Lane Separation Mark Detection Apparatus and Drive Support System
First Claim
1. A lane separation mark detection apparatus comprising:
- a plurality of imaging units configured to capture a lane separation mark separating a lane on which a vehicle having the lane separation mark detection apparatus installed is traveling;
a lane separation mark detection unit configured to detect the lane separation mark from at least one piece of image data among a plurality of pieces of image data, each piece of the image data being generated by the corresponding one of the imaging units;
a road form estimation unit configured to e ate a road form from the lane separation mark detected by the lane separation mark detection unit; and
an image data determination unit configured to determine, according to the lane separation mark depending on the road form estimated by the road form estimation unit, the piece or pieces of the image data to be used by the lane separation mark detection unit for detecting the lane separation mark,
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Accused Products
Abstract
A lane separation mark detection apparatus 100 includes imaging units 11 and 12 to capture a lane separation mark separating a lane on which a vehicle is traveling; a lane separation mark detection unit 24 to detect the lane separation mark from at least one piece of image data among pieces of image data, each piece of the image data being generated by the corresponding one of the imaging units; a road form estimation unit 25 to estimate a road form from the lane separation mark detected by the lane separation mark detection unit; and an image data determination unit 26 to determine, according to the lane separation mark depending on the road form estimated by the road form estimation unit, the piece of the image data to be used by the lane separation mark detection unit for detecting the lane separation mark.
32 Citations
8 Claims
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1. A lane separation mark detection apparatus comprising:
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a plurality of imaging units configured to capture a lane separation mark separating a lane on which a vehicle having the lane separation mark detection apparatus installed is traveling; a lane separation mark detection unit configured to detect the lane separation mark from at least one piece of image data among a plurality of pieces of image data, each piece of the image data being generated by the corresponding one of the imaging units; a road form estimation unit configured to e ate a road form from the lane separation mark detected by the lane separation mark detection unit; and an image data determination unit configured to determine, according to the lane separation mark depending on the road form estimated by the road form estimation unit, the piece or pieces of the image data to be used by the lane separation mark detection unit for detecting the lane separation mark, - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A drive support system comprising:
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a lane separation mark detection apparatus; and a drive support apparatus connected with the lane separation mark detection apparatus via an in-vehicle network, wherein the lane separation mark detection apparatus includes a plurality of imaging units configured to capture a lane separation mark separating a lane on which a vehicle having the lane separation mark detection apparatus installed is traveling, a lane separation mark detection unit configured to detect the lane separation mark from at least one piece of image data among a plurality of pieces of image data, each piece of the image data being generated by the corresponding one of the imaging units, a road form estimation unit configured to estimate a road form from the lane separation mark detected by the lane separation mark detection unit, and an image data determination unit configured to determine, according to the lane separation mark depending on the road form estimated by the road form estimation unit, the piece or pieces of the image data to be used by the lane separation mark detection unit for detecting the lane separation mark, wherein the drive support apparatus supports to prevent the vehicle from being deviated from the lane based on a width of the road estimated by the road form estimation unit, a position of the vehicle in the width direction, and a yaw angle relative to the lane separation mark.
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Specification