Roadside detection system, driver assistance system and roadside detecting method

• US 8,970,397 B2
• Filed: 07/05/2011
• Issued: 03/03/2015
• Est. Priority Date: 07/05/2010
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Nitanda, Naoki, Miyahara, Takayuki
• Primary Examiner(s): Negron, Daniell L
• Assistant Examiner(s): Barakat, Mohamed
• Application Number:
  US13/176,038
• Publication Number:
  US 20120001769A1
• Time in Patent Office: 1,337 Days
• Field of Search: 340/435, 340/903, 340/905, 356/141.1
• US Class Current: 340/901
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/931 of land vehicles
• 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

A roadside detection system installed in a vehicle to detect a roadside of a road on which the vehicle travels includes detection results acquiring means, first edge line detecting means and second edge line detecting means. The detection results acquiring means emits light waves or electromagnetic waves to a target detection region in which an object to be measured is detected and acquires an objective distance and a reflection intensity, for each of separate regions obtained by separating the target detection region into a plurality of divisions. The first edge line detecting means detects a first edge line that is a candidate of a roadside based on each objective distance. The second edge line detecting means detects a second edge line that is a candidate of a roadside based on each reflection intensity. A driver assistance system and a roadside detecting method are also provided.

Claims

1. A roadside detection system installed in a vehicle to detect a roadside of a road on which the vehicle travels, the system comprising:

acquiring means that emits light waves or electromagnetic waves to a target detection region in which an object to be measured is detected and acquires, as an objective distance, a distance to the object to be measured from a reflected wave reflected from the object to be measured and, as a reflection intensity, an intensity of the reflected wave, for each of separate regions obtained by separating the target detection region into a plurality of divisions;

first edge line detecting means that detects a first edge line that is a candidate of the roadside based on each objective distance, the first edge line being a physical edge line that indicates that the vehicle will run off the road or cause a collision when the vehicle crosses over the physical edge line; and

second edge line detecting means that detects a second edge line that is a candidate of the roadside based on each reflection intensity, the second edge indicating a legal edge line drawn between the road and a region which is outside the road.

2. The roadside detection system according to claim 1, wherein:

the first edge line detecting means detects a portion defined by the first edge line, in which a difference between the objective distances of adjacent separate regions among the individual separate regions becomes equal to or more than a reference distance difference; and

the second edge line detecting means detects a portion defined by the second edge line, in which a difference between the reflection intensities of adjacent separate regions among the individual separate regions becomes equal to or more than a reference intensity difference.

3. The roadside detection system according to claim 2, wherein the acquiring means acquires objective distance and reflection intensity of each separate region detected by optical detecting means that emits a light wave to each of the separate regions to receive reflected light that is a reflection of the light wave from an object to be measured, in a target detection region formed by virtually juxtaposing a number of separate regions in a crosswise direction perpendicular to a traveling direction of the vehicle, each of the separate regions serving as a target in which an object to be measured is detected.

4. The roadside detection system according to claim 3, wherein the system is provided with the optical detecting means.

5. The roadside detection system according to claim 4, wherein:

the acquiring means acquires a plurality of sets of objective distance and reflection intensity detected in the plurality of respective separate regions; and

the first and second edge line detecting means detect the first and second edge lines using the plurality of objective distances and reflection intensities detected in the plurality of respective separate regions, respectively.

6. The roadside detection system according to claim 5, comprising roadside setting means that sets, as the roadside, either the first edge line or the second edge line.

7. The roadside detection system according to claim 6, wherein the roadside setting means also detects the roadside on the left and on the right with reference to a front position of the vehicle in a crosswise direction of the vehicle.

8. The roadside detection system according to claim 7, wherein the roadside setting means sets, as the roadside, either of the edge lines detected by the edge line detecting means, whichever is nearer to the front position of the vehicle.

9. The roadside detection system according to claim 1, wherein the acquiring means acquires objective distance and reflection intensity of each separate region detected by optical detecting means that emits a light wave to each of the separate regions to receive reflected light that is a reflection of the light wave from an object to be measured, in a target detection region formed by virtually juxtaposing a number of separate regions in a crosswise direction perpendicular to a traveling direction of the vehicle, each of the separate regions serving as a target in which an object to be measured is detected.

10. The roadside detection system according to claim 1, wherein the system is provided with the optical detecting means.

11. The roadside detection system according to claim 1, wherein:

the acquiring means acquires a plurality of sets of objective distance and reflection intensity detected in the plurality of respective separate regions; and

the first and second edge line detecting means detect the first and second edge lines using the plurality of objective distances and reflection intensities detected in the plurality of separate regions, respectively.

12. The roadside detection system according to claim 1, comprising roadside setting means that sets, as the roadside, either the first edge line or the second edge line.

13. The roadside detection system according to claim 12, wherein the roadside setting means detects the roadside on the left and on the right with reference to a front position of the vehicle in a crosswise direction of the vehicle.

14. The roadside detection system according to claim 13, wherein the roadside setting means sets, as the roadside, either of the edge lines detected by the edge line detecting means, whichever is nearer to the front position of the vehicle.

15. A driver assistance system installed in a vehicle to assist driving operation of a driver of the vehicle, the system comprising:

roadside detecting means that detects a roadside of a road on which the vehicle travels;

drive assisting means that gives drive assist so that the vehicle no longer comes close to the roadside when the vehicle nears the roadside,

wherein;

the roadside setting means is provided as a roadside detection system;

the drive assisting means gives the drive assist differently in a state where the vehicle comes closer to the physical edge line and in a state where the vehicle comes closer to the legal edge line; and

the roadside detection system comprises;

acquiring means that emits light waves or electromagnetic waves to a target detection region in which an object to be measured is detected and acquires, as an objective distance, a distance to the object to be measured from a reflected wave reflected from the object to be measured and, as a reflection intensity, an intensity of the reflected wave, for each of separate regions obtained by separating the target detection region into a plurality of divisions;

first edge line detecting means that detects a first edge line that is a candidate of the roadside based on each objective distance, the first edge line being a physical edge line which shows the roadside; and

second edge line detecting means that detects a second edge line that is a candidate of the roadside based on each reflection intensity, the second edge indicating a legal edge line which shows an edge line dividing the road and an area outside the road.

16. The drive assistance system according to claim 15, wherein the drive assistance means gives the drive assist which is either issuing an alarm to a driver of the vehicle or braking the vehicle.

17. A driver assistance system installed in a vehicle to assist driving operation of a driver of the vehicle, the system comprising:

roadside detecting means that detects a roadside of a road on which the vehicle travels;

drive assisting means that gives drive assist so that the vehicle no longer comes close to the roadside when the vehicle nears the roadside, wherein;

the roadside detecting means comprises;

acquiring means that emits light waves or electromagnetic waves to a target detection region in which an object to be measured is detected and acquires, as an objective distance, a distance to the object to be measured from a reflected wave reflected from the object to be measured and, as a reflection intensity, an intensity of the reflected wave, for each of separate regions obtained by separating the target detection region into a plurality of divisions;

first edge line detecting means that detects a first edge line that is a candidate of the roadside based on each objective distance, the first edge line being a physical edge line which shows the roadside; and

second edge line detecting means that detects a second edge line that is a candidate of the roadside based on each reflection intensity, the second edge indicating a legal edge line which shows an edge line dividing the road and an area outside the road.

18. The drive assistance system according to claim 17, wherein:

the drive assisting means gives drive assist differently when in a state where the vehicle nears the physical edge line and when in a state where the vehicle nears the legal edge line.

19. A roadside detecting method for detecting a roadside of a road on which the vehicle travels, the method comprising steps of:

emitting light waves or electromagnetic waves to a target detection region in which an object to be measured is detected;

acquiring, as an objective distance, a distance to the object to be measured from a reflected wave reflected from the object to be measured and, as a reflection intensity, an intensity of the reflected wave, for each of separate regions obtained by separating the target detection region into a plurality of divisions;

first detecting a first edge line that is a candidate of the roadside based on each objective distance, the first edge line being a physical edge line which shows the roadside; and

second detecting a second edge line that is a candidate of the roadside based on each reflection intensity, the second edge indicating a legal edge line which shows an edge line dividing the road and an area outside the road.