Lane recognition system for vehicle
First Claim
1. A lane recognition system for a vehicle, comprising:
- a camera set picking up a road image of a road ahead of the vehicle;
a memory storing parameters representative of a model lane marker of the road image; and
a controller coupled to the camera set and the memory, the controller being arranged, to set a plurality of lane-marker candidate-point detecting areas on the road image so that each one of the lane-marker candidate-point detecting areas is partially overlapped with the lane-marker candidate-point detecting areas adjacent to the one of the lane-marker candidate-point detecting areas, to detect each lane marker candidate point in each lane-marker candidate-point detecting area, to calculate variations of the parameters by comparing the lane marker candidate points with corresponding points on the model lane marker derived from the parameters stored in the memory, to correct the parameters according to the variation, to output road-shape indicative information on the basis of the parameters.
1 Assignment
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Accused Products
Abstract
A lane recognition system for a vehicle is comprised of a camera set, a memory and a controller connected to the camera set and the memory. The camera set picks up a road image of a road ahead of the vehicle, and the memory stores parameters representative of a model lane marker of the road image. The controller is arranged to set a plurality of lane-marker detecting areas on the road image so that each lane-marker detecting area is partially overlapped with the lane-marker detecting areas adjacent to the one of the lane-marker candidate-point detecting areas, to detect each lane marker candidate point in each lane-marker detecting area, to calculate variations of the parameters, to correct the parameters according to the variation, and to output road-shape indicative information on the basis of the parameters.
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Citations
15 Claims
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1. A lane recognition system for a vehicle, comprising:
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a camera set picking up a road image of a road ahead of the vehicle;
a memory storing parameters representative of a model lane marker of the road image; and
a controller coupled to the camera set and the memory, the controller being arranged, to set a plurality of lane-marker candidate-point detecting areas on the road image so that each one of the lane-marker candidate-point detecting areas is partially overlapped with the lane-marker candidate-point detecting areas adjacent to the one of the lane-marker candidate-point detecting areas, to detect each lane marker candidate point in each lane-marker candidate-point detecting area, to calculate variations of the parameters by comparing the lane marker candidate points with corresponding points on the model lane marker derived from the parameters stored in the memory, to correct the parameters according to the variation, to output road-shape indicative information on the basis of the parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for recognizing a lane traveled by a vehicle, the method comprising:
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picking up a road image of a road ahead of the vehicle;
storing parameters of a model lane marker of the road image;
setting a plurality of lane-marker candidate-point detecting areas on the road image so that each one of the lane-marker candidate-point detecting areas is partially overlapped with the lane-marker candidate-point detecting areas adjacent to the one of the lane-marker candidate-point detecting areas;
detecting each lane marker candidate point in each lane-marker candidate-point detecting area;
calculating variations of the parameters by comparing the lane marker candidate points with corresponding points on the model lane marker derived from the parameters stored in a memory;
correcting the parameters according to the variation; and
outputting road-shape indicative information on the basis of the parameters.
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15. A lane recognition system installed on a vehicle, comprising:
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image pickup means for picking up an image of a predetermined region ahead of the vehicle;
storing means for storing parameters of a model lane marker;
coordinate transforming means for obtaining a coordinate of each lane-marker candidate-point detecting area by transforming a coordinate system of the road ahead of the vehicle into a coordinate system of the road image;
lane-marker candidate-point detecting area setting means for setting a plurality of lane-marker candidate-point detecting areas on the image to detect a lane marker of a lane traveled by the vehicle;
lane-marker candidate-point detecting means for detecting a coordinate of each lane-marker candidate-point in each lane-marker candidate-point detecting area;
variation calculating means for calculating variations of the parameters representative of the road shape and a position of the image pickup means relative to the road ahead of the vehicle by comparing the coordinate of the lane marker candidate point and a coordinate of a point of the road model in the coordinate system of the image;
parameter updating means for updating the parameters stored in the storing means according to the variations of the parameters; and
output signal selecting means for outputting a displacement of the vehicle relative to the road to a vehicle control apparatus;
wherein the lane-marker candidate-point detection area setting means sets the lane-marker candidate-point detection areas so that a part of each lane-marker candidate-point detection area is overlapped with adjacent one of the lane-marker candidate-point detection areas;
wherein the lane-marker candidate-point detecting means detects a straight line element of the lane marker on the basis of a coordinate of a first point set at a position of one of upper and lower sides of the lane-marker candidate-point detecting area and a coordinate of a second point set at a position of the other of the upper and lower sides of the lane-marker candidate-point detecting area;
wherein the lane-marker candidate-point detecting means outputs the point corresponding to one of the upper and lower sides of the lane-marker candidate-point detecting area as a lane-marker candidate point.
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Specification