Vehicle and lane recognition device
First Claim
1. A vehicle comprising:
- an imaging means;
an image acquisition means for acquiring a color image of a road via the imaging means;
a lane mark detection means for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data; and
a selection means for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means, and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data,whereineach of the lane mark candidate data has lane mark position data indicating a position of the lane mark, color information of the lane mark, and type information of the lane mark,the lane data output by the selection means has shape information of the actual lane, color information of the lane mark defining the actual lane, and type information of the lane mark defining the actual lane, andthe selection means determines the shape information in the lane data based on the lane mark position data in the selected lane mark candidate data, determines the color information in the lane data based on the color information in the selected lane mark candidate data, and determines the type information in the lane data based on the type information in the selected lane mark candidate data.
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Accused Products
Abstract
There is provided an image acquisition means (2) for acquiring a color image of a road via an imaging means (9) mounted on a vehicle (8), a lane mark detection means (3, 4) for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data, and a selection means (6) for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle (8) is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means (3, 4), and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data. Therefore, even if there are lane marks of different colors on the road, the lane marks of the respective colors can be recognized appropriately from the color image of the road acquired via the imaging means such as a camera.
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Citations
36 Claims
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1. A vehicle comprising:
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an imaging means; an image acquisition means for acquiring a color image of a road via the imaging means; a lane mark detection means for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data; and a selection means for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means, and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data, wherein each of the lane mark candidate data has lane mark position data indicating a position of the lane mark, color information of the lane mark, and type information of the lane mark, the lane data output by the selection means has shape information of the actual lane, color information of the lane mark defining the actual lane, and type information of the lane mark defining the actual lane, and the selection means determines the shape information in the lane data based on the lane mark position data in the selected lane mark candidate data, determines the color information in the lane data based on the color information in the selected lane mark candidate data, and determines the type information in the lane data based on the type information in the selected lane mark candidate data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A lane recognition device comprising:
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an image acquisition means for acquiring a color image of a road via an imaging means mounted on a vehicle; a lane mark detection means for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data; and a selection means for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means, and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data, wherein each of the lane mark candidate data has lane mark position data indicating a position of the lane mark, color information of the lane mark, and type information of the lane mark, the lane data output by the selection means has shape information of the actual lane, color information of the lane mark defining the actual lane, and type information of the lane mark defining the actual lane, and the selection means determines the shape information in the lane data based on the lane mark position data in the selected lane mark candidate data, determines the color information in the lane data based on the color information in the selected lane mark candidate data, and determines the type information in the lane data based on the type information in the selected lane mark candidate data. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A vehicle comprising:
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an imaging means; an image acquisition means for acquiring a color image of a road via the imaging means; a lane mark detection means for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data; a selection means for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means, and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data; and a road stud detection means for performing processing of detecting a lane mark of a stud type on the road on which the vehicle is traveling from the color image based on a shape pattern of the lane mark of the stud type, and outputting a result of the processing as lane mark candidate data, wherein the selection means selects the lane mark candidate data corresponding to the lane mark defining the actual lane on which the vehicle is traveling from among the lane mark candidate data for the respective predetermined colors output from the lane mark detection means and the lane mark candidate data output from the road stud detection means. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27)
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28. A lane recognition device comprising:
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an image acquisition means for acquiring a color image of a road via an imaging means mounted on a vehicle; a lane mark detection means for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data; a selection means for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means, and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data; and a road stud detection means for performing processing of detecting a lane mark of a stud type on the road on which the vehicle is traveling from the color image based on a shape pattern of the lane mark of the stud type, and outputting a result of the processing as lane mark candidate data, wherein the selection means selects the lane mark candidate data corresponding to the lane mark defining the actual lane on which the vehicle is traveling from among the lane mark candidate data for the respective predetermined colors output from the lane mark detection means and the lane mark candidate data output from the road stud detection means. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36)
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Specification