LANE DETERMINING DEVICE, LANE DETERMINING METHOD AND NAVIGATION APPARATUS USING THE SAME
First Claim
1. A lane determining device for determining a travel lane in which a vehicle is traveling, the device comprising:
- an image information obtaining unit for obtaining image information captured by an imaging device mounted on the vehicle;
a vehicle position information obtaining unit for obtaining vehicle position information indicating a current position of the vehicle;
a feature information obtaining unit for obtaining, when a road on which the vehicle is traveling has a plurality of lanes, feature information including feature types for target features on respective lanes of the road, in the traveling direction of the vehicle, based on the vehicle position information;
an image recognizing unit for image recognition processing of the obtained information to recognize a feature of the type of the target feature on the travel; and
a lane accuracy determining unit for determining a vehicle lane accuracy value indicating a level of probability of being the travel lane, for each of the respective lanes of the road on which the vehicle is traveling,wherein the lane accuracy determining unit determines a recognition coefficient for each of the respective lanes, based on the type of the feature recognized as a result of the image recognition processing by the image recognizing unit and the feature type of the target feature of the respective lanes included in the feature information obtained by the feature information obtaining unit, each recognition coefficient indicating a level of probability that the feature type of the target feature has been recognized as the type of the feature recognized by the image recognition processing, and sets, as a vehicle lane accuracy value for each of the respective lanes, a ratio of the recognition coefficient for the lane to the sum of the recognition coefficients of all the lanes of the road on which the vehicle is traveling.
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Accused Products
Abstract
A lane determining device includes: a feature information obtaining unit for obtaining feature information F of a target feature existing in each lane in the traveling direction of a vehicle 30, based on vehicle position information; an image recognizing unit for conducting image recognition processing of a feature type of the target feature in a vehicle lane, with respect to image information; and a lane accuracy determining unit for determining a vehicle lane accuracy for the respective lanes based on a type of a recognized feature fa shown in an image recognition result, feature types Ft1 to Ft4 of the target feature of the respective lanes shown in the feature information F, in accordance with a level of probability for each of the feature types Ft1 to Ft4 of the target feature of the respective lanes is recognized as the type of the recognized feature fa.
44 Citations
18 Claims
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1. A lane determining device for determining a travel lane in which a vehicle is traveling, the device comprising:
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an image information obtaining unit for obtaining image information captured by an imaging device mounted on the vehicle; a vehicle position information obtaining unit for obtaining vehicle position information indicating a current position of the vehicle; a feature information obtaining unit for obtaining, when a road on which the vehicle is traveling has a plurality of lanes, feature information including feature types for target features on respective lanes of the road, in the traveling direction of the vehicle, based on the vehicle position information; an image recognizing unit for image recognition processing of the obtained information to recognize a feature of the type of the target feature on the travel; and a lane accuracy determining unit for determining a vehicle lane accuracy value indicating a level of probability of being the travel lane, for each of the respective lanes of the road on which the vehicle is traveling, wherein the lane accuracy determining unit determines a recognition coefficient for each of the respective lanes, based on the type of the feature recognized as a result of the image recognition processing by the image recognizing unit and the feature type of the target feature of the respective lanes included in the feature information obtained by the feature information obtaining unit, each recognition coefficient indicating a level of probability that the feature type of the target feature has been recognized as the type of the feature recognized by the image recognition processing, and sets, as a vehicle lane accuracy value for each of the respective lanes, a ratio of the recognition coefficient for the lane to the sum of the recognition coefficients of all the lanes of the road on which the vehicle is traveling. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 13, 14, 15)
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10. A computer-readable medium encoded with a recognition table for use in identification of a travel lane in which a vehicle is traveling by determining a level of accuracy for each type of target feature which serves to identify a lane and which can be recognized by image recognition processing, wherein
the recognition table defines recognition coefficients for relationships between a plurality of the feature types capable of being recognized as a target feature by the image recognition processing, each of the recognition coefficients indicating a level of probability that each of the plurality of feature types is recognized as the type of the feature recognized by the image recognition processing.
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12. A lane determining method for determining a travel lane in which a vehicle is traveling, the method comprising the steps of:
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obtaining image information captured by an imaging device mounted on the vehicle; obtaining vehicle position information indicating a current position of the vehicle; obtaining, when a road on which the vehicle is traveling has a plurality of lanes, feature information including feature types for target features on respective lanes of the road, in the traveling direction of the vehicle, based on the vehicle position information; conducting image recognition processing of the obtained image information to recognize a feature type of the target feature on the travel lane; and determining a vehicle lane accuracy value indicating a level of probability of being the travel lane, for each of the respective lanes of the road on which the vehicle is traveling; determining a recognition coefficient for each of the respective lanes, based on the type of the feature recognized as a result of the image recognition processing and the feature type of the target feature of the respective lanes included in the obtained feature information, each recognition coefficient indicating a level of probability that the feature type of the target feature has been recognized as the type of the feature recognized by the image recognition processing; and setting, as a vehicle lane accuracy value for each of the respective lanes, a ratio of the recognition coefficient for the lane to the sum of the recognition coefficients of all the lanes of the road on which the vehicle is traveling. - View Dependent Claims (16, 17, 18)
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Specification