Method and apparatus for recognizing road shape

• US 9,418,302 B2
• Filed: 08/28/2014
• Issued: 08/16/2016
• Est. Priority Date: 08/29/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Minemura, Akitoshi, Sakima, Taku, Matsumoto, Yuusuke, Takeda, Masayoshi
• Primary Examiner(s): Chen, Wenpeng
• Application Number:
  US14/471,372
• Publication Number:
  US 20150063648A1
• Time in Patent Office: 719 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G06F 18/21 Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
• 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 method and an apparatus are provided to recognize a shape of a road on which a vehicle is traveling. Road edge shapes on a left side and a right side of the vehicle are recognized, from positions of roadside objects detected based on detection information from an on-board radar. Lane shapes that are shapes of lane boundary lines on the left side and the right side of the vehicle are recognized, from positions of lane boundary lines detected based on an image captured by an on-board camera. For each of the left side and the right side, such that the recognized road edge shape and the recognized lane shape are compared with each other, and the road shape is identified based on the comparison results.

Claims

1. An apparatus that is mounted in a vehicle and recognizes a shape of a road on which the vehicle is traveling, the apparatus comprising:

first recognizing means for recognizing road edge shapes on a left side and a right side of the vehicle, from positions of roadside objects detected based on detection information from an on-board radar;

second recognizing means for recognizing lane shapes that are shapes of lane boundary lines on the left side and the right side of the vehicle, from positions of lane boundary lines detected based on an image captured by an on-board camera;

identifying means for (i) determining, for each of the left side and the right side, whether or not a degree of coincidence between the road edge shapes recognized by the first recognizing means and the lane shapes recognized by the second recognizing means is high, the degree of coincidence being selectively set to be either high or low, and (ii) identifying a shape of the road based on results of the determination, for each of the left side and the right side, of whether or not the degree of coincidence between the road edge shapes recognized by the first recognizing means is high.

2. The apparatus according to claim 1, wherein the identifying means identifies the shape of the road only when the degree of in at least one of the left and right sides is determined as being high.

3. The apparatus according to claim 2, wherein the identifying means is activated when it is determined that the degree of coincidence is high in both the left and right sides, and

the identifying means identifies, when being activated, a left-side shape which is an average shape of one or both of a left-side road edge shape and a left-side lane shape, a right-side shape which is an average shape of one or both of a right-side road edge shape and a right-side lane shape, and an average shape of the left- and right-side shapes as the shape of the road.

4. The apparatus according to claim 3, comprising:

first reliability determining means for determining, for each of the right and left sides, a first reliability assigned to the recognized road edge shape based on the detection information; and

second reliability determining means for determining, for each of the right and left sides, a second reliability assigned to the recognized lane shape based on the captured image,

wherein the identifying means determines, as the left- and right-side shapes, average shapes of both the road edge shape and the lane shape subjected to weighting based on the first and second reliabilities.

5. The apparatus according to claim 3, wherein each of the first and second recognizing means recognizes a same-side shape and a non-same-side shape, and

the identifying means identifies the shape of the road by applying to a correlation shape the non-same-side shape recognized successfully by only one of the first and second recognizing means.

6. The apparatus according to claim 3, wherein the identifying means identifies as the shape of the road a same-side shape when both the first and second recognizing means fail to recognize a non-same-side shape.

7. The apparatus according to claim 2, wherein the identifying means is activated when it is determined that the degree of coincidence is high in only one of the left and right sides, and

the identifying means sets i) the one of the right and left sides as a same-side shape, ii) the other of the right and left sides as a non-same-side shape, and iii) a correlation shape which is higher in correlation with the same-side shape among the road edge shapes and the lane shapes which are set as the non-same-side shape, and identifies, as the shape of the road, an average shape calculated between the same-side shape and the correlation shape.

8. The apparatus according to claim 2, wherein, when at least one of the first and second recognizing means is designated recognizing means and at least one of the road edge shapes and the lane shapes, recognized by the designated recognizing means, is set to be a boundary shape,

the designated recognizing means detects a position of an object in each of divided areas previously set in a cruising direction of the vehicle, calculates a curvature of each of the divided areas based on the detected positions, and recognizes the boundary shape based on the calculated curvatures.

9. The apparatus according to claim 8, wherein the designated recognizing means variably sets distances of the respective divided areas in a cruising direction of the vehicle, depending on the shape of the road identified by the identifying means.

10. The apparatus according to claim 9, wherein the designated recognizing means makes the distances larger when the shape of the road is linear, a straight line or a shape similar to a straight line, which is regarded as being linear and makes the distances smaller when the shape of the road is not regarded as being linear.

11. The apparatus according to claim 1, wherein the identifying means is activated when it is determined that the degree of coincidence is high in both the left and right sides, and

the identifying means identifies, when being activated, a left-side shape which is an average shape of one or both of a left-side road edge shape and a left-side lane shape, a right-side shape which is an average shape of one or both of a right-side road edge shape and a right-side lane shape, and an average shape of the left- and right-side shapes as the shape of the road.

12. The apparatus according to claim 11, comprising:

first reliability determining means for determining, for each of the right and left sides, a first reliability assigned to the recognized road edge shape based on the detection information; and

second reliability determining means for determining, for each of the right and left sides, a second reliability assigned to the recognized lane shape based on the captured image,

wherein the identifying means determines, as the left- and right-side shapes, average shapes of both the road edge shape and the lane shape subjected to weighting based on the first and second reliabilities.

13. The apparatus according to claim 1, wherein the identifying means is activated when it is determined that the degree of coincidence is high in only one of the left and right sides, and

the identifying means sets i) the one of the right and left sides as a same-side shape, ii) the other of the right and left sides as a non-same-side shape, and iii) a correlation shape which is higher in correlation with the same-side shape among the road edge shapes and the lane shapes which are set as the non-same-side shape, and identifies, as the shape of the road, an average shape calculated between the same-side shape and the correlation shape.

14. The apparatus according to claim 13, wherein the identifying means identifies, as the shape of the road, the average shape calculated between the same-side shape and the correlation shape, the same-side shape being subjected to weighting with a factor larger than a factor for weighting the correlation shape.

15. The apparatus according to claim 1, wherein, when at least one of the first and second recognizing means is designated recognizing means and at least one of the road edge shapes and the lane shapes, recognized by the designated recognizing means, is set to be a boundary shape,

the designated recognizing means detects a position of an object in each of divided areas previously set in a cruising direction of the vehicle, calculates a curvature of each of the divided areas based on the detected positions, and recognizes the boundary shape based on the calculated curvatures.

16. The apparatus according to claim 15, wherein the designated recognizing means variably sets distances of the respective divided areas in a cruising direction of the vehicle, depending on the shape of the road identified by the identifying means.

17. The apparatus according to claim 16, wherein the designated recognizing means makes the distances larger when the shape of the road is linear, a straight line or a shape similar to a straight line, which is regarded as being linear and makes the distances smaller when the shape of the road is not regarded as being linear.

18. A computer readable program stored in a non-transitory computer-readable storage medium and enables a computer to function as the first and second recognizing means and the identifying means according to claim 1.

19. A non-transitory recording medium in which a computer readable program is stored in a memory, the program enabling a computer to function as the first and second recognizing means and the identifying means according to claim 1.