Image processor for automotive vehicle
First Claim
Patent Images
1. An image processor for an automotive vehicle comprising:
- an imaging element for capturing an image of a road, on which the automotive vehicle is located;
a traffic lane line detection element for detecting a position of a traffic lane line on the road by determining an edge of the traffic lane line on the basis of the image of the road;
a distance distribution calculation element for calculating a distance distribution of an edge intensity of the traffic lane line, the distance distribution corresponding to a distance to the traffic lane line from the imaging element; and
a detection reliability calculation element for calculating a degree of reliability of detection of the traffic lane line on the basis of the distance distribution of the edge intensity of the traffic lane;
whereinthe detection reliability calculation element includes a detectable edge distance calculation element for calculating a detectable edge distance to the traffic lane line from the imaging element;
the detectable edge distance is defined as a distance, at which the edge intensity in the distance distribution shows a certain change;
the detection reliability calculation element determines the degree of reliability of detection of the traffic lane line on the basis of a length of the detectable edge distance;
the detectable edge distance calculation element determines the detectable edge distance, at which the edge intensity is equal to or smaller than a threshold edge intensity; and
the threshold edge intensity is determined on the basis of a maximum edge intensity in the distance distribution of the edge intensity.
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Abstract
An image processor for an automotive vehicle includes: an imaging element for capturing an image of a road; a traffic lane line detection element for detecting a position of a traffic lane line by determining an edge of the traffic lane line; a distance distribution calculation element for calculating a distance distribution of an edge intensity corresponding to a distance to the traffic lane line from the imaging element; and a detection reliability calculation element for calculating a degree of reliability of detection of the traffic lane line on the basis of the distance distribution of the edge intensity of the traffic lane line.
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Citations
13 Claims
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1. An image processor for an automotive vehicle comprising:
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an imaging element for capturing an image of a road, on which the automotive vehicle is located; a traffic lane line detection element for detecting a position of a traffic lane line on the road by determining an edge of the traffic lane line on the basis of the image of the road; a distance distribution calculation element for calculating a distance distribution of an edge intensity of the traffic lane line, the distance distribution corresponding to a distance to the traffic lane line from the imaging element; and a detection reliability calculation element for calculating a degree of reliability of detection of the traffic lane line on the basis of the distance distribution of the edge intensity of the traffic lane;
whereinthe detection reliability calculation element includes a detectable edge distance calculation element for calculating a detectable edge distance to the traffic lane line from the imaging element; the detectable edge distance is defined as a distance, at which the edge intensity in the distance distribution shows a certain change; the detection reliability calculation element determines the degree of reliability of detection of the traffic lane line on the basis of a length of the detectable edge distance; the detectable edge distance calculation element determines the detectable edge distance, at which the edge intensity is equal to or smaller than a threshold edge intensity; and the threshold edge intensity is determined on the basis of a maximum edge intensity in the distance distribution of the edge intensity. - View Dependent Claims (2, 3, 4, 5)
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6. An image processor for an automotive vehicle comprising:
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an imaging element for capturing an image of a road, on which the automotive vehicle is located; a traffic lane line detection element for detecting a position of a traffic lane line on the road by determining an edge of the traffic lane line on the basis of the image of the road; a distance distribution calculation element for calculating a distance distribution of an edge intensity of the traffic lane line, the distance distribution corresponding to a distance to the traffic lane line from the imaging element; and a detection reliability calculation element for calculating a degree of reliability of detection of the traffic lane line on the basis of the distance distribution of the edge intensity of the traffic lane line;
whereinthe detection reliability calculation element includes a detectable edge distance calculation element for calculating a detectable edge distance to the traffic lane line from the imaging element; the detectable edge distance is defined as a distance, at which the edge intensity in the distance distribution shows a certain change; the detection reliability calculation element determines the degree of reliability of detection of the traffic lane line on the basis of a length of the detectable edge distance; the detectable edge distance calculation element determines the detectable edge distance, at which a degree of change of the edge intensity with respect to the distance is equal to or larger than a threshold degree of change of the edge intensity, and the threshold degree of change of the edge intensity is preliminarily determined and memorized in the detectable edge distance calculation element.
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7. An image processor for an automotive vehicle comprising:
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an imaging element for imaging a road, on which the automotive vehicle is disposed; a traffic lane line detection element for detecting a position of a traffic lane line on the road by determining an edge of the traffic lane line on the basis of an image of the road; a distance distribution calculation element for calculating a distance distribution of a number of edge detection times of the traffic lane line detected by the traffic lane line detection element, the distance distribution corresponding to a distance to the traffic lane line from the imaging element; and a detection reliability calculation element for calculating a degree of reliability of detection of the traffic lane line on the basis of the distance distribution of the number of edge detection times;
whereinthe detection reliability calculation element includes a detectable edge distance calculation element for calculating a detectable edge distance to the traffic lane line from the imaging element; the detectable edge distance is defined as a distance, at which the number of edge detection times in the distance distribution shows a certain change; the detection reliability calculation element determines the degree of reliability of detection of the traffic lane line on the basis of a length of the detectable edge distance; the detectable edge distance calculation element determines the detectable edge distance, at which the number of edge detection times is equal to or smaller than a threshold number of edge detection times; and the threshold number of edge detection times is determined on the basis of a maximum number of edge detection times in the distance distribution of the number of edge detection times. - View Dependent Claims (8, 9, 10, 11, 12)
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13. An image processor for an automotive vehicle comprising:
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an imaging element for imaging a road, on which the automotive vehicle is disposed; a traffic lane line detection element for detecting a position of a traffic lane line on the road by determining an edge of the traffic lane line on the basis of an image of the road; a distance distribution calculation element for calculating a distance distribution of a number of edge detection times of the traffic lane line detected by the traffic lane line detection element, the distance distribution corresponding to a distance to the traffic lane line from the imaging element; and a detection reliability calculation element for calculating a degree of reliability of detection of the traffic lane line on the basis of the distance distribution of the number of edge detection times;
whereinthe detection reliability calculation element includes a detectable edge distance calculation element for calculating a detectable edge distance to the traffic lane line from the imaging element; the detectable edge distance is defined as a distance, at which the number of edge detection times in the distance distribution shows a certain change; the detection reliability calculation element determines the degree of reliability of detection of the traffic lane line on the basis of a length of the detectable edge distance; the detectable edge distance calculation element determines the detectable edge distance, at which a degree of change of the number of edge detection times with respect to the distance is equal to or larger than a threshold degree of change of the number of edge detection times, and the threshold degree of change of the number of edge detection times is preliminarily determined and memorized in the detectable edge distance calculation element.
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Specification