Road lane boundary detection system and road lane boundary detecting method

• US 8,090,152 B2
• Filed: 05/27/2009
• Issued: 01/03/2012
• Est. Priority Date: 05/27/2008
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kageyama, Shioya, Tamaoki, Tomoyasu
• Primary Examiner(s): Tran, Phuoc
• Application Number:
  US12/472,421
• Publication Number:
  US 20090296987A1
• Time in Patent Office: 951 Days
• Field of Search: 382/103, 382/104, 382/199, 382/286, 348/118, 701/28
• US Class Current: 382/104
• 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 road lane boundary detection system includes a detection region setting unit that sets a certain region in a road image, as a target detection region to be searched for detection of a road lane boundary, and a detecting unit that processes image data in the target detection region set by the detection region setting unit, so as to detect the road lane boundary. The detection region setting unit sets a first detection region as the target detection region if no road lane boundary is detected, and sets a second detection region as the target detection region if the road lane boundary is detected, such that the first and second detection regions are different in size from each other.

Claims

1. A road lane boundary detection system for detecting a road lane boundary provided on a road, from a road image that is a captured image of a road ahead of a vehicle, comprising:

a detection region setting unit that sets a certain region in the road image, as a target detection region to be searched for detection of the road lane boundary; and

a detecting unit that processes image data in the target detection region set by the detection region setting unit and that detects the road lane boundary,

wherein the detection region setting unit includes;

an initial detection region setting unit that sets, in the road image, an initial detection region of a certain size which is positioned close to the vehicle in real space and has a length in a width direction of the road, which is equal to or longer than a predetermined value, as the target detection region;

a close detection region setting unit that sets a close detection region that is positioned close to the vehicle in real space, and has a length in the road width direction, which is shorter than that of the initial detection region, as the target detection region; and

a remote detection region setting unit that sets a remote detection region that is positioned more remote from the vehicle than the close detection region in real space, and has a length in the road width direction, which is shorter than that of the close detection region, as the target detection region.

wherein the detecting unit processes image data in the initial detection region if no road lane boundary is detected, so as to detect a road lane boundary, and processes image data in the close detection region and the remote detection region if the road lane boundary is detected, so as to detect the road lane boundary, and

the close detection region and the remote detection region have the same size in the real space.

2. The road lane boundary detection system according to claim 1, wherein:

the close detection region setting unit sets a position of the close detection region in the road width direction in the road image, based on a position of the road lane boundary detected by the detecting unit using the initial detection region; and

the remote detection region setting unit sets a position of the remote detection region in the road width direction in the road image, based on the position of the road lane boundary detected by the detecting unit using the initial detection region.

3. The road lane boundary detection system according to claim 2, wherein:

the close detection region setting unit sets the position of the close detection region in the road image, such that the road lane boundary detected by the detecting unit using the initial detection region is located at a center of the close detection region in the road width direction; and

the remote detection region setting unit sets the position of the remote detection region in the road image, such that the road lane boundary detected by the detecting unit using the initial detection region is located at a center of the remote detection region in the road width direction.

4. The road lane boundary detection system according to claim 1, wherein the target detection region comprises a pair of regions that are separated from each other in the road width direction, and each of the regions has a width that contains a corresponding to one of left and right lane boundaries located to the left and right of the vehicle.

5. The road lane boundary detection system according to claim 1, wherein the road lane boundary comprises Botts dots.

6. A road lane boundary detecting method for detecting a road lane boundary provided on a road, from a road image that is a captured image of a road ahead of a vehicle, comprising:

a detection region setting process of setting a certain region in the road image, as a target detection region to be searched for detection of the road lane boundary; and

a detecting process of processing image data in the target detection region and detecting the road lane boundary,

wherein, when the detection region setting process includes;

an initial detection region setting process of setting, in the road image, an initial detection region of a certain size which is positioned close to the vehicle in real space and has a length in a width direction of the road, which is equal to or longer than a predetermined value, as the target detection region;

a close detection region setting process of setting a close detection region that is positioned close to the vehicle in real space, and has a length in the road width direction, which is shorter than that of the initial detection region, as the target detection region; and

a remote detection region setting process of setting a remote detection region that is positioned more remote from the vehicle than the close detection region in real space, and has a length in the road width direction, which is shorter than that of the close detection region, as the target detection region,

wherein, if no road lane boundary is detected, image data in the initial detection region is processed so as to detect a road lane boundary, and if the road lane boundary is detected, image data in the close detection region and the remote detection region are processed so as to detect the road lane boundary, and

the close detection region and the remote detection region have the same size in the real space.