Travel lane detection method and travel lane detection device

• US 10,275,666 B2
• Filed: 03/24/2016
• Issued: 04/30/2019
• Est. Priority Date: 03/24/2016
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tsuchiya, Chikao, Sano, Yasuhito
• Primary Examiner(s): Bayat, Ali
• Application Number:
  US16/087,422
• Publication Number:
  US 20190102632A1
• Time in Patent Office: 1,132 Days
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A travel lane detection method detects travel lane boundaries according to a plurality of travel lane characteristic points detected by a target detection sensor installed in a vehicle. When a lane change of the vehicle is detected, the method determines continuity of the travel lane characteristic points detected before the lane change is completed with respect to the travel lane characteristic points detected after the lane change is completed while taking account of a lane change amount so as to detect the travel lane boundaries according to the continuity of the travel lane characteristic points.

Claims

1. A travel lane detection method using a travel lane detection circuit for accumulating, according to an amount of movement of a vehicle, a plurality of travel lane characteristic points detected by a target detection sensor installed in the vehicle so as to detect travel lane boundaries according to the accumulated travel lane characteristic points,

the travel lane detection circuit being configured to, when a lane change of the vehicle is detected, correct the travel lane characteristic points detected and accumulated before the lane change starts according to an amount of movement of the vehicle in a vehicle width direction derived from the lane change, and detect the travel lane boundaries after the lane change of the vehicle is completed by use of the corrected travel lane characteristic points detected and accumulated before the lane change starts and the travel lane characteristic points detected and accumulated after the lane change is completed.

2. The travel lane detection method according to claim 1, wherein the travel lane detection circuit groups the accumulated travel lane characteristic points according to a position of the vehicle in the vehicle width direction, detects the travel lane boundaries based on the travel lane characteristic points grouped and extracted, groups, among the accumulated travel lane characteristic points, the corrected travel lane characteristic points detected and accumulated before the lane change starts and the travel lane characteristic points detected and accumulated after the lane change is completed when the lane change is detected, and detects the travel lane boundaries after the lane change of the vehicle is completed according to the travel lane characteristic points grouped and extracted.

3. The travel lane detection method according to claim 1, wherein the travel lane detection circuit moves positions of the travel lane characteristic points in the vehicle width direction detected before the lane change starts in a direction opposite to a lane change direction by an amount which is the same as the amount of movement of the vehicle in the vehicle width direction derived from the lane change so as to use the moved travel lane characteristic points.

4. The travel lane detection method according to claim 1, wherein the travel lane detection circuit does not use the travel lane characteristic points detected during a period from which the lane change starts to which the lane change is completed.

5. The travel lane detection method according to claim 1, wherein the travel lane detection circuit sets a time at which the lane change starts and a time at which the lane change is completed according to a time when the lane change of the vehicle is detected.

6. A travel lane detection device comprising a controller programmed to:

accumulate, according to an amount of movement of a vehicle, a plurality of travel lane characteristic points detected by a target detection sensor installed in the vehicle; and

detect travel lane boundaries according to the accumulated travel lane characteristic points,

when a lane change of the vehicle is detected, correct the travel lane characteristic points detected and accumulated before the lane change starts according to an amount of movement of the vehicle in a vehicle width direction derived from the lane change, and detect the travel lane boundaries after the lane change of the vehicle is completed by use of the corrected travel lane characteristic points detected and accumulated before the lane change starts and the travel lane characteristic points detected and accumulated after the lane change is completed.

7. A travel lane detection method using a travel lane detection circuit for accumulating, according to an amount of movement of a vehicle, a plurality of travel lane characteristic points detected by a target detection sensor installed in the vehicle so as to detect travel lane boundaries according to the accumulated travel lane characteristic points,

the travel lane detection circuit being configured to, when a lane change of the vehicle is detected, ignore the travel lane characteristic points detected and accumulated before the lane change is completed, and detect the travel lane boundaries after the lane change of the vehicle is completed by use of the travel lane characteristic points detected and accumulated after the lane change is completed.

8. The travel lane detection method according to claim 7, wherein the travel lane detection circuit groups the accumulated travel lane characteristic points according to a position of the vehicle in a vehicle width direction, detects the travel lane boundaries based on the travel lane characteristic points grouped and extracted, groups, among the accumulated travel lane characteristic points, the travel lane characteristic points detected and accumulated after the lane change is completed when the lane change is detected, and detects the travel lane boundaries after the lane change of the vehicle is completed according to the travel lane characteristic points grouped and extracted.