Road division line detector

• US 8,477,999 B2
• Filed: 03/22/2007
• Issued: 07/02/2013
• Est. Priority Date: 03/24/2006
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nishida, Makoto, Takai, Isamu
• Primary Examiner(s): Lu, Tom Y
• Assistant Examiner(s): CONWAY, THOMAS A
• Application Number:
  US12/280,435
• Publication Number:
  US 20090034799A1
• Time in Patent Office: 2,294 Days
• Field of Search: None
• US Class Current: 382/104
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/13 Edge detection
• 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: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The present invention relates to a lane-dividing line detection device and has an object of detecting a lane-dividing line with high accuracy by accurately extracting characteristic points of the lane-dividing line while responding flexibly to road surface conditions. According to the present invention, pixel parts where a brightness variation is larger than a predetermined threshold are extracted from an image picked up by a camera that picks up an area ahead of a vehicle as edge points representing the lane-dividing line on a road surface (step 106). Next, candidates for the lane-dividing line drawn on a road are generated based on the extracted edge points (step 108). Then, the predetermined threshold for the brightness variation used to extract the edge points is changed based on the number of the generated candidates for the lane-dividing line (steps 122 through 130). Specifically, if the number of the candidate lines exceeds a predetermined number, the threshold is changed to a high value so as to increase difficulty in extracting the edge points. On the other hand, if the number of the candidate lines does not reach the predetermined number, the threshold is changed to a low value so as to facilitate the extraction of the edge points.

Claims

1. A lane-dividing line detection device that has pickup means for picking up a road surface around a vehicle and characteristic point extraction means for extracting a part where a predetermined parameter meets a reference from an image picked up by the pickup means as a characteristic point representing a lane-dividing line on the road surface and detects the lane-dividing line drawn on a road based on the characteristic point extracted by the characteristic point extraction means, the lane-dividing line detection device comprising:

candidate line generation means for generating a candidate line for the lane-dividing line based on the characteristic point extracted by the characteristic point extraction means;

reference change means for changing the reference on the predetermined parameter used when the characteristic point extraction means extracts the characteristic point from the image so as to facilitate an extraction of the characteristic point when the number of the candidate lines generated by the candidate line generation means does not reach a predetermined number; and

predetermined number change means for changing the predetermined number in accordance with a number of the lane-dividing lines drawn on one side of the road.

2. The lane-dividing line detection device according to claim 1, wherein the predetermined number change means increases the predetermined number when a shape of the lane-dividing line drawn on the one side of the road is changed from a single line composed of one line to a composite line composed of plural lines.

3. The lane-dividing line detection device according to claim 1, wherein the reference change means changes the reference on the predetermined parameter used when the characteristic point extraction means extracts the characteristic point from the image at next and subsequent times.

4. The lane-dividing line detection device according to claim 1, wherein the predetermined parameter represents brightness or a brightness variation.

5. The lane-dividing line detection device according to claim 1, wherein the reference change means changes the reference stepwise by a predetermined unit.

6. The lane-dividing line detection device according to claim 5, wherein the reference change means changes the reference by an amount greater than the predetermined unit at a stroke when a time variation of the number of the characteristic points extracted by the characteristic point extraction means is equal to or larger than a predetermined value.

7. A lane-dividing line detection device that has pickup means for picking up a road surface around a vehicle and characteristic point extraction means for extracting a part where a predetermined parameter meets a reference from an image picked up by the pickup means as a characteristic point representing a lane-dividing line on the road surface and detects the lane-dividing line drawn on a road based on the characteristic point extracted by the characteristic point extraction means, the lane-dividing line detection device comprising:

candidate line generation means for generating a candidate line for the lane-dividing line based on the characteristic point extracted by the characteristic point extraction means;

reference change means for changing the reference on the predetermined parameter used when the characteristic point extraction means extracts the characteristic point from the image so as to increase difficulty in extracting the characteristic point when the number of the candidate lines generated by the candidate line generation means exceeds a predetermined number; and

predetermined number change means for changing the predetermined number in accordance with a number of the lane-dividing lines drawn on one side of the road.

8. The lane-dividing line detection device according to claim 7, wherein the predetermined number change means increases the predetermined number when a shape of the lane-dividing line drawn on the one side of the road is changed from a single line composed of one line to a composite line composed of plural lines.

9. The lane-dividing line detection device according to claim 7, wherein the reference change means changes the reference on the predetermined parameter used when the characteristic point extraction means extracts the characteristic point from the image at next and subsequent times.

10. The lane-dividing line detection device according to claim 7, wherein the predetermined parameter represents brightness or a brightness variation.

11. The lane-dividing line detection device according to claim 7, wherein the reference change means changes the reference stepwise by a predetermined unit.

12. The lane-dividing line detection device according to claim 11, wherein the reference change means changes the reference by an amount greater than the predetermined unit at a stroke when a time variation of the number of the characteristic points extracted by the characteristic point extraction means is equal to or larger than a predetermined value.

13. A lane-dividing line detection device that has pickup means for picking up a road surface around a vehicle and characteristic point extraction means for extracting a part where a predetermined parameter meets a reference from an image picked up by the pickup means as a characteristic point representing a lane-dividing line on the road surface and detects the lane-dividing line drawn on a road based on the characteristic point extracted by the characteristic point extraction means, the lane-dividing line detection device comprising:

candidate line generation means for generating a candidate line for the lane-dividing line based on the characteristic point extracted by the characteristic point extraction means;

reference change means for changing the reference on the predetermined parameter used when the characteristic point extraction means extracts the characteristic point from the image so as to facilitate the extraction of the characteristic point when the number of the candidate lines generated by the candidate line generation means does not reach a predetermined number and changes the reference so as to increase difficulty in extracting the characteristic point when the number of the candidate lines generated by the candidate line generation means exceeds the predetermined number; and

predetermined number change means for changing the predetermined number in accordance with a number of the lane-dividing lines drawn on one side of the road.

14. The lane-dividing line detection device according to claim 13, wherein the predetermined number change means increases the predetermined number when a shape of the lane-dividing line drawn on the one side of the road is changed from a single line composed of one line to a composite line composed of plural lines.

15. The lane-dividing line detection device according to claim 13, wherein the reference change means changes the reference on the predetermined parameter used when the characteristic point extraction means extracts the characteristic point from the image at next and subsequent times.

16. The lane-dividing line detection device according to claim 13, wherein the predetermined parameter represents brightness or a brightness variation.

17. The lane-dividing line detection device according to claim 13, wherein the reference change means changes the reference stepwise by a predetermined unit.

18. The lane-dividing line detection device according to claim 17, wherein the reference change means changes the reference by an amount greater than the predetermined unit at a stroke when a time variation of the number of the characteristic points extracted by the characteristic point extraction means is equal to or larger than a predetermined value.

19. A lane-dividing line detection device for determining a lane-dividing line from image data of a road surface around a vehicle, comprising:

an image processor having a routine which extracts a part of the image data where a predetermined parameter meets a reference threshold to identify one or more characteristic points in image data on the lane-dividing line of the road surface;

said routine when executed generating one or more candidate lines for the lane-dividing line based on the characteristic points;

said routine when executed changing the reference threshold when a number of the candidate lines generated does not reach a predetermined number to decrease difficulty in extracting the characteristic point and changing the reference threshold when the number of the candidate lines generated exceeds the predetermined number to increase said difficulty in extracting the characteristic point; and

said routine when executed changing the predetermined number in accordance with a number of the lane-dividing lines drawn on one side of the road.