Driving way judging device and method

• US 5,359,666 A
• Filed: 03/15/1993
• Issued: 10/25/1994
• Est. Priority Date: 09/28/1988
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Nakayama, Shigeto, Hasegawa, Hiroshi
• Primary Examiner(s): Mancuso, Joseph
• Assistant Examiner(s): Fox, David
• Application Number:
  US08/032,409
• Time in Patent Office: 589 Days
• Field of Search: 382/1, 382/22, 382/48, 901/47, 348/118, 348/119, 364/424.02
• US Class Current: 382/104
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06T 7/00 Image analysis
• CPC Class Codes: G06V 10/48 by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation

Abstract

A device and a process for judging the contour of a road by processing data from an image taken of the road by a camera. In the data processing, Hough transform is used to obtain a plurality of straight lines approximate to the edges of the road. In order to recognize the contour of a road, it is most important to recognize the edges of the road. For the recognition of a road, for example, an image taken of the road is divided into upper and lower regions. In the lower region, two straight lines are given approximate to the right and the left edges of the road. In the upper region as well, two straight lines are given approximate to the right and the left edges of the road. Then, positional relationships between the intersection of the former two straight lines and that of the latter two straight lines are compared. Based on positional relationships, it can be judged very easily whether the road is straight, curves, inclines or declines.

Claims

1. A driving way judging device for judging a contour of a driving way by processing data of an image taken of the driving way, the device comprising:

image dividing means for dividing the data into at least two regions including a lower region of the image taken of the driving way and an upper region thereof;

lower straight line extracting means for extracting a first lower straight line approximate to a characteristic point distribution appearing corresponding to one of the edges of the driving way in the lower region;

lower straight line selecting means for selecting a second lower straight line out of a group of straight lines approximate to a characteristic point distribution appearing corresponding to the other of the edges of the driving way, based on a position of the first lower straight line and preset width information of the driving way;

upper straight line extracting means for extracting a first upper straight line approximate to a characteristic point distribution appearing corresponding to one of the edges of the driving way in the upper region;

upper straight line selecting means for selecting a second upper straight line out of a group of straight lines approximate to a characteristic point distribution appearing corresponding to the other of the edges of the driving way, based on a position of the first upper straight line and preset width information of the driving way; and

judging means for judging a contour of the driving way, based on a lower straight line intersection of the first and the second lower straight lines, and an upper straight line intersection of the first and the second upper straight lines.

2. A driving way judging device according to claim 1, wherein the judging means judges that the driving way curves right when the upper straight line intersection is right of the lower straight line intersection and that the driving way curves left when the upper straight line intersection is left of the lower straight line intersection.

3. A driving way judging device according to claim 1, wherein the judging means judges that the driving way declines when the upper straight line intersection is below the lower straight line intersection, and that the driving way is inclines when the upper straight line intersection is above the lower straight line intersection.

4. A machine implemented process for analyzing a contour of a driving way by processing data of an image taken of the driving way, the process comprising the steps of:

dividing the image taken of the driving way into at least two regions including a first region in which characteristic point distributions on the image comprise substantially only data points representative of the driving way and a second region which is adjacent to the first region in the direction of continuation of the characteristic point distributions;

deriving straight line groups comprising a plurality of straight lines corresponding to the characteristic point distributions on the image;

extracting a first straight line out of the straight line groups, said first straight line being approximate to the one of the characteristic point distributions appearing corresponding to one of the edges of the driving way in the first region;

extracting a second straight line approximate to the one of the characteristic point distributions appearing corresponding to said one of the edges of the driving way in the second region out of those of the straight line groups passing near an intersection of a boundary between the first and second regions, and the first straight line; and

analyzing the contour of the driving way, based on the first and the second straight lines.

5. A machine implemented process for analyzing a contour of a driving way by processing data of an image taken of the driving way, the process comprising the steps of:

dividing the image taken of the driving way into at least two regions including a first region in which characteristic point distributions comprise substantially only data points representative of the driving way and a second region which is adjacent to the first region in the direction of continuation of the characteristic point distributions;

deriving straight line groups comprising a plurality of straight lines corresponding to the characteristic point distributions on the image;

extracting a first pair of straight lines approximate to the ones of the characteristic point distributions appearing corresponding to one and the other of the edges of the driving way in the first region;

extracting a second pair of straight lines approximate to those of the characteristic point distributions appearing corresponding to said one and the other of the edges of the driving way in the second region out of those of the straight line groups passing near an intersection of a boundary of the first and the second regions and the first pair of straight lines; and

analyzing the contour of the driving way, based on the first and the second pair of straight lines.

6. A driving way judging process according to claim 5, wherein the third step includes the step of extracting one of the first pair of straight lines approximate to the one of the characteristic point distributions appearing corresponding to one of the edges of the driving way in the first region, and the step of selecting the other of the first pair of straight lines appearing corresponding to the other of the edges of the driving way, based on a position of the first straight line and preset width information of the driving way;

and

the fourth step includes the steps of extracting one of the second pair of straight lines approximate to the one of the characteristic point distributions appearing corresponding to one of the edges of the driving way in the second region out of those of the straight line groups passing near an intersection of a boundary between the first and the second regions, and said one of the first group of straight lines, and selecting the other of the second pair of straight lines appearing corresponding to the other of the edges of the driving way, based on a position of the second straight line and preset width information of the driving way.

7. A machine implemented process for analyzing a contour of a driving way by processing data of an image taken of the driving way, the process comprising the steps of:

dividing the data into at least two regions including a lower region and an upper region of the image taken of the driving way;

extracting a pair of straight lines approximate to characteristic point distributions appearing corresponding to one and the other of the edges of the driving way in the lower region;

extracting a pair of straight lines approximate to those of the characteristic point distributions appearing corresponding to one and the other of the edges of the driving way in the upper region; and

analyzing the contour of the driving way, based on a positional relationship between an intersection between the lower pair of straight lines, and an intersection between the upper pair of straight lines.

8. A driving way judging process according to claim 7, wherein the fifth step judges that the driving way curves right when the intersection of the upper straight lines is right of the intersection of the lower straight lines, and judges that the driving way curves left when the former is left of the latter.

9. A driving way judging process according to claim 7, wherein the fifth step judges that the driving way declines when the intersection of the upper straight lines is below the intersection of the lower straight lines, and judges that the driving way inclines when the former is above the latter.

10. In a visual image processing system, a method for performing an analysis of a contour of a road in three dimensions, the road being bounded by a pair of edges, the analysis being based on data contained in a two-dimensional image of the road, and the method comprising the steps of:

dividing the image of the road into two regions, a first and a second region;

deriving a first pair of lines indicative of the edges of the road in the first region;

deriving a second pair of lines indicative of the edges of the road in the second region;

determining a first point of intersection between the first pair of lines indicative of the edges of the road in the first region and a second point of intersection between the second pair of lines indicative of the edges of the road in the second region; and

determining the contour of the road based on a spacial relationship between the first and second points of intersection.

11. The method of claim 10 wherein the first region comprises substantially only an image of the road.

12. The method of claim 11 wherein the first pair of lines indicative of the edges of the road in the first region intersect a boundary between the two regions at a pair of boundary intersection points, and the step of deriving a second pair of lines indicative of the edges of the road in the second region further includes the step of selecting candidate line pairs based on the proximity between the candidate line pairs and the boundary intersection points.

13. The method of claim 12 wherein the contour of the road is determined to curve left when the intersection point between the lines of the second region is located to the left of the intersection point between the lines of the first region;

determined to curve right when the intersection point between the lines of the second region is located to the right of the intersection point between the lines of the first region;

determined to decline when the intersection point between the lines of the second region is located to the below the intersection point between the lines of the first region; and

determined to incline when the intersection point between the lines of the second region is located to the above the intersection point between the lines of the first region.

14. A visual image processing system for performing an analysis of a contour of a road bounded by a pair of edges, the system comprising:

means for dividing an image of the road into two regions, a first and a second region;

first line selecting means for deriving a first pair of lines indicative of the edges of the road in the first region;

second line selecting means for deriving a second pair of lines indicative of the edges of the road in the second region;

means for determining a first point of intersection between the first pair of lines indicative of the edges of the road in the first region and a second point of intersection between the second pair of lines indicative of the edges of the road in the second region; and

means for determining the contour of the road based on a spacial relationship between the first and second points of intersection.