; and a microprocessor and a memory connected to the microprocessor. The microprocessor is configured to perform: extracting one or more feature points from a detection data acquired by the in-vehicle detection unit; generating a map using the feature points extracted in the extracting while the subject vehicle is traveling; collating the feature points extracted in the extracting with the map to recognize a position of the subject vehicle on the map when the subject vehicle travels in a region corresponding to the map; and deleting, from the map, a feature point whose result of collation in the recognizing is less than a predetermined degree among the feature points included in the map.

Map generation apparatus includes processor and memory. Memory stores: first/second map information of first/second map of first/second area adjacent to each other. Processor generates first/second map based on first/second traveling history of first/second vehicle in first/second area; and updates at least one of first/second map information so as to combine first/second maps. First map information includes position information of point cloud recognized based on distance information to surrounding objects acquired by first vehicle. Second map information includes position information of lane marker recognized based on image information acquired by second vehicle. Processor recognizes position of lane marker based on first map information stored in memory; and updates at least one of first/second map information stored in memory so as to combine first/second maps based on recognized position of lane marker and position information of lane marker included in second map information.

A road surface detection device, which detects a road surface of a road on which a host vehicle runs, includes: a sensor configured to detect three-dimensional positional information at individual detection points by scanning a layer that includes the road surface; and an external environment recognition unit configured to calculate two-dimensional positional information in which positional information in a height direction has been removed from the positional information at the individual detection points included in the layer, to calculate, based on the two-dimensional positional information, a point sequence of the individual detection points in a two-dimensional coordinate plane, and to detect a trench existing in the road surface in accordance with a state of change of the point sequence.

Road surface detection device

The invention relates to a driving assistant adapted for active control of a vehicle based on predictions of a behavior of a detected object. A method aspect of the invention comprises accepting a first prediction of a behavior associated with the detected object from a first prediction subsystem and a second prediction from a second prediction subsystem; determining a control signal based on a combination of the first prediction and the second prediction; and initiating active control of the vehicle based on the control signal.

Driving assistance technique for active vehicle control

A link connecting a lid and a base member of a filler lid structure includes first and second link members. At an opening position, a distance between a distal end of the lid and the base member is larger than a distance between a proximal end of the lid and the base member. The first link member swings about a first support portion in a direction in which a second support portion is moved away from the base member, when the lid shifts from a closing position to the opening position. A distance between a base support point at which the base member or the first link member supports a third support portion at the closing position and an end support point at which the lid supports a fourth support portion at the closing position changes when the lid shifts from the closing position to the opening position.

Filler lid structure

There is provided a closing device for a filler port. This closing device for the filler port comprises a fuel passage forming portion configured to include a first engagement element; a first open-close mechanism configured to include a first cover that is opened toward an upstream side; and a second open-close mechanism configured to open and close a second opening and include a second cover that is opened toward the upstream side. The first open-close mechanism further comprises a disengagement portion located on the upstream side of a second engagement element when the second engagement element is engaged with the first engagement element, and configured to disengage the second engagement element from the first engagement element when receiving a force in a closing direction from the second cover.

Closing device for filler port

The connector comprises a housing having a connection hole where a pipe with a flange is inserted, a retainer having a latching portion that retains the pipe by being arranged at a location facing the connection hole and engaged with the flange, and a checker that is supported by the housing at the retaining position and is movable from the retaining position to the connection confirmation position when the pipe is inserted into the connection hole up to the normal connection position. The checker is configured to release the engagement between the latching portion and the flange, when at the connection confirmation position, by having the retainer that is engaged with the flange of the pipe at the normal connection position pushed to expand the distance of the retainer so that the pipe can be pulled out from the connection hole.

Connector

A demarcation line candidate recognizing unit recognizes demarcation line candidates which are candidates for a pair of right and left demarcation lines demarcating a lane based on edge points having predetermined continuity in an image captured by a camera. A demarcation line candidate modifying unit excludes edge points whose corresponding positions in a real space are a predetermined distance or more away from the camera in the case where parallelism between the pair of right and left demarcation line candidates recognized by the demarcation line candidate recognizing unit is equal to or less than a predetermined level and re-recognizes the pair of right and left demarcation line candidates based on the edge points having predetermined continuity among the edge points which have not been excluded.

Lane recognition device

In an intelligent forward collision warning system that takes into account not only a first preceding vehicle traveling immediately ahead of the ego vehicle but also a second preceding vehicle traveling immediately ahead of the first preceding vehicle, a warning signal is produced upon detecting a critical state of the first or second preceding vehicle or an external condition that is predicted to cause the first preceding vehicle and the ego vehicle to be in a same lane with the first time to collision (TTC) below a prescribed value.

Intelligent forward collision warning system

A vehicle steering controller includes a shape recognizer that recognizes a shape of a road on the basis of a captured image, a steering control unit that controls steering of a vehicle on the basis of the shape of the road recognized by the shape recognizer, and a determiner that determines whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road section and a linear road section. If the determination made by the determiner is negative, then the shape recognizer recognizes the shape of the road by performing an approximation using an approximation expression having a degree of one or two, otherwise the shape recognizer recognizes the shape of the road by performing an approximation using an approximation expression having a degree of three.

Vehicle steering controller

A lane marker recognizing apparatus which recognizes stud-type lane markers from acquired road image includes a candidate region extracting means for extracting a region having the possibility of being an image portion of the lane marker, from the road image, as a lane marker candidate region, a real space representative point calculating means for determining a representative point of the lane marker candidate region according to a predetermined condition, and calculating a real space position corresponding to the representative point as a real space representative point, a grouping means for forming one group of the real space candidate points having a relative distance within a predetermined range set according to standards on the lane marker, and a lane marker position recognizing means for recognizing the position of the lane marker based on the real space representative point formed into one group by the grouping means.

Lane marker recognizing apparatus

A fuel shut-off valve includes a casing, an ascendable and descendible float, and an upper valve element, which is actuated by the float to open and close connector passage that communicates the inside of fuel tank with the outside, and which includes a valve body and a ring-shaped seat member. The ring-shaped seat member makes a connector bore, which communicates with the connector passage, therein, and includes a base, a holding portion, a seating portion, a lip-shaped portion, and a thin-film-shaped portion. The seating portion opens and closes the connector passage, and defines an opening of the connector bore. The lip-shaped portion seats on and separates away from the float, and defines the other opening of the connector bore. The thin-film-shaped portion is disposed between the base and the lip-shaped portion, and is deformable elastically upon being pressed by the float when the float seats on the lip-shaped portion.

Fuel shut-off valve

An image processing system and the like capable of recognizing a lane mark in a road image with high accuracy are provided even if a light illumination state on a road surface is partially different. According to the image processing system () mounted on a vehicle (), a color component (Rij, Gij, Bij) of the first pixel (Pij) included in an area (Aij) set in the road image is corrected with reference to a color component (Rik, Gik, Bik) of a second pixel (Pik) in view of a fact that it is highly probable that the color component of the second pixel included in the area along with the first pixel is affected by a shadow or light on the road surface. This reduces the effect of the shadow or light on the road surface and the actual color of a road surface portion corresponding to the first pixel can be sufficiently reflected in the color components (Rij, Gij, Bij) of the first pixel (Pij) and consequently in a feature value (Qij). Therefore, a lane mark (M) and its edge (E) are recognized in the road image on the basis of the feature value (Qij) of each pixel (Pij) in the road image.

Systems and methods of vehicle image processing

There is provided an image acquisition means () for acquiring a color image of a road via an imaging means () mounted on a vehicle (), a lane mark detection means () for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data, and a selection means () for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle () is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means (), and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data. Therefore, even if there are lane marks of different colors on the road, the lane marks of the respective colors can be recognized appropriately from the color image of the road acquired via the imaging means such as a camera.

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Wako, Japan

Naoki Mori