Lane recognition apparatus for vehicle
First Claim
1. A lane recognition apparatus for a vehicle, comprising:
- an image picking-up section picking up a road image ahead of the vehicle;
a lane-marker detecting section detecting a plurality of lane-marker candidate points on the road image;
a road model parameter calculating section calculating a road model parameter representative of a road shape ahead of the vehicle on the basis of the lane-marker candidate points;
a deviation calculating section calculating a deviation between the lane marker candidate point and an estimated candidate point estimated from the road model parameter; and
a lane marker detection feasibility determining section determining whether the road image is employed for detecting the lane marker, on the basis of the deviation.
1 Assignment
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Accused Products
Abstract
A lane recognition apparatus for a vehicle is comprised of a camera and a processor. The camera is installed to the vehicle and picks up a road image ahead of the vehicle. The processor is coupled to the camera. The processor is arranged to detect a plurality of lane marker candidate points from the road image, to calculate a road model parameter representative of a road shape ahead of the vehicle on the basis of the lane marker candidate points, to calculate a deviation between the lane marker candidate point and an estimated candidate point estimated from the road model parameter, and to determine whether the road image is employed for detecting the lane marker, on the basis of the deviation.
32 Citations
12 Claims
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1. A lane recognition apparatus for a vehicle, comprising:
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an image picking-up section picking up a road image ahead of the vehicle;
a lane-marker detecting section detecting a plurality of lane-marker candidate points on the road image;
a road model parameter calculating section calculating a road model parameter representative of a road shape ahead of the vehicle on the basis of the lane-marker candidate points;
a deviation calculating section calculating a deviation between the lane marker candidate point and an estimated candidate point estimated from the road model parameter; and
a lane marker detection feasibility determining section determining whether the road image is employed for detecting the lane marker, on the basis of the deviation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A lane recognition apparatus for a vehicle, comprising:
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image picking-up means for picking up a road image ahead of the vehicle;
lane-marker candidate-point detecting means for detecting a plurality of lane marker candidate points from the road image;
road model parameter calculating means for calculating a road model parameter representative of a road shape ahead of the vehicle on the basis of the lane marker candidate points;
deviation calculating means for calculating a deviation between the lane marker candidate point and an estimated candidate point estimated from the road model parameter; and
lane marker detection feasibility determining means for determining whether the road image is employed for detecting the lane marker, on the basis of the deviation.
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11. A method for recognizing a lane ahead of a vehicle, comprising:
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picking up a road image ahead of the vehicle;
detecting coordinate values of a plurality of lane marker candidate points from the road image;
calculating a road model parameter representative of a road shape ahead of the vehicle on the basis of the coordinate values of the lane marker candidate points;
calculating a deviation between the lane marker candidate point and an estimated candidate point estimated from the road model parameter; and
determining whether the road image is employed for detecting the lane marker, on the basis of the detecting deviation.
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12. A lane recognition apparatus for a vehicle, comprising:
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a camera installed to the vehicle, the camera picking up a road image ahead of the vehicle; and
a processor coupled to the camera, the processor being arranged to detect a plurality of lane marker candidate points from the road image;
to calculate a road model parameter representative of a road shape ahead of the vehicle on the basis of the lane marker candidate points;
to calculate a deviation between the lane marker candidate point and an estimated candidate point estimated from the road model parameter; and
to determine whether the road image is employed for detecting the lane marker, on the basis of the deviation.
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Specification