Apparatus and method for recognizing travel lane
First Claim
1. An apparatus for recognizing a travel lane of a vehicle, comprising:
- an image acquirer configured to acquire, from a camera mounted in the vehicle, an image of the travel lane ahead of the vehicle;
an edge extractor configured to extract boundary edge points used to estimate a boundary of the travel lane from the image acquired from the image acquirer;
a travel lane parameter estimator configured to use a filter prepared in advance to estimate travel lane parameters representing a condition and shape of the travel lane from coordinates of the boundary edge points extracted by the edge extractor;
a shape change point extractor configured to extract a shape change point at which an absolute value of a second derivative value of curvature of an extracted boundary line that is a boundary line represented by the boundary edge points extracted by the edge extractor exceeds a predetermined threshold;
a deviation determiner configured to, if two or more shape change points are extracted by the shape change point extractor and the second derivative value of curvature of the extracted boundary line at at least one of the two or more shape change points is inverted in sign, determine whether or not the extracted boundary line and an estimated boundary line that is a boundary line estimated from the travel lane parameters estimated by the travel lane parameter estimator are deviating from each other beyond a predetermined allowable range; and
a driving aid configured to, if it is determined by the deviation determiner that the extracted boundary line and the estimated boundary line are deviating from each other beyond the predetermined allowable range, perform specific control of the vehicle to prevent occurrence of undesirable situations caused by deviation between the extracted boundary line and the estimated boundary line.
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Accused Products
Abstract
In an apparatus for recognizing a travel lane of a vehicle, a deviation determiner is configured to, if two or more shape change points are extracted by a shape change point extractor and the second derivative value of curvature of an extracted boundary line at at least one of the two or more shape change points is inverted in sign, determine whether or not the extracted boundary line and an estimated boundary line estimated from travel lane parameters estimated by a travel lane parameter estimator are deviating from each other beyond a predetermined allowable range. A driving aid is configured to, if it is determined that the extracted boundary line and the estimated boundary line are deviating from each other beyond the predetermined allowable range, perform control upon deviation to prevent occurrence of undesirable situations that may be caused by deviation between the extracted boundary line and the estimated boundary line.
16 Citations
18 Claims
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1. An apparatus for recognizing a travel lane of a vehicle, comprising:
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an image acquirer configured to acquire, from a camera mounted in the vehicle, an image of the travel lane ahead of the vehicle; an edge extractor configured to extract boundary edge points used to estimate a boundary of the travel lane from the image acquired from the image acquirer; a travel lane parameter estimator configured to use a filter prepared in advance to estimate travel lane parameters representing a condition and shape of the travel lane from coordinates of the boundary edge points extracted by the edge extractor; a shape change point extractor configured to extract a shape change point at which an absolute value of a second derivative value of curvature of an extracted boundary line that is a boundary line represented by the boundary edge points extracted by the edge extractor exceeds a predetermined threshold; a deviation determiner configured to, if two or more shape change points are extracted by the shape change point extractor and the second derivative value of curvature of the extracted boundary line at at least one of the two or more shape change points is inverted in sign, determine whether or not the extracted boundary line and an estimated boundary line that is a boundary line estimated from the travel lane parameters estimated by the travel lane parameter estimator are deviating from each other beyond a predetermined allowable range; and a driving aid configured to, if it is determined by the deviation determiner that the extracted boundary line and the estimated boundary line are deviating from each other beyond the predetermined allowable range, perform specific control of the vehicle to prevent occurrence of undesirable situations caused by deviation between the extracted boundary line and the estimated boundary line. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 17)
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9. A method of recognizing a travel lane of a vehicle, comprising:
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acquiring from a camera mounted in the vehicle an image of the travel lane; extracting boundary edge points of the travel lane; using a filter prepared in advance to estimate travel lane parameters representing a condition and shape of the travel lane from coordinates of the boundary edge points; extracting a shape change point at which an absolute value of a second derivative value of curvature of an extracted boundary line represented by the boundary edge points extracted exceeds a predetermined threshold; acquiring an estimated boundary line that is a boundary line estimated from the travel lane parameters; determining whether or not the extracted boundary line and the estimated boundary line are deviating from each other beyond a predetermined allowable range, if two or more shape change points are extracted by the shape change point extractor and the second derivative value of curvature of the extracted boundary line at at least one of the two or more shape change points is inverted in sign; and performing specific control of the vehicle to prevent occurrence of undesirable situations caused by deviation between the extracted boundary line and the estimated boundary line, if it is determined that the extracted boundary line and the estimated boundary line are deviating from each other beyond the predetermined allowable range. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 18)
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Specification