Lane line estimating apparatus
First Claim
1. A lane line estimating apparatus comprising:
- an imaging unit mounted on a vehicle and configured to image an external environment of the vehicle;
a storage unit configured to store data of a lane-line width for each of plural predetermined lane-line types;
a lane-line candidate point setting unit configured to detect left-hand and right-hand lane-line detection points on a driving lane, on which the vehicle runs, based upon an image of the external environment imaged by the imaging unit, and to set lane-line candidate points on locations, at a space of the lane-line width for each of plural predetermined lane-line types on lane-lines opposite to the detected left-hand and right-hand lane-line detection points;
a curve approximation processing unit configured to obtain a curve approximation equation based upon the lane-line detection points and the lane-line candidate points set on a lane-line of the lane-line detection points, in order to set virtual lines on lane-lines on a left side and on a right side of the driving lane from the curve approximation equation; and
a lane-line type estimating unit configured to obtain a dispersion of the virtual lines set by the curve approximation processing unit so as to estimate the lane-line type of at least one of the left-hand and right-hand virtual lines from the pair of left-hand and right-hand virtual lines indicating a smallest dispersion.
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Accused Products
Abstract
A fixed data memory stores data of a normal lane width between lane lines and a narrow lane width between inner guide lines of double white lines. A lane-line candidate setting section detects lane-line detection points on both sides of a driving lane using a captured image, and sets lane-line candidate points on the opposite lane lines at spaces of the widths and therebetween, using the detection points as starting points. A curve approximation processing section sets virtual lines on both sides of the driving lane from a curve approximation equation obtained using the detection and candidate points. A lane-line position setting section obtains dispersions of the candidate points to the left and right virtual lines, and estimates the type of at least one of the left and right virtual lines.
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Citations
15 Claims
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1. A lane line estimating apparatus comprising:
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an imaging unit mounted on a vehicle and configured to image an external environment of the vehicle; a storage unit configured to store data of a lane-line width for each of plural predetermined lane-line types; a lane-line candidate point setting unit configured to detect left-hand and right-hand lane-line detection points on a driving lane, on which the vehicle runs, based upon an image of the external environment imaged by the imaging unit, and to set lane-line candidate points on locations, at a space of the lane-line width for each of plural predetermined lane-line types on lane-lines opposite to the detected left-hand and right-hand lane-line detection points; a curve approximation processing unit configured to obtain a curve approximation equation based upon the lane-line detection points and the lane-line candidate points set on a lane-line of the lane-line detection points, in order to set virtual lines on lane-lines on a left side and on a right side of the driving lane from the curve approximation equation; and a lane-line type estimating unit configured to obtain a dispersion of the virtual lines set by the curve approximation processing unit so as to estimate the lane-line type of at least one of the left-hand and right-hand virtual lines from the pair of left-hand and right-hand virtual lines indicating a smallest dispersion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification