Device for detecting/judging road boundary

• US 8,411,900 B2
• Filed: 06/10/2009
• Issued: 04/02/2013
• Est. Priority Date: 09/17/2008
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Naka, Takuya, Monji, Tatsuhiko
• Primary Examiner(s): BLOUNT, ERIC
• Application Number:
  US12/920,405
• Publication Number:
  US 20110063097A1
• Time in Patent Office: 1,392 Days
• Field of Search: 340435-437, 340/425.5, 340/937, 348/148, 348/E07.085, 382/103, 701/300, 701/301
• US Class Current: 382/103
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G06V 20/647 by matching two-dimensional images to three-dimensional objects

Abstract

There is provided a road boundary detection/judgment device resistant to environmental change and capable of detecting even a road boundary demarcated by a three-dimensional object in the distance. The device is provided with: an image acquisition section having two or more cameras for image-capturing the road area; a distance data acquisition section acquiring three-dimensional distance information about an image-capture area on the basis of an image obtained by the image acquisition section; a road boundary detection section detecting the height of a three-dimensional object existing in the road area on the basis of the three-dimensional distance information obtained by the distance data acquisition section to detect a road boundary; and a same boundary judgment section transforming the image, for a first road area where the height of a three-dimensional object corresponding to a road boundary could be detected and a second road area where the height of a three-dimensional object corresponding to a road boundary could not be detected, and judging whether the three-dimensional object corresponding to the first road area and the three-dimensional object corresponding to the second road area are the same. If it is judged that the three-dimensional objects corresponding to the first and second road area boundaries are the same, the second road area is reset as the first road area.

Claims

1. An in-vehicle device detecting and judging a three-dimensional object on a boundary of a road on which a vehicle runs, the device comprising:

an image acquisition section having two or more cameras for image-capturing the road area;

a distance data acquisition section acquiring three-dimensional distance information about an image-capture area on the basis of an image obtained by the image acquisition section;

a road boundary detection section detecting the height of a three-dimensional object existing in the road area on the basis of the three-dimensional distance information obtained by the distance data acquisition section to detect a road boundary; and

a same boundary judgment section transforming the image, for a first road area where the height of a three-dimensional object corresponding to a road boundary could be detected by the road boundary detection section and a second road area where the height of a three-dimensional object corresponding to a road boundary could not be detected by the road boundary detection section, and judging whether the three-dimensional object corresponding to the first road area and the three-dimensional object corresponding to the second road area are the same;

wherein

if the same boundary judgment section judges that the three-dimensional objects corresponding to the first and second road area boundaries are the same, the second road area is reset as the first road area.

2. The road boundary detection/judgment device according to claim 1, wherein

the road boundary detection section detects a road shape at each of predetermined intervals forward from the vehicle on the basis of the three-dimensional distance information, judges whether a three-dimensional object with a height higher than a predetermined value exists in a predetermined area within the predetermined interval, for the detected road shape, calculates the three-dimensional position and height of the three-dimensional object and classifies the predetermined area as the first road area if it is judged that the three-dimensional object exists, and classifies the predetermined area as the second road area if it is judged that the three-dimensional object does not exist.

3. The road boundary detection/judgment device according to claim 2, wherein

on the basis of three-dimensional distance information about a three-dimensional object corresponding to the area boundary classified as the first road area before the predetermined area which has been detected by the road boundary detection section and classified as the second road area, and the road shape, the same boundary judgment section transforms the image to an image in which the three-dimensional object is virtually viewed from in front by projection-transform.

4. The road boundary detection/judgment device according to claim 3, wherein

the same boundary judgment section sets a predetermined area in the image in the area classified as the second road area, which is in contact with the a distant-side image position of the area classified as the first road area, as a template, calculates similarity degree between the template and the image within a predetermined area which includes a three-dimensional object corresponding to the boundary of the area classified as the first road area, and judges that a three-dimensional object corresponding to a template position at which the similarity degree peaks exists in the area classified as the second road area if the maximum value of the similarity degree is higher than a predetermined value.

5. The road boundary detection/judgment device according to claim 4, wherein

a correlation coefficient is used as the similarity degree.

6. The road boundary detection/judgment device according to claim 1, comprising:

a motion information acquisition section acquiring motion information about the vehicle;

a movement locus estimation section estimating a movement locus of the vehicle until after a predetermined time, on the basis of the motion information obtained by the motion information acquisition section; and

a warning section searching for a position at which the estimated movement locus and the three-dimensional object corresponding to a road boundary detected by the road boundary detection section and the same boundary judgment section cross with each other, and, if the crossing position exists, giving a driver a warning on the basis of the distance to the crossing position and the speed of the vehicle.