Road lane marker recognition
First Claim
1. A road lane marker recognition apparatus for obtaining a forward road image of a road ahead of a vehicle with an imaging device and estimating road parameters of a road model equation, the recognition apparatus comprising a processor:
- to set, in the road image, a plurality of windows along a road lane marker on the road so that the road lane marker is contained in each window;
to calculate a candidate lane marker which is likely to be the road lane marker in each window;
to judge an accuracy in determining the position of the candidate lane marker with respect to the road lane marker in each window; and
to estimate the road parameters of the road model equation representing a road shape of the road and vehicle attitude with respect to the road, the processor being configured to estimate the road parameters inclusive of a vehicle lateral displacement, by using at least a gradient of the candidate lane marker for one window judged to be lower in the accuracy, and by using an image coordinate of the candidate lane marker for one window judged to be higher in the accuracy.
1 Assignment
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Accused Products
Abstract
A road recognition apparatus estimates road parameters of a road model equation by processing a forward road image of a vehicle. A processor sets a series of windows along a road white line (or lane marker) on the forward road image, and calculates a candidate straight line segment likely to be a white line in each window. The processor further checks an accuracy in position of a candidate white line in each window. The processor estimates the road parameters from the image coordinates of the candidate white line in each or the window higher in the accuracy, and estimates the road parameters exclusive of a vehicle lateral displacement from the gradient of candidate white line in each or the window lower in the accuracy.
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Citations
11 Claims
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1. A road lane marker recognition apparatus for obtaining a forward road image of a road ahead of a vehicle with an imaging device and estimating road parameters of a road model equation, the recognition apparatus comprising a processor:
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to set, in the road image, a plurality of windows along a road lane marker on the road so that the road lane marker is contained in each window;
to calculate a candidate lane marker which is likely to be the road lane marker in each window;
to judge an accuracy in determining the position of the candidate lane marker with respect to the road lane marker in each window; and
to estimate the road parameters of the road model equation representing a road shape of the road and vehicle attitude with respect to the road, the processor being configured to estimate the road parameters inclusive of a vehicle lateral displacement, by using at least a gradient of the candidate lane marker for one window judged to be lower in the accuracy, and by using an image coordinate of the candidate lane marker for one window judged to be higher in the accuracy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A road lane marker recognition process comprising:
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obtaining a forward road image of a road ahead of a vehicle;
setting, in the road image, a series of windows arranged along a road lane marker on the road so that the road lane marker is contained in each window;
calculating a candidate lane marker which is likely to be the lane marker in each window;
judging a position accuracy in position of the candidate lane marker with respect to the road lane marker in each window; and
estimating road parameters of a road model equation representing a road shape of the road and vehicle attitude with respect to the road, the road parameters inclusive of a vehicle lateral displacement being estimated by using at least a gradient of the candidate lane marker for one window judged to be lower in the position accuracy, and by using an image coordinate of the candidate lane marker for one window judged to be higher in the position accuracy.
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11. A road lane marker recognition apparatus comprising:
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means for setting, in a forward road image of a road ahead of a vehicle, a series of windows along a road lane marker on the road so that the road lane marker is contained in each window;
means for calculating a candidate lane marker which is likely to be the road lane marker in each window;
means for judging a position accuracy in position of the candidate lane marker in each window; and
means for estimating road parameters of a road model equation, inclusive of a vehicle lateral displacement, by using at least a gradient of the candidate lane marker for one window judged to be lower in the position accuracy, and by using an image coordinate of the candidate lane marker for one window judged to be higher in the position accuracy.
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Specification