Lane recognition system for vehicle

• US 20020081001A1
• Filed: 12/19/2001
• Published: 06/27/2002
• Est. Priority Date: 12/26/2000
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tsuji, Masafumi
• Granted Patent: US 6,868,168 B2
• Time in Patent Office: Days
• US Class Current: 382/104
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06V 10/443 by matching or filtering
• 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 lane recognition system for a vehicle is comprised of a camera set, a memory and a controller connected to the camera set and the memory. The camera set picks up a road image of a road ahead of the vehicle, and the memory stores parameters representative of a model lane marker of the road image. The controller is arranged to set a plurality of lane-marker detecting areas on the road image so that each lane-marker detecting area is partially overlapped with the lane-marker detecting areas adjacent to the one of the lane-marker candidate-point detecting areas, to detect each lane marker candidate point in each lane-marker detecting area, to calculate variations of the parameters, to correct the parameters according to the variation, and to output road-shape indicative information on the basis of the parameters.

Claims

1. A lane recognition system for a vehicle, comprising:

a camera set picking up a road image of a road ahead of the vehicle;

a memory storing parameters representative of a model lane marker of the road image; and

a controller coupled to the camera set and the memory, the controller being arranged,

to set a plurality of lane-marker candidate-point detecting areas on the road image so that each one of the lane-marker candidate-point detecting areas is partially overlapped with the lane-marker candidate-point detecting areas adjacent to the one of the lane-marker candidate-point detecting areas,

to detect each lane marker candidate point in each lane-marker candidate-point detecting area,

to calculate variations of the parameters by comparing the lane marker candidate points with corresponding points on the model lane marker derived from the parameters stored in the memory,

to correct the parameters according to the variation,

to output road-shape indicative information on the basis of the parameters.

2. The lane recognition system as claimed in claim 1, wherein the controller sets each lane-marker candidate-point detecting area so that in an x-y coordinate system of the road image, the y-coordinate of each lane-marker candidate-point detecting area is overlapped with the y-coordinate of the adjacent lane-marker candidate-point detecting area by a line.

3. The lane recognition system as claimed in claim 1, wherein the variations calculated by the controller includes a variation of a road curvature and a displacement of the camera set relative to a reference position.

4. The lane recognition system as claimed in claim 1, further comprising a sensor unit that detects a behavior of the vehicle and a vehicle control apparatus that controls the vehicle according to a command signal outputted from the controller.

5. The lane recognition system as claimed in claim 4, wherein when the controller determines that the corrected parameters are normal based on the result of comparing information derived from the corrected parameters with the vehicle behavior detected by the sensor unit, the controller updates the parameters in the memory are updated.

6. The system as claimed in claim 4, wherein the controller is further arranged to obtain a coordinate of each lane-marker candidate-point detecting area by transforming a coordinate system of the road ahead of the vehicle into a coordinate system of the road image, and to detect a coordinate of each lane marker candidate point in the coordinate system of the road image.

7. The system as claimed in claim 4, wherein the controller is further arranged to detect the lane marker candidate point in each lane-marker candidate-point detecting area by selecting a lane-marker indicative straight line element between a first point on an upper side of each lane-marker candidate-point detecting area and a second point on an lower side of each lane-marker candidate-point detecting area and by determining one of the first and second points as a lane-marker candidate point of each lane-marker candidate-point.

8. The system as claimed in claim 7, wherein the controller is further arranged to output the variation indicative of a displacement of the vehicle relative to a reference point of the road to the vehicle control apparatus.

9. The system as claimed in claim 7, wherein the controller is further arranged to adjust the second point of the lane-marker candidate-point detecting area with a first point of the adjacent lane-marker candidate-point detecting area adjacent to the lane marker candidate point.

10. The system as claimed in claim 1, wherein when the lane markers are recognized as a pair of lane markers for defining a lane, each of the lane-marker candidate-point detecting areas of each lane marker is overlapped with the adjacent lane-maker candidate-point detecting areas by a line.

11. The system as claimed in claim 1, wherein when the controller detects no candidate point at one of the lane-marker candidate-point detecting areas, the controller calculates the candidate point of the one of the lane-marker candidate-point detecting areas on the basis of the adjacent lane-marker candidate-point detecting areas adjacent to the one of the lane-marker candidate-point detecting area.

12. The lane recognition system as claimed in claim 1, wherein the controller sets the lane-marker candidate-point detecting areas so that the model lane markers are located at centers of the respective lane-marker candidate-point detecting areas.

13. The lane recognition system as claimed in claim 1, wherein the controller sets the lane-marker candidate-point detecting areas at positions offset from the model lane marker according to the change of the past model lane marker.

14. A method for recognizing a lane traveled by a vehicle, the method comprising:

picking up a road image of a road ahead of the vehicle;

storing parameters of a model lane marker of the road image;

setting a plurality of lane-marker candidate-point detecting areas on the road image so that each one of the lane-marker candidate-point detecting areas is partially overlapped with the lane-marker candidate-point detecting areas adjacent to the one of the lane-marker candidate-point detecting areas;

detecting each lane marker candidate point in each lane-marker candidate-point detecting area;

calculating variations of the parameters by comparing the lane marker candidate points with corresponding points on the model lane marker derived from the parameters stored in a memory;

correcting the parameters according to the variation; and

outputting road-shape indicative information on the basis of the parameters.

15. A lane recognition system installed on a vehicle, comprising:

image pickup means for picking up an image of a predetermined region ahead of the vehicle;

storing means for storing parameters of a model lane marker;

coordinate transforming means for obtaining a coordinate of each lane-marker candidate-point detecting area by transforming a coordinate system of the road ahead of the vehicle into a coordinate system of the road image;

lane-marker candidate-point detecting area setting means for setting a plurality of lane-marker candidate-point detecting areas on the image to detect a lane marker of a lane traveled by the vehicle;

lane-marker candidate-point detecting means for detecting a coordinate of each lane-marker candidate-point in each lane-marker candidate-point detecting area;

variation calculating means for calculating variations of the parameters representative of the road shape and a position of the image pickup means relative to the road ahead of the vehicle by comparing the coordinate of the lane marker candidate point and a coordinate of a point of the road model in the coordinate system of the image;

parameter updating means for updating the parameters stored in the storing means according to the variations of the parameters; and

output signal selecting means for outputting a displacement of the vehicle relative to the road to a vehicle control apparatus;

wherein the lane-marker candidate-point detection area setting means sets the lane-marker candidate-point detection areas so that a part of each lane-marker candidate-point detection area is overlapped with adjacent one of the lane-marker candidate-point detection areas;

wherein the lane-marker candidate-point detecting means detects a straight line element of the lane marker on the basis of a coordinate of a first point set at a position of one of upper and lower sides of the lane-marker candidate-point detecting area and a coordinate of a second point set at a position of the other of the upper and lower sides of the lane-marker candidate-point detecting area;

wherein the lane-marker candidate-point detecting means outputs the point corresponding to one of the upper and lower sides of the lane-marker candidate-point detecting area as a lane-marker candidate point.