Traffic Lane Marking Line Recognition System for Vehicle
First Claim
1. A system for recognizing a traffic lane marking line for a vehicle comprising:
- image photographing means for photographing a range including a road surface in a direction of travel of the vehicle;
traffic lane marking line recognizing means configured to be capable of recognizing at least a traffic lane marking line in broken line on the road surface in a photographed image photographed by the image photographing means;
image compositing means for compositing a plurality of images photographed at different time points by the image photographing means to elongate the traffic lane marking line in the photographed images;
vehicle speed detecting means for detecting a travel speed of the vehicle; and
image selecting means for selecting at least one image, among the plurality of images, photographed at a past time point earlier by a time interval determined in accordance with the vehicle speed detected by the vehicle speed detecting means from a reference time point, when defining a photographed time point of a given one of the images to be composited as the reference time point, as the image to be composited with the given one of the images.
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Accused Products
Abstract
A traffic lane marking line recognition system for vehicle includes an image compositing device which composites images photographed at different time points by a camera to elongate a traffic lane marking line such as a white line in the photographed image based on a detected travel speed of the vehicle. At least one image, among the plurality of images, photographed at a past time point earlier by a time interval determined in accordance with the vehicle speed from a reference time point, when defining a photographed time point of a given one of the images to be composited as the reference time point, is selected as the image to be composited with the given one of the images. By selecting the image to be composited in accordance with the vehicle speed, the traffic lane marking lines can be recognized unerringly.
35 Citations
15 Claims
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1. A system for recognizing a traffic lane marking line for a vehicle comprising:
- image photographing means for photographing a range including a road surface in a direction of travel of the vehicle;
traffic lane marking line recognizing means configured to be capable of recognizing at least a traffic lane marking line in broken line on the road surface in a photographed image photographed by the image photographing means;
image compositing means for compositing a plurality of images photographed at different time points by the image photographing means to elongate the traffic lane marking line in the photographed images;
vehicle speed detecting means for detecting a travel speed of the vehicle; and
image selecting means for selecting at least one image, among the plurality of images, photographed at a past time point earlier by a time interval determined in accordance with the vehicle speed detected by the vehicle speed detecting means from a reference time point, when defining a photographed time point of a given one of the images to be composited as the reference time point, as the image to be composited with the given one of the images. - View Dependent Claims (2, 3, 4, 5, 15)
- image photographing means for photographing a range including a road surface in a direction of travel of the vehicle;
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6. A vehicle comprising:
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image photographing means for photographing a range including a road surface in a direction of travel of the vehicle;
traffic lane marking line recognizing means configured to be capable of recognizing at least a traffic lane marking line in broken line on the road surface in a photographed image photographed by the image photographing means;
image compositing means for compositing a plurality of images photographed at different time points by the image photographing means to elongate the traffic lane marking line in the photographed images;
vehicle speed detecting means for detecting a travel speed of the vehicle; and
image selecting means for selecting at least one image, among the plurality of images, photographed at a past time point earlier by a time interval determined in accordance with the vehicle speed detected by the vehicle speed detecting means from a reference time point, when defining a photographed time point of a given one of the images to be composited as the reference time point, as the image to be composited with the given one of the images. - View Dependent Claims (7, 8, 9, 10)
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11. A system for recognizing a traffic lane marking line for a vehicle comprising:
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a camera which photographs a range including a road surface in a direction of travel of the vehicle;
a traffic lane marking line recognizing device configured to be capable of recognizing at least a traffic lane marking line in broken line on the road surface in a photographed image photographed by the camera;
an image compositing device which composits a plurality of images photographed at different time points by the camera to elongate the traffic lane marking line in the photographed images;
a vehicle speed detector which detects a travel speed of the vehicle; and
an image selector which selects at least one image, among the plurality of images, photographed at a past time point earlier by a time interval determined in accordance with the vehicle speed detected by the vehicle speed detector from a reference time point, when defining a photographed time point of a given one of the images to be composited as the reference time point, as the image to be composited with the given one of the images. - View Dependent Claims (12, 13, 14)
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Specification