Apparatus and method for detecting traffic lane mark for automotive vehicle
First Claim
1. An apparatus for detecting a traffic lane mark for an automotive vehicle, comprising:
- a photograph device to photograph a situation of a running road in a vehicular forward direction;
a traffic lane detection window setting section that once sets one traffic lane detection window on an image data photographed by the photograph device;
a window internal traffic lane detecting section that detects a traffic lane mark passing through the traffic lane detection window set by the traffic lane detection window setting section on the basis of a luminance information on each point within the traffic lane detection window, the window lane detection setting section setting a plurality of other traffic lane detection windows in accordance with the one traffic lane detection window through which the traffic lane mark is passed and the window internal traffic lane detecting section detecting the traffic lane mark passing through each of the other traffic lane detection windows set by the traffic lane detection window setting section on the basis of the luminance information on each point of the other traffic lane detection windows;
a noise detection window setting section that sets at least one noise detection window at a position which abuts each of the traffic lane detection windows set by the traffic lane detection window setting section;
an edge intensity detecting section that detects an edge intensity within each noise detection window set by the noise detection window setting section;
a weight value modifying section that modifies a weight value to each of the traffic lane detection windows in accordance with the edge intensity in the related one of the noise detection windows; and
a road contour calculating section that calculates a road contour using any of the traffic lane marks detected by the window internal traffic lane detecting section and the weight value modified by the weight value modifying section.
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Accused Products
Abstract
In apparatus and method for detecting a traffic lane mark for an automotive vehicle, a plurality of traffic lane detection windows are set in a manner for the traffic lane to be included in each traffic lane detection window from an image data photographed by a photograph device, the traffic lane mark is detected from a luminous intensity information within each traffic lane detection window of each coordinate point, a plurality of noise detection windows are set at positions which abut the respective traffic lane detection windows, an edge intensity within each noise detection window is detected; a weight value to a predetermined number of the traffic lane detection windows is modified in accordance with the edge intensity in the noise detection window; and a road contour is calculated using the traffic lane detected at the window internal traffic lane detecting and the modified weight value.
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Citations
17 Claims
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1. An apparatus for detecting a traffic lane mark for an automotive vehicle, comprising:
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a photograph device to photograph a situation of a running road in a vehicular forward direction;
a traffic lane detection window setting section that once sets one traffic lane detection window on an image data photographed by the photograph device;
a window internal traffic lane detecting section that detects a traffic lane mark passing through the traffic lane detection window set by the traffic lane detection window setting section on the basis of a luminance information on each point within the traffic lane detection window, the window lane detection setting section setting a plurality of other traffic lane detection windows in accordance with the one traffic lane detection window through which the traffic lane mark is passed and the window internal traffic lane detecting section detecting the traffic lane mark passing through each of the other traffic lane detection windows set by the traffic lane detection window setting section on the basis of the luminance information on each point of the other traffic lane detection windows;
a noise detection window setting section that sets at least one noise detection window at a position which abuts each of the traffic lane detection windows set by the traffic lane detection window setting section;
an edge intensity detecting section that detects an edge intensity within each noise detection window set by the noise detection window setting section;
a weight value modifying section that modifies a weight value to each of the traffic lane detection windows in accordance with the edge intensity in the related one of the noise detection windows; and
a road contour calculating section that calculates a road contour using any of the traffic lane marks detected by the window internal traffic lane detecting section and the weight value modified by the weight value modifying section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An apparatus for detecting a traffic lane mark for an automotive vehicle, comprising:
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photographing means for photographing a situation of a running road in a vehicular forward direction;
traffic lane detection window setting means for setting one traffic lane detection window on an image data photographed by the photograph device;
window internal traffic lane detecting means for detecting a traffic lane mark passing through the traffic lane detection window set by the traffic lane detection window setting section on the basis of a luminance information on each point within the traffic lane detection window, the window lane detection setting means setting a plurality of other traffic lane detection windows in accordance with the one traffic lane detection window through which the traffic lane mark is passed and the window internal traffic lane detecting means detecting the traffic lane mark passing through each of the other traffic lane detection windows set by the traffic lane detection window setting means on the basis of the luminance information on each point of the other traffic lane detection windows;
noise detection window setting means for setting at least one noise detection window at a position which abuts each of the traffic lane detection windows set by the traffic lane detection window setting means;
edge intensity detecting means for detecting an edge intensity within each noise detection window set by the noise detection window setting means;
weight value modifying means for modifying a weight value to each of the traffic lane detection windows in accordance with the edge intensity in the related one of the noise detection windows; and
road contour calculating means for calculating a road contour using any of the traffic lane marks detected by the window internal traffic lane detecting means and the weight value modified by the weight value modifying means.
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17. A method for detecting a traffic lane mark for an automotive vehicle, comprising:
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photographing a situation of a running road in a vehicular forward direction;
once setting a traffic lane detection window on an image data photographed by the photograph device;
detecting a traffic lane mark passing through the once set traffic lane detection window on the basis of a luminance information on each point within the once set traffic lane detection window;
setting a plurality of other traffic lane detection windows in accordance with the once set traffic lane detection window through which the traffic lane mark is passed;
detecting the traffic lane mark passing through each of the other traffic lane detection windows on the basis of the luminance information on each point of each corresponding other traffic detection windows;
setting at least one noise detection windows at a position which abuts each of the traffic lane detection windows;
detecting an edge intensity within each noise detection window;
modifying a weight value to each of the traffic lane detection windows in accordance with the edge intensity in the related one of the noise detection windows; and
calculating a road contour using any of the detected traffic lane marks and the modified weight value.
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Specification