Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Honda Giken Kogyo Kabushiki

Sachio Kobayashi

Tomoyoshi Aoki

Takuma Nakamori

Naoki Mori

Kazuya Tamura

Eishi Jitsukata

Jun Tanaka

Yoshimi Furukawa

Akira Iihoshi

Masashi Sato

Kiyozumi Unoura

Tetsuo Ikeda

Mahito Ishiyama

Eiki Sato

A vehicle control device is equipped with a detection unit configured to detect lane markings and another vehicle on the basis of peripheral information, and a control unit which, in the case that the lane marking is detected on one side of a host vehicle, but the lane marking is not detected on another side of the host vehicle, is configured to control the host vehicle on the basis of the positions of a plurality of the other vehicles that are traveling respectively in mutually different lanes.

Inferring a lane boundary position by the detected position of other vehicles in different lanes

A vehicle control device includes a control unit, which is a control unit that determines, on the basis of the positions of a plurality of other vehicles, whether or not the position of a host vehicle lane is being correctly detected by a detection unit, and controls the host vehicle by determining that the position of the host vehicle lane is being correctly detected by the detection unit, on the basis of another vehicle existing among the plurality of other vehicles, for which a first distance, which is a distance in a lane widthwise direction between the position of the host vehicle lane and a position corresponding to the position of the other vehicle, is less than a threshold value.

Vehicle control device, vehicle control method, and non-transitory computer-readable medium storing a program

A drive control apparatus includes: an inter-vehicle distance sensor configured to detect an inter-vehicle distance D of an own vehicle and a preceding vehicle; an inter-vehicle distance arithmetic unit; a follow driving control unit configured to perform control of acceleration or deceleration of the vehicle such that the inter-vehicle distance D coincides with a target inter-vehicle distance Dtr; a camera configured to detect the number of lanes N of a road L; an image processing unit; and a lane number determining unit. The follow driving control unit performs control of acceleration or deceleration at a maximum acceleration or deceleration Gmax according to the number of lanes N.

Drive control apparatus

The image processing device includes a lane marking recognition section that recognizes left and right lane markings from a surroundings image captured by an imaging section, and a leading vehicle recognition section that recognizes a leading vehicle from the surroundings image. The lane marking recognition section determines that the left and right lane markings are a true lane marking pair in cases in which a width direction discrepancy, or a value based on the discrepancy, between a reference position between the left and right lane markings and a reference position of the leading vehicle is within a threshold value.

Image processing device

A driving control device uses a recognition reliability, and more specifically, uses an inter-vehicle distance, a radius of curvature of a road, and a gradient of the road, to determine detection precision with respect to a leading vehicle. Lane markings are set as restriction positions in cases in which the recognition reliability for the leading vehicle is greater than or equal to a reference. Positions closer to the vehicle than the lane markings are set as the restriction positions in cases in which the recognition reliability for the leading vehicle is lower than the reference.

Driving control device

A trajectory tracking control unit carries out a trajectory tracking control in the event that a predetermined condition is satisfied. On the other hand, in the case that a preceding vehicle recognizing unit detects that a preceding vehicle has moved in a vehicle transverse direction, the trajectory tracking control unit predicts that the preceding vehicle will depart from a lane in which it is traveling. Therefore, even if the predetermined condition is satisfied after the preceding vehicle recognizing unit has detected that the preceding vehicle has moved in the vehicle transverse direction, the trajectory tracking control unit does not cause the driver's own vehicle to follow the trajectory of the preceding vehicle.

Driving support device

A driving support device includes: a preceding vehicle recognizer that recognizes a preceding vehicle; a lane mark recognizer that recognizes a lane mark; a path following controller that controls the own-vehicle; and a lane maintaining controller that controls the own-vehicle when a vehicle speed of the own-vehicle is greater than or equal to a predetermined speed. The driving support device further includes a prediction unit that predicts a shift of the own-vehicle to a running state with the predetermined speed or greater, and while the own-vehicle is under control of the path following controller, when the preceding vehicle ceases to be an object recognized by the preceding vehicle recognizer, the vehicle speed is less than the predetermined speed, and the prediction unit (control management unit) predicts the shift of the own-vehicle to the running state with the predetermined speed or greater, the lane maintaining controller controls the own-vehicle.

The lane mark recognition device is equipped with a lane mark detecting unit which executes a lane mark detection process in each predetermined control cycle, and adds a detection presence/absence data to a ring buffer, a detection presence/absence data addition inhibiting unit which inhibits addition of the detection presence/absence data to the ring buffer when the vehicle is traveling in the intersection, and a lane mark position recognizing unit which recognizes a relative position of the vehicle and the lane mark, when the lane mark is detected in the situation where a lane mark detection rate calculated from the data of the ring buffer is higher than a reliability threshold value.

Lane recognition device

A vehicle travel support device is capable of properly controlling the operation of a steering device and the like from the viewpoint of supporting the travel of a vehicle stably even in a situation where a travel area is inappropriately demarcated by right and left lane marks at both sides. A virtual travel area can be set as a travel area when a first condition is satisfied, that is, when the separation between the right and the left lane marks in width direction of a road increases to an inappropriate extent from the viewpoint of demarcating the travel area because the separation therebetween gradually increases as the distance from the vehicle increases. The operation of a steering device and the like is controlled such that the vehicle will not depart from the virtual travel area set as the travel area.

Vehicle travel support device, vehicle, and vehicle travel support program with imaging device for recognizing a travel area

A vehicle travel support device capable of continuing operation even when the recognition accuracy of a lane mark has been degraded, and the like, wherein the degree of control on the operation of a steering device or the like is set higher as the reliability of a lane mark becomes higher. In a state in which the reliability of a travel area demarcated by the lane mark is high, a vehicle's travel is relatively strongly or actively supported so that the vehicle will not depart from the travel area. On the other hand, the degree of control on the operation of the steering device or the like is set lower as the reliability of the lane mark is lower. In a state in which the reliability of the travel area demarcated by the lane mark is low, the vehicle's travel is relatively weakly or passively supported so that the vehicle will not depart from the travel area.

Vehicle travel support device, vehicle, and vehicle travel support program

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.

Vehicle and lane recognition device

An image processing system and the like capable of accurately recognizing lane edges defined by dotted lane marks are provided. According to an image processing system () of the present invention, a first processing unit () searches a road surface image captured by a vehicle-mounted camera for a 'small area,' which is composed of high- or low-luminance pixels and satisfies 'eligibility conditions' on the &#x201c;size,&#x201d; &#x201c;shape,&#x201d; and &#x201c;arrangement&#x201d; in the road surface image. Additionally, a second processing unit () recognizes &#x201c;lane edges&#x201d; of the lane along which the vehicle travels on the basis of the &#x201c;small area.&#x201d; Furthermore, a third processing unit () sets a &#x201c;search range&#x201d; of the small area searched by the first processing unit () on the basis of a result of the foregoing recognition of the lane edges by the second processing unit ().

Vehicle, image processing system image processing method, image processing program, method for configuring image processing system, and server

An image processing system and the like capable of improving recognition accuracy of a lane mark are provided. According to the image processing system of the present invention, a first processing unit () recognizes a lane mark candidate on the basis of the luminance of each pixel in a road image. Moreover, there are evaluated a first index which represents continuity of an edge of the lane mark candidate, a second index which represents conformance between the width of the lane mark candidate and a lane mark standard width, and a third index which represents uniformity of the luminance of pixels contained in the lane mark candidate. According to the first, second, and third indices, a second processing unit () recognizes a lane mark candidate most likely to be a true lane mark as a lane mark.

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Wako, Japan

Sachio Kobayashi