Local positioning apparatus

• US 5,904,725 A
• Filed: 04/25/1996
• Issued: 05/18/1999
• Est. Priority Date: 04/25/1995
• Status: Expired due to Term

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Kaneko, Mamoru, Iisaka, Atsushi, Yasui, Nobuhiko
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/637,417
• Time in Patent Office: 1,118 Days
• Field of Search: 701/28, 701/200, 701/207, 701/208, 701/213, 348/116, 348/118, 348/119, 348/148, 348/117, 382/104, 382/281
• US Class Current: 701/207
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/74 involving reference images or patches
• 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 local positioning device detects a local position of an automobile advancing along a lane formed on a road in a direction. A digital image data indicative of an advancing direction view observed from the automobile in the advancing direction is applied to the local position device. An edge extractor, a threshold generator, and a contour extractor are operable for extracting a contour data indicative of the lane from the image signal. A coordinate convertor converts the contour data into a plane view data indicating the dimensions of extracted contours correctly. A matching operator matches a line or an arc with each of extracted contour. A lane mark contour extractor selectively extracts a pair of extracted contours corresponding to the lane on which the automobile is located.

Claims

1. A position detecting apparatus for use with an object movable along a lane, said position detecting apparatus comprising:

an imaging device to be mounted on the object for capturing an image of a perspective view from the object in an advancing direction of the object along the lane and for generating a digital image signal representative of the perspective view including the lane;

a contour extraction means for extracting a contour of the lane from the digital image signal and for producing contour data indicative of the contour of the lane;

a conversion means for converting the contour data from the perspective view to a plane view so as to indicate dimensions of the contour data extracted by said contour extraction means correctly in the plane view and for producing coordinate converted data indicative of the contour data with correct dimensions in the plane view; and

a feature detection means for detecting dimensional features of the contour of the lane extracted by said contour extraction means based on the coordinate converted data produced by said conversion means and for producing dimensional data indicative of the dimensional features of the contour of the lane.

2. A position detecting apparatus as claimed in claim 1, wherein the dimensional data produced by said feature detection means is indicative of a portion of the lane extending from the object in the advancing direction.

3. A position detecting apparatus as claimed in claim 1, further comprising a first region limitation means for designating a first region in the digital image signal, wherein said contour extraction means is operable for extracting the contour of the lane from the first region.

4. A position detecting apparatus as claimed in claim 1, wherein said contour extraction means is operable for extracting a plurality of contours including the contour of the lane;

and

said feature detection means comprises;

matching means for producing matching lines by matching any of a straight line and an arc line with each of the contours extracted by said contour extraction means and for producing matching data indicative of the matching lines; and

lane mark contour extraction means for selectively extracting two of the matching lines defining the lane wherein the two matching lines represent the dimensional features of the contour of the lane and for producing the dimensional data, wherein the dimensional data produced by said lane mark contour extraction means represents the two matching lines defining the lane.

5. A position detecting apparatus as claimed in claim 4, further comprising a first region limitation means for designating a first region in the digital image signal, wherein said contour extraction means is operable for extracting the contour of the lane from the first region.

6. A position detecting apparatus as claimed in claim 5, further comprising a second region limitation means for designating a second region in the first region only around the two matching lines represented by the dimensional data produced by said lane mark contour extraction means.

7. A position detecting apparatus as claimed in claim 4, further comprising a current position detection means for detecting a current position of the object based on the two matching lines defining the lane.

8. A position detecting apparatus as claimed in claim 7, further comprising yaw angle detection means for detecting a tilting angle of the lane with respect to the advancing direction based on the dimensional data and for producing a yaw angle signal indicative of the tilting angle of the lane with respect to the advancing direction.

9. A position detecting apparatus as claimed in claim 4, wherein said matching means is operable for applying a Hough transformation to the coordinate converted data produced by said conversion means so as to determine whether each of the contours extracted by said contour extraction means matches a straight line or an arc line.

10. A position detecting apparatus as claimed in claim 9, wherein said matching means is operable for determining that a particular contour line extracted by said contour extraction means matches a straight line when a plurality of lines formed by the Hough transformation of the coordinate converted data cross at a point with a frequency greater than a predetermined frequency, and for otherwise determining that the particular contour line matches an arc line.

11. A position detecting apparatus as claimed in claim 1, further comprising current position detection means for detecting a current position of the object with respect to the lane based on the dimensional data.

12. A position detecting apparatus as claimed in claim 11, further comprising curvature detection means for detecting a curvature of the lane with respect to the current position of the object based on the dimension data.

13. A position detecting apparatus as claimed in claim 1, further comprising:

current position detection means for detecting a current position of the object based on the digital image signal and for producing a current position signal indicative of the current position of the object;

curvature detection means for detecting a curvature of the lane based on the digital image signal and for producing a curvature signal indicative of the curvature of the lane; and

a navigation apparatus for recording the curvature and the current position in map data stored in said navigation apparatus based on the current position signal and the curvature signal.

14. A position detecting apparatus as claimed in claim 13, further comprising:

moving speed detection means for detecting a moving speed of the object; and

driving safety estimation means for judging whether the moving speed is too great to advance along a curved lane having the curvature detected by said curvature detection means based on the curvature detected by said curvature detection means and the current position detected by said current position detection means.

15. A position detecting apparatus as claimed in claim 14, further comprising image capture means for capturing an image of the perspective view from the object in the digital image signal such that said navigation apparatus is operable to record the image captured by said image capture means in the map data with respect to any of the curvature detected by said curvature detection means and the current position detected by said current position detection means.

16. A position detecting apparatus as claimed in claim 13, further comprising image capture means for capturing an image of the perspective view from the object in the digital image signal such that said navigation apparatus is operable to record the image captured by said image capture means in the map data with respect to any of the curvature detected by said curvature detection means and the current position detected by said current position detection means.

17. A position detecting apparatus for use with an object movable along a lane, said position detecting apparatus comprising:

an imaging device to be mounted on the object for capturing an image of a perspective view from the object in an advancing direction of the object along the lane and for generating a digital image signal representative of the perspective view including the lane;

a contour extraction means for extracting a contour of the lane from the digital image signal and for producing contour data indicative of the contour of the lane; and

a feature detection means for detecting dimensional features of the contour of the lane extracted by said contour extraction means based on an inclination of the contour and for producing dimensional data indicative of the dimensional features of the contour of the lane.

18. A position detecting apparatus as claimed in claim 17, wherein the dimensional data produced by said feature detection means is indicative of a portion of the lane extending from the object in the advancing direction.

19. A position detecting apparatus as claimed in claim 17, further comprising a first region limitation means for designating a first region in the digital image signal, wherein said contour extraction means is operable for extracting the contour of the lane from the first region.

20. A position detecting apparatus as claimed in claim 17, wherein said contour extraction means is operable for extracting a plurality of contours including the contour of the lane;

and

said feature detection means comprises;

inclination matching means for obtaining an inclination between two neighboring pixels of each of the contours extracted by said contour extraction means, and for applying a Hough transformation to the inclinations so as to produce corresponding matching lines by matching a linear equation with each inclination;

quadratic polynomial matching means for applying a quadratic polynomial to each of the matching lines produced by said inclination matching means; and

contour line extraction means for selectively extracting two of the matching lines defining the lane wherein the two matching lines represent the dimensional features of the contour of the lane and for producing the dimensional data, wherein the dimensional data produced by said contour extraction means represents the two matching lines defining the lane.

21. A position detecting apparatus as claimed in claim 20, further comprising a first region limitation means for designating a first region in the digital image signal, wherein said contour extraction means is operable for extracting the contour of the lane from the first region.

22. A position detecting apparatus as claimed in claim 21, further comprising a second region limitation means for designating a second region in the first region only around the two matching lines represented by the dimensional data produced by said contour extraction means.

23. A position detecting apparatus as claimed in claim 20, further comprising a current position detection means for detecting a current position of the object based on the two matching lines defining the lane.

24. A position detecting apparatus as claimed in claim 23, further comprising yaw angle detection means for detecting a tilting angle of the lane with respect to the advancing direction based on the dimensional data and for producing a yaw angle signal indicative of the tilting angle of the lane with respect to the advancing direction.

25. A position detecting apparatus as claimed in claim 17, further comprising current position detection means for detecting a current position of the object with respect to the lane based on the dimensional data.

26. A position detecting apparatus as claimed in claim 25, further comprising curvature detection means for detecting a curvature of the lane with respect to the current position of the object based on the dimension data.