Method for detecting position of lane marker, apparatus for detecting position of lane marker and alarm apparatus for lane deviation
First Claim
1. A method for detecting a position of a lane marker provided on a road surface, comprising steps of:
- photographing an image of the road surface by a camera loaded on a vehicle;
converting the image of said road surface taken by said camera into an overlooked image;
obtaining an integral brightness by integrating a brightness of a coordinate in a direction perpendicular to a direction of a road width of said road surface that is indicated on the converted overlooked image and detecting the integral brightness in every coordinate which is in said road width direction; and
obtaining a position of said road surface corresponding to the coordinate in said road width direction in that a high integral brightness is indicated.
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Accused Products
Abstract
A method for a detecting position of a lane marker relating to the present invention obtains an integral brightness by taking an image of a road surface (4) by a camera (2) loaded on a vehicle (3), converting the image taken by the camera (2) into an overlooked image and by integrating a brightness of a coordinate of a direction X which is in a direction perpendicular to a road width direction Y of the road surface (4) shown in the overlooked image which is converted. Thereafter, the method carries out a detection of a lane marker position provided on the road surface (4) by obtaining a position of the road surface (4) corresponding to the coordinate of the road width direction Y indicating a high integral brightness from a distribution of the detected integral brightness.
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Citations
21 Claims
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1. A method for detecting a position of a lane marker provided on a road surface, comprising steps of:
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photographing an image of the road surface by a camera loaded on a vehicle;
converting the image of said road surface taken by said camera into an overlooked image;
obtaining an integral brightness by integrating a brightness of a coordinate in a direction perpendicular to a direction of a road width of said road surface that is indicated on the converted overlooked image and detecting the integral brightness in every coordinate which is in said road width direction; and
obtaining a position of said road surface corresponding to the coordinate in said road width direction in that a high integral brightness is indicated. - View Dependent Claims (3)
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2. A method for detecting a position of a lane marker provided on a road surface, comprising steps of:
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photographing an image of the road surface by a camera loaded on a vehicle;
converting the image taken by said camera into an overlooked image;
obtaining an integral brightness by integrating a brightness of a coordinate in a direction perpendicular to a direction of a road width of said road surface that is indicated by the converted overlooked image, and detecting the integral brightness in every coordinate in said road width direction;
obtaining a width of a group of coordinate which the coordinate in which a high integral brightness is indicated in said road width direction and a coordinate proximity to the coordinate and which indicate a higher integral brightness than the other coordinate; and
obtaining a position of said road surface corresponding to said group of coordinate if said coordinate width corresponds to a specified value of said lane marker when comparing said coordinate width and the specified value of said lane marker in said road width direction.
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4. An apparatus for detecting a position of a lane marker comprising:
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overlooked view converting means for converting an image of a road surface that is taken by a moving vehicle into an overlooked image;
brightness profile creating means for creating a brightness profile by obtaining an integral brightness which is obtained by integrating a brightness of a coordinate in a direction perpendicular to a road width direction of said road surface in said converted overlooked image and by detecting the integral brightness in every coordinate in said road width direction;
high brightness coordinate detecting means for obtaining the coordinate in said road width direction indicating a high integral brightness from the brightness profile; and
road surface position detecting means for obtaining a position of said road surface corresponding to the coordinate obtained by the high brightness coordinate detecting means;
wherein said apparatus detects said position of the lane marker by the position of said road surface obtained by said road surface position detecting means. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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5. An apparatus for detecting a position of a lane marker comprising:
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overlooked view converting means for converting an image of a road surface taken by a moving vehicle into an overlooked image;
brightness profile creating means for creating a brightness profile by obtaining an integral brightness which is obtained by integrating a brightness of a coordinate in a direction perpendicular to a road width direction of said road surface in said converted overlooked image and by detecting the integral brightness in every coordinate in said road width direction;
high brightness coordinate detecting means for obtaining a width of a group of coordinate which the coordinate in which a high integral brightness is indicated in said road width direction and a coordinate proximity to the coordinate and which indicate a higher integral brightness than the other coordinate from the brightness profile; and
road surface position detecting means for obtaining a position of said road surface corresponding to said group of coordinate if said coordinate width corresponds to a specified value of said lane marker when comparing said coordinate width and the specified value of said lane marker in said road width direction;
wherein said apparatus detects said position of the lane marker by the position of said road surface obtained by said road surface position detecting means.
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16. An alarm apparatus for a lane deviation comprising:
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a device for detecting a position of a lane marker;
distance calculating means for calculating a distance between a moving vehicle and a lane marker which is nearest to the moving vehicle by the position of the lane marker that is detected by said device for detecting the position of the lane marker;
first alarm raising means for raising a different alarming sound to a driver corresponding to the distance calculated by said distance obtaining means;
said device for detecting the position of the lane marker comprised of overlooked view converting means for converting an image of a road surface that is taken by the moving vehicle into an overlooked image;
brightness profile creating means for creating a brightness profile by obtaining an integral brightness which is obtained by integrating a brightness of a coordinate in a direction perpendicular to a road width direction of said road surface in said converted overlooked image and by detecting the integral brightness in every coordinate in said road width direction;
high brightness coordinate detecting means for obtaining the coordinate in said road width direction indicating a high integral brightness from the brightness profile; and
road surface position detecting means for obtaining a position of said road surface corresponding to the coordinate obtained by the high brightness coordinate detecting means.
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17. An alarm apparatus for a lane deviation comprising:
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a device for detecting a position of a lane marker;
lane marker detecting means for obtaining a lane marker which is most nearest to a moving vehicle by the position of the lane marker that is detected by said device for detecting the position of the lane marker;
traversing speed detecting means for detecting a traversing speed of said moving vehicle;
second alarm raising means for raising an alarm to a driver when said moving vehicle moved to a side of the lane marker that is detected by said lane marker detecting means and when the traversing speed of said moving vehicle is over a predetermined speed;
said device for detecting the position of the lane marker comprised of overlooked view converting means for converting an image of a road surface that is taken by the moving vehicle into an overlooked image;
brightness profile creating means for creating a brightness profile by obtaining an integral brightness which is obtained by integrating a brightness of a coordinate in a direction perpendicular to a road width direction of said road surface in said converted overlooked image and by detecting the integral brightness in every coordinate in said road width direction;
high brightness coordinate detecting means for obtaining the coordinate in said road width direction indicating a high integral brightness from the brightness profile; and
road surface position detecting means for obtaining a position of said road surface corresponding to the coordinate obtained by the high brightness coordinate detecting means. - View Dependent Claims (20, 21)
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18. An alarm device for a lane deviation comprising:
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a device for detecting a position of a lane marker;
lane distance detecting means for obtaining a lane marker which is nearest to a moving vehicle and a distance to the lane marker by the position of the lane marker that is detected by said device for detecting the position of the lane marker;
traversing speed detecting means for detecting a traversing speed of said moving vehicle;
first alarm raising means for raising a different alarming sound to a driver corresponding to the distance obtained by said lane distance detecting means; and
second alarm raising means for raising an alarm to the driver when said moving vehicle moved to a side of the lane marker that is detected by said lane distance detecting means and when the traversing speed of said moving vehicle is over a predetermined speed;
whereinsaid first alarm raising means discontinues said alarming when a situation that said distance is below of a predetermined distance is continued for a predetermined time or a predetermined moving distance;
said second alarm raising means carries out an alarming to said driver after the alarming of said first alarm raising means is discontinued;
said device for detecting the position of the lane marker comprised of overlooked view converting means for converting an image of a road surface that is taken by the moving vehicle into an overlooked image;
brightness profile creating means for creating a brightness profile by obtaining an integral brightness which is obtained by integrating a brightness of a coordinate in a direction perpendicular to a road width direction of said road surface in said converted overlooked image and by detecting the integral brightness in every coordinate in said road width direction;
high brightness coordinate detecting means for obtaining the coordinate in said road width direction indicating a high integral brightness from the brightness profile; and
road surface position detecting means for obtaining a position of said road surface corresponding to the coordinate obtained by the high brightness coordinate detecting means.
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19. An alarm apparatus for a lane deviation comprising:
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a device for detecting a position of a lane marker;
distance calculating means for calculating a distance between a moving vehicle and a lane marker which is nearest to the moving vehicle by the position of the lane marker that is detected by said device for detecting the position of the lane marker;
traversing speed detecting means for detecting a traversing speed of said moving vehicle;
third alarm raising means for raising an alarm to a driver when a calculated time is below of a predetermined time by calculating the time until said moving vehicle deviates said lane marker by using said distance calculated by said distance calculating means and said traversing speed detected by said traversing speed detecting means;
said device for detecting the position of the lane marker being comprised of overlooked view converting means for converting an image of a road surface that is taken by the moving vehicle into an overlooked image;
brightness profile creating means for creating a brightness profile by obtaining an integral brightness which is obtained by integrating a brightness of a coordinate in a direction perpendicular to a road width direction of said road surface in said converted overlooked image and by detecting the integral brightness in every coordinate in said road width direction;
high brightness coordinate detecting means for obtaining the coordinate in said road width direction indicating a high integral brightness from the brightness profile; and
road surface position detecting means for obtaining a position of said road surface corresponding to the coordinate obtained by the high brightness coordinate detecting means.
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Specification