Method and apparatus for determining driving lane of vehicle, and computer product
First Claim
Patent Images
1. A computer program that makes a computer execute:
- detecting a lane line on a road on which a vehicle is running by using an image captured by an image sensor mounted on the vehicle;
dividing the image into a plurality of regions based on the lane line detected; and
determining a lane in which the vehicle is running based on characteristics of the image in the regions.
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Abstract
A white line detector detects two white lines from predetermined regions of an image, and a region dividing unit uses the two white lines detected by the white line detector to divide the image into multiple regions. A luminance information acquiring unit calculates the luminance mean value of the respective regions divided into three by the region dividing unit, and the lane determining unit determines the driving lane by using the luminance mean value calculated by the luminance information acquiring unit.
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Citations
20 Claims
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1. A computer program that makes a computer execute:
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detecting a lane line on a road on which a vehicle is running by using an image captured by an image sensor mounted on the vehicle;
dividing the image into a plurality of regions based on the lane line detected; and
determining a lane in which the vehicle is running based on characteristics of the image in the regions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computer-readable recording medium for storing a computer program that causes a computer to execute:
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detecting a lane line on a road on which a vehicle is running by using an image captured by an image sensor mounted on the vehicle;
dividing the image into a plurality of regions based on the lane line detected; and
determining a lane in which the vehicle is running based on characteristics of the image in the regions.
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12. A driving lane determining apparatus comprising:
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a lane line detector that detects a lane line on a road on which a vehicle is running by using an image captured by an image sensor mounted on the vehicle;
a region dividing unit that divides the image into a plurality of regions based on the lane line detected; and
a driving lane determining unit that determines a lane in which the vehicle is running based on characteristics of the image in the regions. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A driving lane determining method comprising:
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detecting a lane line on a road on which a vehicle is running by using an image captured by an image sensor mounted on the vehicle;
dividing the image into a plurality of regions based on the lane line detected; and
determining a lane in which the vehicle is running based on characteristics of the image in the regions.
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Specification