Vehicle attitude angle calculating device, and lane departure warning system using same

• US 9,393,966 B2
• Filed: 07/22/2015
• Issued: 07/19/2016
• Est. Priority Date: 03/17/2010
• Status: Active Grant

• Current Assignee: Clarion Co., Ltd. (Faurecia SA)
• Original Assignee: Clarion Co., Ltd. (Faurecia SA)
• Inventors: Imai, Masato, Sakamoto, Hiroshi, Sakata, Masao
• Primary Examiner(s): Atala, Jamie
• Assistant Examiner(s): Mung, On S
• Application Number:
  US14/806,379
• Publication Number:
  US 20150375755A1
• Time in Patent Office: 363 Days
• Field of Search: 348/148
• US Class Current: 1/1
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B60Y 2400/3015 Optical cameras
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/73 using feature-based methods
• 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
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A vehicle attitude angle calculating device finds a yaw angle of a vehicle with reference to a lane stably without using information on a road vanishing point even in the state where a vehicle pitch angle varies. The vehicle attitude angle calculating device includes: a dividing line detection unit that detects a dividing line from image information received from a vehicle-mounted imaging device, the image information being a captured image of an outside of a vehicle; a distance calculation unit that calculates a distance between the dividing line and the optical axis of the vehicle-mounted imaging device every predetermined processing period; and a vehicle angle calculation unit that calculates a dividing line angle based on the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and a vehicle proceeding distance where the vehicle proceeds during a predetermined processing period.

Claims

1. A vehicle attitude angle calculating device, comprising:

a dividing line detection unit that detects a dividing line from an image received from a vehicle-mounted imaging device, the image being a captured image of an outside of a vehicle;

a distance calculation unit that calculates a distance between the dividing line and an optical axis of the vehicle-mounted imaging device;

a vehicle angle calculation unit that calculates a dividing line angle on the basis of the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and a vehicle proceeding distance; and

a dividing line angle average unit that averages a plurality of dividing line angles calculated by the vehicle angle calculation unit,

wherein

the vehicle angle calculation unit determines whether a distance between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit has been calculated or not,

when it is determined that the distance has been calculated, the vehicle angle calculation unit calculates a dividing line angle on the basis of the calculated distance,

when it is determined that the distance has not been calculated, the vehicle angle calculation unit predicts a dividing line angle on the basis of a distance or a dividing line angle calculated in past, and

the dividing line angle average unit determines a weighted average by giving greater weight to the dividing line angle calculated from the calculated distance than to the predicted dividing line angle.

2. The vehicle attitude angle calculating device according to claim 1,

wherein

the vehicle angle calculation unit includes a dividing line not-detected number of times measurement unit that measures the number of times when the distance calculation unit continuously fails to calculate a distance between the dividing line and the optical axis of the vehicle-mounted imaging device.

3. The vehicle attitude angle calculating device according to claim 2,

wherein

the dividing line angle average unit determines a weighted average of the plurality of dividing line angles on the basis of the not-detected number of times measured by the dividing line not-detected number of times measurement unit.

4. The vehicle attitude angle calculating device according to claim 3,

wherein

the dividing line angle average unit determines a weighted average by giving greater weight to the angle of the dividing line with a smaller not-detected number of times than to the angle of the dividing line with a greater not-detected number of times among the plurality of dividing line angles.

8. The vehicle attitude angle calculating device according to claim 1, wherein

the vehicle angle calculation unit includes a dividing line angle calculation unit that calculates a dividing line angle on the basis of the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and the vehicle proceeding distance, and a vehicle yaw angle calculation unit that calculates a yaw angle of the vehicle with reference to the dividing line on the basis of the calculated dividing line angle.

9. The vehicle attitude angle calculating device according to claim 1, further comprising:

a distance storage unit that stores the distance calculated by the distance calculation unit,

wherein

the vehicle angle calculation unit fetches a plurality of distances from the distance storage unit and calculates a dividing line angle on the basis of the plurality of distances and the vehicle proceeding distance.

10. The vehicle attitude angle calculating device according to claim 8,

wherein

the dividing line angle calculation unit includes:

an angle storage unit that stores a past dividing line angle that has been calculated by the dividing line angle calculation unit; and

an angle change rate calculation unit that calculates a rate of change of a dividing line angle on the basis of a plurality of dividing line angles stored in the angle storage unit.

11. The vehicle attitude angle calculating device according to claim 8,

wherein

the yaw angle calculation unit includes:

a yaw angle storage unit that stores a past plurality of yaw angles that have been calculated by the vehicle yaw angle calculation unit; and

a yaw angle change rate calculation unit that calculates a rate of change of a yaw angle of the vehicle on the basis of a plurality of yaw angles stored in the yaw angle storage unit.

12. The vehicle attitude angle calculating device according to claim 8,

wherein

the dividing line angle calculation unit determines whether, among distances between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit, a latest distance has been calculated or not,

when it is determined that the latest distance has been calculated, the dividing line angle calculation unit determines whether, among a plurality of distances between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit, a predetermined first number of distances or more have been calculated or not, and

when it is determined that the predetermined first number of distances or more have been calculated, the dividing line angle calculation unit calculates the dividing line angle on the basis of the calculated plurality of distances.

13. The vehicle attitude angle calculating device according to claim 12,

wherein

when it is determined that, among distances between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit, a latest distance has not been calculated, or when it is determined that, among a plurality of distances between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit, the predetermined first number or more of distances has not been calculated, the dividing line angle calculation unit determines whether, among a plurality of dividing line angles calculated in past, a predetermined second number or more of dividing line angles has been calculated or not, and

when it is determined that, among a plurality of dividing line angles calculated in past, the predetermined second number or more of dividing line angles has been calculated, the dividing line angle calculation unit calculates a change rate of the dividing line angles on the basis of the calculated plurality of dividing line angles, and predicts a dividing line angle on the basis of the calculated change rate of the dividing line angles.

14. The vehicle attitude angle calculating device according to claim 1,

wherein

the dividing line includes a pair of left and right lines residing on left and right of the vehicle, and

the distance between the dividing line and the optical axis of the vehicle-mounted imaging device includes a distance between the left line and the optical axis of the vehicle-mounted imaging device and a distance between the right line and the optical axis of the vehicle-mounted imaging device.

5. A vehicle attitude angle calculating device, comprising:

a dividing line detection unit that detects a dividing line from an image received from a vehicle-mounted imaging device, the image being a captured image of an outside of a vehicle;

a distance calculation unit that calculates a distance between the dividing line and an optical axis of the vehicle-mounted imaging device;

a vehicle angle calculation unit that calculates a dividing line angle on the basis of the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and a vehicle proceeding distance; and

a dividing line angle average unit that averages a plurality of dividing line angles calculated by the vehicle angle calculation unit,

wherein

when the dividing line angles have been calculated at a plurality of positions with different distances from the imaging device on the image, the dividing line angle average unit determines a weighted average by giving greater weight to the dividing line angle calculated at a position with a shorter distance than to the dividing line angle calculated at a position with a longer distance,

the vehicle angle calculation unit includes a dividing line angle calculation unit that calculates a dividing line angle on the basis of the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and the vehicle proceeding distance, and a vehicle yaw angle calculation unit that calculates a yaw angle of the vehicle with reference to the dividing line on the basis of the calculated dividing line angle,

the dividing line angle calculation unit determines whether, among distances between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit, a latest distance has been calculated or not,

when it is determined that the latest distance has been calculated, the dividing line angle calculation unit determines whether, among a plurality of distances between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit, a predetermined first number of distances or more have been calculated or not, and

when it is determined that the predetermined first number of distances or more have been calculated, the dividing line angle calculation unit calculates the dividing line angle on the basis of the calculated plurality of distances.

6. The vehicle attitude angle calculating device according to claim 5, wherein

the dividing line angle average unit determines a weighted average of the plurality of dividing line angles on the basis of distance resolutions in the horizontal direction at positions where the respective dividing line angles have been calculated.

7. The vehicle attitude angle calculating device according to claim 6, wherein

the dividing line angle average unit determines a weighted average of the plurality of dividing line angles by using as weights reciprocals of the distance resolutions in the horizontal direction at the positions where the respective dividing line angles have been calculated.

15. The vehicle attitude angle calculating device according to claim 5, further comprising:

a distance storage unit that stores the distance calculated by the distance calculation unit,

wherein

the vehicle angle calculation unit fetches a plurality of distances from the distance storage unit and calculates a dividing line angle on the basis of the plurality of distances and the vehicle proceeding distance.

16. The vehicle attitude angle calculating device according to claim 5,

wherein

the dividing line includes a pair of left and right lines residing on left and right of the vehicle, and

the distance between the dividing line and the optical axis of the vehicle-mounted imaging device includes a distance between the left line and the optical axis of the vehicle-mounted imaging device and a distance between the right line and the optical axis of the vehicle-mounted imaging device.