Apparatus for recognizing turnoff from vehicle roadway

• US 9,589,213 B2
• Filed: 02/13/2015
• Issued: 03/07/2017
• Est. Priority Date: 02/14/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kawasaki, Naoki, Kumano, Syunya, Suzuki, Shunsuke, Takafuji, Tetsuya
• Primary Examiner(s): Rushing, Mark
• Application Number:
  US14/621,794
• Publication Number:
  US 20150235095A1
• Time in Patent Office: 753 Days
• Field of Search: 340/435
• US Class Current: 1/1
• 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

An apparatus for determining the presence or absence of a turnoff from a roadway. In the apparatus, a white-line candidate extractor applies image processing to an image of surroundings of a subject vehicle acquired by a vehicle-mounted camera to extract white-line candidates in the roadway. A white-line likelihood calculator calculates, for each of the white-line candidates extracted by the white-line candidate extractor, a likelihood of the white-line candidate. A white-line likelihood calculator calculates, for each of the white-line candidates extracted by the white-line candidate extractor, a likelihood of the white-line candidate. A turnoff determiner calculates a likelihood for one of a plurality of features of the white line selected by the white-line selector, and determines the presence or absence of a turnoff from the roadway based on the likelihood calculated by the turnoff determiner.

Claims

1. An apparatus for determining the presence or absence of a turnoff from a roadway, the apparatus comprising:

a white-line candidate extractor configured to apply image processing to an image of surroundings of a subject vehicle acquired by a vehicle-mounted camera to extract white-line candidates in the roadway;

a white-line likelihood calculator configured to calculate, for each of the white-line candidates extracted by the white-line candidate extractor, a likelihood of the white-line candidate, the likelihood of the white-line candidate being a likelihood that the white-line candidate is an actual white line appearing in the image;

a white-line selector configured to, based on the likelihoods of the white-line candidates calculated by the white-line likelihood calculator, select a white line; and

a turnoff determiner configured to calculate a likelihood for one of a plurality of features of the white line selected by the white-line selector, the plurality of features including (1) the lane line is not a compound line, (2) the lane line is a solid line, (3) the lane line is not a tighter curve, (4) a variation in the parallelism between left and right lane lines is greater than a predetermined value, and (5) a variation in the curvature of the lane line is greater than a predetermined value, and the turnoff determiner being configured to determine the presence or absence of a turnoff from the roadway based on the likelihood calculated by the turnoff determiner.

2. The apparatus of claim 1, wherein the turnoff determiner is configured to, when the likelihood calculated by the turnoff determiner is equal to or greater than a predetermined value, determine that a turnoff exists in the roadway, and when the likelihood calculated by the turnoff determiner is less than the predetermined value, determine that no turnoff exists in the roadway.

3. The apparatus of claim 1, wherein the turnoff determiner further comprises a determination output configured to output the determination result of the determiner.

4. An apparatus for determining the presence or absence of a turnoff from a roadway, the apparatus comprising:

a white-line candidate extractor configured to apply image processing to an image of surroundings of a subject vehicle acquired by a vehicle-mounted camera to extract white-line candidates in the roadway;

a white-line likelihood calculator configured to calculate, for each of the white-line candidates extracted by the white-line candidate extractor, a likelihood of the white-line candidate, the likelihood of the white-line candidate being a likelihood that the white-line candidate is an actual white line appearing in the image;

a white-line selector configured to, based on the likelihoods of the white-line candidates calculated by the white-line likelihood calculator, select a white line; and

a turnoff determiner configured to calculate an integration of likelihoods for two or more of a plurality of features of the white line selected by the white-line selector, the plurality of features including (1) the lane line is not a compound line, (2) the lane line is a solid line, (3) the lane line is not a tighter curve, (4) a variation in the parallelism between left and right lane lines is greater than a predetermined value, and (5) a variation in the curvature of the lane line is greater than a predetermined value, and the turnoff determiner being configured to determine the presence or absence of a turnoff from the roadway based on the integration of likelihoods calculated by the turnoff determiner.

5. The apparatus of claim 4, wherein the turnoff determiner is configured to, when the integration of likelihoods calculated by the turnoff determiner is equal to or greater than a predetermined value, determine that a turnoff exists in the roadway, and when the integration of likelihoods calculated by the turnoff determiner is less than the predetermined value, determine that no turnoff exists in the roadway.

6. The apparatus of claim 4, wherein an integration of likelihoods for two or more of the plurality of features is a product of likelihoods for two or more of the plurality of features.