Lane determining device, method, and program
First Claim
1. A lane determining device, comprising:
- a memory that stores road information including positions and forms of a first lane marking including a zebra zone and a deceleration zone and a second lane marking including solid lines or dashed lines existing on both sides of a lane;
an imaging device that captures an image of the first lane marking and the second lane marking; and
a controller configured to;
obtain vehicle position information indicating a current position of a vehicle;
based on the vehicle position information, access the stored road information including the positions and the forms of the lane markings around the current position of the vehicle;
based on the accessed road information and without using the captured image, determine whether a branch point exists on the road in a forward direction of the vehicle;
based on the accessed road information and without using the captured image, detects that the second lane marking does not exist at all before the branch point;
wherein,if it is determined that the branch point does not exist on the road in the forward direction of the vehicle or it is detected that the second lane marking exists at all before the branch point, the controller;
obtains image information of the captured image of the second lane marking; and
determines a lane in which the vehicle is traveling based on the second lane marking in the image information and the road information, andif it is determined that the branch point exists on the road in the forward direction of the vehicle and it is detected that second lane marking does not exist at all before the branch point, the controller;
obtains image information of the branch point including the captured image of the first lane marking; and
determines a lane in which the vehicle is traveling after the branch point based on an imaging order of the first lane marking, a form of the first lane marking, a position of the first lane marking in the image information of the branch point, and the road information.
1 Assignment
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Accused Products
Abstract
Devices, methods, and programs obtain vehicle position information indicating a current position of a vehicle, and based on the vehicle position information, obtain road information including positions and forms of lane markings around the current position of the vehicle. Based on the road information, the devices, systems, and methods determine whether a branch point exists on the road in a forward direction of the vehicle. If a branch point exists, the devices, methods, and programs obtain image information of an area before the branch point, and determine whether no lane marking is imaged or is partly imaged in the image information of the area before the branch point. If there is no lane marking or only a partial lane marking imaged in the area before the branch point, the devices, methods, and programs obtain image information of the branch point including a captured image of a lane marking, and determine a lane in which the vehicle is traveling after the branch point based on an imaging order of the lane marking, a form of the lane marking, a position of the lane marking in the image information of the branch point, and the road information.
19 Citations
13 Claims
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1. A lane determining device, comprising:
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a memory that stores road information including positions and forms of a first lane marking including a zebra zone and a deceleration zone and a second lane marking including solid lines or dashed lines existing on both sides of a lane; an imaging device that captures an image of the first lane marking and the second lane marking; and a controller configured to; obtain vehicle position information indicating a current position of a vehicle; based on the vehicle position information, access the stored road information including the positions and the forms of the lane markings around the current position of the vehicle; based on the accessed road information and without using the captured image, determine whether a branch point exists on the road in a forward direction of the vehicle; based on the accessed road information and without using the captured image, detects that the second lane marking does not exist at all before the branch point;
wherein,if it is determined that the branch point does not exist on the road in the forward direction of the vehicle or it is detected that the second lane marking exists at all before the branch point, the controller; obtains image information of the captured image of the second lane marking; and determines a lane in which the vehicle is traveling based on the second lane marking in the image information and the road information, and if it is determined that the branch point exists on the road in the forward direction of the vehicle and it is detected that second lane marking does not exist at all before the branch point, the controller; obtains image information of the branch point including the captured image of the first lane marking; and determines a lane in which the vehicle is traveling after the branch point based on an imaging order of the first lane marking, a form of the first lane marking, a position of the first lane marking in the image information of the branch point, and the road information. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A lane determining method comprising:
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causing an imaging device to capture an image of a first lane marking and a second lane marking; obtaining vehicle position information indicating a current position of a vehicle; based on the vehicle position information, accessing stored road information including positions and forms of the first including a zebra zone and a deceleration zone and a second lane marking including solid lines or dashed lines existing on both sides of a lane around the current position of the vehicle; based on the accessed road information and without using the captured image, determining whether a branch point exists on the road in a forward direction of the vehicle; based on the accessed road information and without using the captured image, detecting that the second lane marking does not exist at all before the branch point; if it is determined that the branch point does not exist on the road in the forward direction of the vehicle or if it is detected that the second lane marking exists at all before the branch point; obtaining image information of the captured image of the second lane marking; and determining a lane in which the vehicle is traveling based on the second lane marking in the image information and the road information; and if it is determined that the branch point exists on the road in the forward direction of the vehicle and it is detected that the second lane marking does not exist at all before the branch point; obtaining image information of the branch point including the captured image of the first lane marking; and determining a lane in which the vehicle is traveling after the branch point based on an imaging order of the first lane marking, a form of the first lane marking, a position of the first lane marking in the image information of the branch point, and the road information. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A non-transitory computer-readable storage medium storing a computer- executable program usable to determine a lane, the program comprising:
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instructions for causing an imaging device to capture an image of a first lane marking and a second lane marking; instructions for obtaining vehicle position information indicating a current position of a vehicle; instructions for accessing, based on the vehicle position information, stored road information including positions and forms of the first lane marking including a zebra zone and a deceleration zone and a second lane marking including solid lines or dashed lines existing on both sides of a lane around the current position of the vehicle; instructions for determining, based on the accessed road information and without using the captured image, whether a branch point exists on the road in a forward direction of the vehicle; instructions for detecting, based on the accessed road information and without using the captured image, that the second lane marking does not exist at all before the branch point; instructions for, if it is determined that the branch point does not exist on the road in the forward direction of the vehicle or if it is detected that the second lane marking exists at all before the branch point; obtaining image information of the captured image of the second lane marking; and determining a lane in which the vehicle is traveling based on the second lane marking in the image information and the road information; and instructions for, if it is determined that the branch point exists on the road in the forward direction of the vehicle and it is detected that the second lane marking does not exist at all before the branch point; obtaining image information of the branch point including the captured image of the lane marking; and determining a lane in which the vehicle is traveling after the branch point based on an imaging order of the lane marking, a form of the lane marking, a position of the lane marking in the image information of the branch point, and the road information.
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Specification