Method and apparatus for discriminating the colour of road markings

• US 7,613,326 B2
• Filed: 11/05/2004
• Issued: 11/03/2009
• Est. Priority Date: 11/07/2003
• Status: Active Grant

• Current Assignee: TRW Limited (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: TRW Limited (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Unwin, Jonathan James
• Primary Examiner(s): Ahmed; Samir A.
• Assistant Examiner(s): TSAI, TSUNG YIN
• Application Number:
  US10/982,171
• Publication Number:
  US 20050129279A1
• Time in Patent Office: 1,824 Days
• Field of Search: 382100-154
• US Class Current: 382/104
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: G01J 2003/466 Coded colour; Recognition of predetermined colour; Determining proximity to predetermined colour
• CPC Class Codes: G01J 3/50 using electric radiation detectors
• CPC Class Codes: G01J 3/51 using colour filters
• 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 1/161 Decentralised systems, e.g. inter-vehicle communication

Abstract

A method of discriminating between road markings of at least two colors, comprises: capturing an image of a road and at least one road marking with a monochrome camera having a first color response in a first area of a field of view of the camera and a second color response in the second area of the field of view; and determining the change in intensity of the captured image of the road marking between the first and second areas. Apparatus for discriminating between road markings is also disclosed.

Claims

1. A method of discriminating between road markings of at least two colours, comprising the steps of:

(a) providing a monochrome camera for viewing road markings through a filter positioned between said road markings and said camera, said filter extending generally transversely to the road markings and having at least two sections, the filter sections providing a first colour response in a first area of a field of view of said camera and a second colour response in a second area of said field of view of said camera;

(b) capturing an image of at least one road marking with the monochrome camera provided in step (a), said captured road marking image extending generally along the length of the road marking from said first area of said camera field of view into said second area of said camera field of view;

(c) determining a change in intensity of said captured image of said road marking between said first and second areas in said field of view; and

(d) utilizing the change in intensity of said captured road marking image to discriminate between at least two colours.

2. The method of claim 1 wherein step (d) includes the substeps of:

(d1) comparing the intensity of said captured image in said first and second areas and further wherein step (d) includes

(d2) discriminating between said at least two colours according to the contrast in intensity between said first and second areas.

3. The method of claim 1 wherein said camera is adapted to be fitted to a vehicle and further wherein the method determines the colour of a road marking from said vehicle.

4. The method of claim 1 wherein at least one of said sections of said filter is coloured, and further wherein the method determines from said change in intensity whether said road marking is one of a similar colour to said coloured section and a different colour from said coloured section.

5. The method of claim 1 wherein the markings are lane boundaries marked on a road.

6. The method of claim 1, further including, subsequent to step (d), determining a road marking colour from measured changes in intensity of the image of said road marking between said first and second areas of said field of view and then providing said road marking colour determination to an automotive guidance system.

7. The method of claim 1, further including a step of discriminating between further colours of road marking by providing said camera with at least one further area in said field of view, said at least one further area having a colour response different from said colour responses of said first and second areas.

8. The method of claim 7 wherein the method discriminates said colour of said different colour road markings from measured changes in intensity of the image of the road marking between the first, second and further areas.

9. The method of claim 1, which further detects an edge of a road.

10. The method of claim 1 wherein said filter sections have different absorbance spectra.

11. An apparatus adapted to be fitted to a vehicle and capable of discriminating between at least a first colour and a second colour of road markings, the apparatus comprising:

a monochrome camera arranged to view a road marking ahead of said vehicle, said camera being provided with a filter positioned between said road markings and said camera, said filter having at least two sections, said filter extending generally transversely across said road marking, said filter sections providing said different colour response of said first and second areas and having a first colour response in a first area of a field of view of said camera and a second colour response in a second area of said field of view of said camera; and

a processing unit, arranged to capture images from said camera that are generally along the length of said road marking and determine from said capture images a position of said road markings with said road markings extending from said first area of said camera field of view into said second area of said camera field of view said processing unit also being arranged to discriminate between said first and second colours of said road markings from a change in intensity of said captured image of said road markings between said first and second areas in said field of view.

12. The apparatus of claim 11 wherein at least one of said filter sections is coloured, said coloured filter section being one of close to and the same as one of said colours of road markings to be discriminated.

13. The apparatus of claim 12 wherein said filter is of the form of a background having a band of colour forming said coloured area.

14. The apparatus of claim 13 wherein said band of colour is straight and generally parallel to a road surface.

15. The apparatus of claim 11 wherein said camera has a lens, and said filter is provided between said lens and said image to be captured.

16. The apparatus of claim 11 wherein said filter covers a majority of said field of view.

17. The apparatus of claim 11 wherein said monochrome camera is provided with at least one further area in said field of view, said at least one further area having a colour response different from said colour responses of said first and second areas.

18. The apparatus of claim 11 wherein said monochrome camera is arranged to detect an edge of a road.

19. The apparatus of claim 11 wherein said monochrome camera is included in an automotive guidance system.

20. An apparatus capable of discriminating between at least a first colour and a second colour of road markings, the apparatus comprising:

a vehicle;

a monochrome camera mounted upon said vehicle, said monochrome camera arranged to view road markings ahead of said vehicle, said camera viewing said road markings through a filter positioned between said road markings and said camera, said filter extending generally transversely to the road markings and having at least two sections, the filter sections providing a first colour response in a first area of a field of view of said camera and a second colour response in a second area of said field of view of said camera; and

a processing unit, arranged to capture images from said camera and to determine from said captured images a position of said road markings with said road markings generally along the length of said road markings and extending from said first area of said camera field of view into said second area of said camera field of view, said processing unit also being arranged to discriminate between said first and second colours of said road markings from a change in intensity of said captured image of said road markings between said first and second areas in said field of view.