Travel road detector

• US 20030001732A1
• Filed: 06/07/2002
• Published: 01/02/2003
• Est. Priority Date: 06/29/2001
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Furusho, Hiroyuki
• Granted Patent: US 7,016,517 B2
• Time in Patent Office: Days
• US Class Current: 340/435
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 2201/0213 Road vehicle, e.g. car or truck
• 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: G06V 20/625 License plates
• CPC Class Codes: G06V 20/63 Scene text, e.g. street names
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A travel road detector includes: an image pickup section producing a road image of a forward travel road in front of a driver'"'"'s vehicle; a setting section setting small areas for lane marker detection; a lane marker detector detecting lane markers on both sides of a travel lane for the driver'"'"'s vehicle; a first calculator calculating a travel road model parameter representing a shape of the forward travel road when a both-side lane marker detecting state is satisfied; a forward vehicle detector detecting a height of a predetermined part of a forward vehicle traveling ahead of the driver'"'"'s vehicle when the both-side lane marker detecting state is present; and a second calculator calculating the travel road model parameter from information on the lane marker detection points, and information on the height of the predetermined part of the forward vehicle detected with the forward vehicle detector.

Claims

1. A travel road detector, comprising:

1) an image pickup section producing a road image of a forward travel road in front of a driver'"'"'s vehicle;

2) a setting section setting, on the road image, small areas for lane marker detection;

3) a lane marker detector detecting, in the small areas, lane markers on both sides of a travel lane for the driver'"'"'s vehicle as lane marker detection points;

4) a first calculator

determining that a both-side lane marker detecting state is present when the number of lane marker detection points of the lane marker on each side of the travel lane is greater than or equal to a first predetermined numerical quantity, and at the same time the total number of lane marker detection points of the lane markers on both sides of the travel lane is greater than or equal to a second predetermined numerical quantity, and

calculating, from information on the lane marker detection points, a travel road model parameter representing a shape of the forward travel road when the both-side lane marker detecting state is satisfied;

5) a forward vehicle detector detecting a height of a predetermined part of a forward vehicle traveling ahead of the driver'"'"'s vehicle when the both-side lane marker detecting state is present; and

6) a second calculator

determining that a one-side lane marker detecting state is present when the both-side lane marker detecting state is not present, and at the same time the number of lane marker detection points of the lane marker on either one side of the travel lane for the driver'"'"'s vehicle is greater than or equal to a third predetermined numerical quantity, and

calculating the travel road model parameter from information on the lane marker detection points, and information on the height of the predetermined part of the forward vehicle detected with the forward vehicle detector.

2. The travel road detector as claimed in claim 1, wherein

the forward vehicle detector detects a length from the driver'"'"'s vehicle to the predetermined part of the forward vehicle,

the second calculator calculates the travel road model parameter with Kalman filter, and

the second calculator sets Kalman gain of the Kalman filter with a recognition that the smaller the detected length from the driver'"'"'s vehicle to the predetermined part of the forward vehicle is, the greater an upward and downward noise of the predetermined part of the forward vehicle is.

3. The travel road detector as claimed in claim 1, wherein

the forward vehicle detector detects a variance in the height of the predetermined part of the forward vehicle,

the second calculator calculates the travel road model parameter with Kalman filter, and

the second calculator sets Kalman gain of the Kalman filter with a recognition that the greater the detected variance in the height of the predetermined part of the forward vehicle is, the greater an upward and downward noise of the predetermined part of the forward vehicle is.

4. The travel road detector as claimed in claim 1, wherein

the forward vehicle detector detects a variance in a length from the driver'"'"'s vehicle to the predetermined part of the forward vehicle,

the second calculator calculates the travel road model parameter with Kalman filter, and

the second calculator sets Kalman gain of the Kalman filter with a recognition that the greater the detected variance in the length from the driver'"'"'s vehicle to the predetermined part of the forward vehicle is, the greater an upward and downward noise of the predetermined part of the forward vehicle is.

5. The travel road detector as claimed in claim 1, wherein the first predetermined numerical quantity is one.

6. The travel road detector as claimed in claim 1, wherein

when the number of travel road model parameters calculated with the first calculator calculating the travel road model parameter in the detection of the lane markers on the both sides of the travel lane is “

m”

, the second predetermined numerical quantity is “

m”

.

7. The travel road detector as claimed in claim 1, wherein

when the number of travel road model parameters calculated with the first calculator calculating the travel road model parameter in the detection of the lane markers on the both sides of the travel lane is “

m”

, the third predetermined numerical quantity is “

m−

1”

.

8. The travel road detector as claimed in claim 1, wherein the predetermined part of the forward vehicle is a number plate.

9. The travel road detector as claimed in claim 1, wherein

the travel road detector further comprises a third calculator calculating a height of the image pickup section from a ground, and

when the height of the image pickup section from the ground calculated with the third calculator has a variance which is greater than a predetermined upper limit, the second calculator calculates the travel road model parameter by fixing, at a predetermined value, the height of the image pickup section from the ground.

10. A process of detecting a travel road, the process comprising the following operations:

1) producing a road image of a forward travel road in front of a driver'"'"'s vehicle;

2) setting, on the road image, small areas for lane marker detection;

3) detecting, in the small areas, lane markers on both sides of a travel lane for the driver'"'"'s vehicle as lane marker detection points;

4) firstly determining that a both-side lane marker detecting state is present when the number of lane marker detection points of the lane marker on each side of the travel lane is greater than or equal to a first predetermined numerical quantity, and at the same time the total number of lane marker detection points of the lane markers on both sides of the travel lane is greater than or equal to a second predetermined numerical quantity;

5) after the first determining operation, firstly calculating, from information on the lane marker detection points, a travel road model parameter representing a shape of the forward travel road when the both-side lane marker detecting state is satisfied;

6) detecting a height of a predetermined part of a forward vehicle traveling ahead of the driver'"'"'s vehicle when the both-side lane marker detecting state is present;

7) secondly determining that a one-side lane marker detecting state is present when the both-side lane marker detecting state is not present, and at the same time the number of lane marker detection points of the lane marker on either one side of the travel lane for the driver'"'"'s vehicle is greater than or equal to a third predetermined numerical quantity; and

8) after the second determining operation, secondly calculating the travel road model parameter from information on the lane marker detection points, and information on the height of the predetermined part of the forward vehicle detected with the forward vehicle detector.

11. The process of detecting the travel road as claimed in claim 10, wherein

the process further comprises an operation of thirdly calculating a height of an image pickup section from a ground, the image pickup section being used for the producing operation, and

when the height of the image pickup section from the ground calculated at the third calculating operation has a variance which is greater than a predetermined upper limit, the second calculating operation (S13, Kalman filter) calculates the travel road model parameter by fixing, at a predetermined value, the height of the image pickup section from the ground.

12. A travel road detecting apparatus, comprising:

1) image pickup means for picking up an image of a travel road in front of a driver'"'"'s vehicle;

2) setting means for setting small areas for detecting a lane marker, on the travel road which is picked with the image pickup means;

3) lane marker detecting means for detecting a part of the lane marker as a lane marker detection point, in the small areas which are set with the setting means;

4) first calculating means

for determining whether or not the lane marker detection point detected with the lane marker detecting means is in a first both-side lane marker detecting state which is established when the number of lane marker detection points of the lane marker on each of both sides of the travel lane for the driver'"'"'s vehicle is greater than or equal to a first predetermined numerical quantity, and at the same time for determining whether or not the lane marker detection point detected with the lane marker detecting means is in a second both-side lane marker detecting state which is established when the number of lane marker detection points of the lane markers on the both sides of the travel lane for the driver'"'"'s vehicle is in total at least a second predetermined numerical quantity, and

for calculating from a piece of information on the thus determined lane marker detection point a travel road model parameter for showing a shape of the travel road in front of the driver'"'"'s vehicle, when both the first both-side lane marker detecting state and the second both-side lane marker detecting state are determined to be established;

5) forward vehicle detecting means for detecting at least a height of a predetermined part of a forward vehicle traveling ahead of the driver'"'"'s vehicle, when both the first both-side lane marker detecting state and the second both-side lane marker detecting state are determined to be established; and

6) second calculating means

for determining whether or not the lane marker detection point detected with the lane marker detecting means is in a one-side lane marker detecting state which is established as a state other than the first and second both-side lane marker detecting states and is established when the number of lane marker detection points of the lane marker on either one side of the travel lane for the driver'"'"'s vehicle is greater than or equal to a third predetermined numerical quantity,

for determining whether or not at least the height of the predetermined part of the forward vehicle is detected with the forward vehicle detecting means, and

for calculating the travel road model parameter for showing the shape of the travel road in front of the driver'"'"'s vehicle, from the following pieces of first information and second information;

the first information on the thus determined lane marker detection points, and

the second information on the thus determined at least the height of the predetermined part of the forward vehicle.