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Device for detecting a road traveling lane

  • US 20070084655A1
  • Filed: 09/22/2004
  • Published: 04/19/2007
  • Est. Priority Date: 09/24/2003
  • Status: Abandoned Application
First Claim
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1. A device for detecting a road traveling lane, from images on a road surface continuously picked up by image pickup means, comprising:

  • edge point detection means for detecting a plurality of edge points in a contour on the image;

    segment group producing means for providing a line segment for the plurality of edge points detected by said edge point detection means, on the basis of continuity of distance and direction between neighboring edge points, and grouping a plurality of line segments having a predetermined relationship with each other, to produce a segment group;

    curve detection means for detecting a curve fitted to the segment group produced by said segment group producing means; and

    lane boundary position defining means for comparing a plurality of curves distributed in the vicinity of right and left lane boundaries out of the curves detected by said curve detection means, with the segment groups produced by said segment group producing means, to define an innermost marking line, when a segment group forming a curve closest to the center of said traveling lane has a predetermined length and repeated cycle, and define a position of a neighboring curve outside of said innermost marking line relatively to the center of said traveling lane, as a position of a boundary of said traveling lane.

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