Apparatus for detecting lane-marking on road

• US 8,520,954 B2
• Filed: 03/01/2011
• Issued: 08/27/2013
• Est. Priority Date: 03/03/2010
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Suzuki, Shunsuke
• Primary Examiner(s): Le, Vu
• Assistant Examiner(s): WOLDEMARIAM, AKLILU K
• Application Number:
  US12/932,607
• Publication Number:
  US 20110216938A1
• Time in Patent Office: 910 Days
• Field of Search: 382/103, 382/104, 382/199, 382/208
• US Class Current: 382/199
• CPC Class Codes: G06F 18/00 Pattern recognition
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06V 10/48 by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation
• 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 image processing ECU periodically acquires road-surface images and extracts edge points in the acquired road-surface image. Subsequently, the ECU determines the operating mode and extracts the edge line when the operating mode is either a dotted mode or a frame-accumulation mode. The edge points are transformed e.g. Hough transform, to extract an edge line that most frequently passes through the edge points. The extracted edge line denotes the lane marking. The ECU outputs a signal to activate a buzzer alert when determining the vehicle may depart from the lane.

Claims

1. A detection apparatus mounted on a vehicle adapted to detect a lane-marking on a road based on a road-surface image taken from a road surface in front of the vehicle, comprising:

an acquiring unit for periodically acquiring the road-surface image and each acquired road-surface image being framed into a single frame;

an extracting unit for extracting an edge point from the frame framed by the acquiring unit;

a lane detecting unit for detecting the lane-marking based on the edge point extracted by the extracting unit, and

a first determining unit for determining whether or not the number of edge points located on the lane-marking detected by the lane detecting unit is smaller than a predetermined threshold value,

wherein the lane detecting unit is configured to detect the lane-marking based on a plurality of edge points combined from among the edge points extracted subsequently from the road-surface images in a plurality of frames subsequently framed by the acquiring unit, when the first determining unit determines that the number of edge points is smaller than the predetermined threshold value.

2. The detection apparatus according to claim 1, further comprising

a second determining unit for determining whether or not the lane marking is detected by using a predetermined procedure, wherein

the lane detecting unit is configured to detect the lane-marking based on the plurality of edge points combined from among the edge points extracted subsequently from the road-surface images in a plurality of frames subsequently framed by the acquiring unit, when the second determining unit determines that the lane-marking is not detected.

3. The detection apparatus according to claim 2, wherein

the lane detecting unit is configured to detect the lane marking based on the plurality of edge points combined from among the edge points extracted subsequently from the road-surface images in a plurality of frames subsequently framed by the acquiring unit, when the second determining unit determines that the lane-marking is not detected, the number of frames used for extracting the edge point being set to be larger than the number of frames used when the number of edge points is smaller than the predetermined threshold value.

4. The detection apparatus according to claim 1, further comprising:

an angle detecting unit for detecting an angle formed between a line extending from the lane marking detected by the lane detecting unit and a line extending from a direction that the vehicle runs; and

a calculating unit for calculating a distance that the vehicle runs during a period from a time when a previous frame is acquired to a time when a latest frame is acquired,

wherein the lane detecting unit is configured to detect the lane-marking based on the edge point extracted from the road-surface images in a plurality of frames subsequently framed by the acquiring unit such that the lane detecting unit

i) combines the plurality of frames including a latest frame and a previous frame,

ii) estimates an amount of movement of the lane-marking which moves in a direction perpendicular to a running direction of the vehicle and the movement of the lane-marking being recognized in the combined frames, the amount of the movement being estimated based on the angle detected by the angle detecting unit and the distance calculated by the calculating unit, and

iii) moves positions of the edge points extracted from the road-surface images in the combined frames based on the estimated amount of the movement so as to detect the lane-marking.

5. The detection apparatus according to claim 1, further comprising:

a third determining unit for determining whether or not the vehicle runs departing from the lane-marking detected by the lane detecting unit and a warning unit for warning a vehicle inside by sounding a buzzer when the third determining unit determines that the vehicle is departing from the lane.

6. The detection apparatus according to claim 2, wherein

the predetermined procedure is Hough transform.

9. The detection apparatus according to claim 1, wherein:

only the plurality of edge points are combined from among the edge points extracted subsequently from the road surface images; and

the road-surface images in the plurality of frames are not combined.

7. A detection method performed on a vehicle for detecting a lane-marking on a road based on a road-surface image taken from a road surface in front of the vehicle, the detection method comprising steps of:

periodically acquiring the road-surface image;

framing the road-surface image into a single frame;

extracting an edge point from the frame framed by the acquiring step;

detecting the lane-marking by using a predetermined procedure based on the extracted edge point; and

determining whether or not a number of edge points located on the detected lane-marking is smaller than a predetermined threshold value,

wherein the lane-marking is detected based on a plurality of edge points combined from among the edge points extracted subsequently from the road-surface images in a plurality of frames subsequently framed by the acquiring step, when it is determined that the number of edge points is smaller than the predetermined threshold value.

8. The method according to claim 7, wherein:

only the plurality of edge points are combined from among the edge points extracted subsequently from the road surface images; and

the road-surface images in the plurality of frames are not combined.

10. A detection apparatus mounted on a vehicle adapted to detect a lane-marking on a road based on one or more road-surface images taken from a road surface in front of the vehicle, comprising:

an acquiring unit for periodically acquiring each of the road-surface images and each acquired road-surface image being framed into a single frame;

an extracting unit for extracting at least one current edge point from each of the frames framed by the acquiring unit;

a lane detecting unit for detecting the lane-marking based on the current edge points extracted by the extracting unit; and

a first determining unit for determining whether or not the number of current edge points located on the lane-marking detected by the lane detecting unit is smaller than a predetermined threshold value;

wherein

the lane detecting unit is configured to detect the lane-marking based on only the current edge points extracted from the road-surface images combined with only one or more new edge points extracted by the extracting unit from a plurality of frames subsequently framed by the acquiring unit, when the first determining unit determines that the number of current edge points is smaller than the predetermined threshold value; and

the road surface images in the plurality of frames are not combined.

11. The detection apparatus according to claim 10, further comprising

a second determining unit for determining whether or not the lane marking is detected by using a predetermined procedure, wherein

the lane detecting unit is configured to detect the lane-marking based on the current edge points extracted from the road-surface images combined with only one or more new edge points extracted by the extracting unit from a plurality of frames subsequently framed by the acquiring unit, when the second determining unit determines that the lane-marking is not detected.

12. The detection apparatus according to claim 11, wherein

the lane detecting unit is configured to detect the lane marking based on the current edge point extracted from the road-surface images combined with only one or more new edge points extracted by the extracting unit from a plurality of frames subsequently framed by the acquiring unit, when the second determining unit determines that the lane-marking is not detected, the number of frames used for extracting the edge point being set to be larger than the number of frames used when the number of current edge points is smaller than the predetermined threshold value.

13. The detection apparatus according to claim 11, wherein

the predetermined procedure is Hough transform.

14. The detection apparatus according to claim 10, further comprising:

an angle detecting unit for detecting an angle formed between a line extending from the lane marking detected by the lane detecting unit and a line extending from a direction that the vehicle runs; and

a calculating unit for calculating a distance that the vehicle runs during a period from a time when a previous frame is acquired to a time when a latest frame is acquired,

wherein the lane detecting unit is configured to detect the lane-marking based on the edge point extracted from the road-surface images in a plurality of frames subsequently framed by the acquiring unit such that the lane detecting unit

i) combines the plurality of frames including a latest frame and a previous frame,

ii) estimates an amount of movement of the lane-marking which moves in a direction perpendicular to a running direction of the vehicle and the movement of the lane-marking being recognized in the combined frames, the amount of the movement being estimated based on the angle detected by the angle detecting unit and the distance calculated by the calculating unit, and

iii) moves positions of the edge points extracted from the road-surface images in the combined frames based on the estimated amount of the movement so as to detect the lane-marking.

15. The detection apparatus according to claim 10, further comprising:

a third determining unit for determining whether or not the vehicle runs departing from the lane-marking detected by the lane detecting unit and a warning unit for warning a vehicle inside by sounding a buzzer when the third determining unit determines that the vehicle is departing from the lane.