Boundary line recognition apparatus

• US 8,744,194 B2
• Filed: 04/07/2010
• Issued: 06/03/2014
• Est. Priority Date: 04/09/2009
• Status: Active Grant

• Current Assignee: DENSO Corporation, Nippon Soken, Inc.
• Original Assignee: DENSO Corporation, Nippon Soken, Inc.
• Inventors: Kawasaki, Naoki, Nakano, Hiroki, Hoki, Kenta, Takafuji, Tetsuya
• Primary Examiner(s): Hung, Yubin
• Application Number:
  US12/798,601
• Publication Number:
  US 20100259617A1
• Time in Patent Office: 1,518 Days
• Field of Search: 382/100, 382/104, 382/192, 382/195, 382/199, 701300-302, 701/523, 348/113
• US Class Current: 382/199
• CPC Class Codes: G06F 18/254 of classification results, e.g. of results related to same input data
• CPC Class Codes: G06V 10/809 of classification results, e.g. where the classifiers operate on the same input data
• 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

Abstract

In a boundary line recognition apparatus, a boundary line candidate extracting part extracts boundary line candidates from image data obtained by an on-vehicle camera based on known image processing such as pattern matching and Hough transform. One or more kinds of boundary line feature calculating parts calculate one or more likelihoods of each boundary line candidate. The likelihood indicates a degree of probability to be the boundary line. A boundary line feature combining means multiplies the likelihoods of each boundary line candidate and outputs a combined likelihood. A boundary line candidate selecting part selects the boundary line candidate having a maximum likelihood as the boundary line. The boundary line feature calculating part further calculates the likelihood of the boundary line candidate using a dispersion of brightness and an internal edge amount, and changes the likelihood based on an additional likelihood obtained by a driving lane surface feature extracting part.

Claims

1. A boundary line recognition apparatus comprising:

an on-vehicle camera configured to acquire image of an area around a vehicle and to output image data;

a boundary line candidate extracting processor extracting one or more boundary line candidates which are present on a driving lane of the vehicle from the image data obtained by the on-vehicle camera;

a boundary line feature calculating processor calculating a likelihood which represents a degree of probability that a subject boundary line candidate is a boundary line on the driving lane extracted by the boundary line candidate extracting processor, wherein the subject boundary line candidate is part of the one or more boundary line candidates;

a boundary line selecting processor selecting a final boundary line candidate having a maximum likelihood as the boundary line on the driving lane from among the one or more boundary line candidates; and

a stripe pattern detecting processor detecting, from the image data obtained by the on-vehicle camera, a stripe pattern of indentation on the driving lane by determining that, the stripe pattern has a brightness of not more than a predetermined value, and

wherein the boundary line feature calculating processor decreases the likelihood of the subject boundary line candidate when the stripe pattern detecting processor detects the presence of the stripe pattern.

2. The boundary line recognition apparatus according to claim 1, further comprising an edge feature extracting processor extracting from the image data obtained by the on-vehicle camera, a total edge amount of an area outside of the subject boundary line candidate on the driving lane, and a total edge amount of the subject boundary line candidate,

wherein the boundary line feature calculating processor decreases the likelihood of the subject boundary line candidates when a difference in the total edge amount of the area outside of the subject boundary line candidate and the total edge amount of the subject boundary line candidate is a predetermined value.

3. The boundary line recognition apparatus according to claim 1, further comprising a traffic sign detecting processor detecting a traffic sign painted on the driving lane of the vehicle from the image data obtained by the on-vehicle camera, wherein the boundary line feature calculating processor decreases the likelihood of the subject boundary line candidate when the traffic sign detecting processor detects a traffic sign.

4. The boundary line recognition apparatus according to claim 1, further comprising a pair-boundary line candidate detecting processor detecting a presence of a pair of boundary line candidates, placed at both sides of the vehicle in the driving direction on the driving lane of the vehicle, in the one or more boundary line candidates extracted by the boundary line candidate extracting processor,

wherein the boundary line feature calculating processor decreases the likelihood of the subject boundary line candidate placed in an area between the pair of boundary line candidates detected by the pair-boundary line candidate detecting section when the pair-boundary line candidate detecting processor detects the pair of boundary line candidates.