JP2005346382A - 境界線検出装置 - Google Patents
境界線検出装置 Download PDFInfo
- Publication number
- JP2005346382A JP2005346382A JP2004164939A JP2004164939A JP2005346382A JP 2005346382 A JP2005346382 A JP 2005346382A JP 2004164939 A JP2004164939 A JP 2004164939A JP 2004164939 A JP2004164939 A JP 2004164939A JP 2005346382 A JP2005346382 A JP 2005346382A
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- Prior art keywords
- lane
- boundary position
- road
- lane boundary
- white line
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- 238000001514 detection method Methods 0.000 claims abstract description 95
- 238000000034 method Methods 0.000 description 15
- 238000000605 extraction Methods 0.000 description 14
- 230000005856 abnormality Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 239000000284 extract Substances 0.000 description 3
- 239000003550 marker Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
【解決手段】カメラ11からの入力画像における所定の検出期間の画像情報に基づいて白線候補線を検出し、この白線候補線に基づいて本線走路101の白線201,202を選定する一方、本線走路101から増加する右折走路102の傾斜白線203が選定されたときには誤検出と判定して右折レーンモードを設定し、傾斜白線203として選定した白線のデータを所定期間にわたって採用せず、それ以前に選定した本線走路101の白線201,202を白線のデータとして採用する。
【選択図】 図2
Description
R−RA>RB → F3=1
φ−φA>φB → F4=1
φ−φA>φS → F5=1
R−RA>RS → F6=1
F3=1 or
(F4=1 or F5=1)and F6=1 → F2=1
12 白線検出装置(境界線検出装置)
13 車両操舵制御装置
14 メインスイッチ
15 車速センサ
16 パワーステアリング装置
17 表示装置
21 エッジ点抽出部(候補線検出手段)
22 エッジ線抽出部(候補線検出手段)
23 白線抽出部(候補線検出手段)
24 白線選択部(車線境界位置選定手段)
25 道路パラメータ演算部
26 右折レーンモード判定部(増加車線境界位置選定手段、増加処理手段)
27 道路パラメータ出力部
101 本線走路
102 右折走路
201,202 本線白線(境界線位置)
203 傾斜白線(境界線位置)
204 右折白線(境界線位置)
Claims (5)
- 車両に搭載されて走路を撮像するカメラと、該カメラからの入力画像における画像情報に基づいて路面上に描かれた車線境界位置の候補線を検出する候補線検出手段と、該候補線検出手段が検出した前記車線境界位置の候補線に基づいて車線境界位置を選定する車線境界位置選定手段と、前記候補線検出手段が検出した前記車線境界位置の候補線に基づいて本線走路から増加する増加走路の車線境界位置を選定する増加車線境界位置選定手段と、該増加車線境界位置選定手段が前記増加走路の車線境界位置を選定したときに予め設定された所定期間にわたって前記車線境界位置選定手段または前記増加車線境界位置選定手段が選定した車線境界位置の採用を停止する増加処理手段とを具えたことを特徴とする境界線検出装置。
- 請求項1記載の境界線検出装置において、前記増加処理手段は、前記増加車線境界位置選定手段が前記増加走路の車線境界位置を選定したとき、該増加走路の車線境界位置が選定される以前の前記車線境界位置を採用することを特徴とする境界線検出装置。
- 請求項1記載の境界線検出装置において、前記増加車線境界位置選定手段は、前記車線境界位置に基づいて算出された走路曲率が予め設定された第1所定値より大きいとき、またはピッチ角が予め設定された所定範囲外にあり、且つ、前記走路曲率が前記第1所定値より小さい第2所定値より大きいときに、検出した前記車線境界位置を前記増加走路の車線境界位置と認定することを特徴とする境界線検出装置。
- 請求項1記載の境界線検出装置において、前記車線境界位置選定手段または前記増加車線境界位置選定手段が選定した車線境界位置の採用を停止する前記所定期間は、前記増加車線境界位置選定手段が前記増加走路の車線境界位置を選定したときの車両の走路位置から該車両が予め設定した所定距離だけ前進した期間であることを特徴とする境界線検出装置。
- 請求項1記載の境界線検出装置において、前記増加走路は、前記本線走路から前方の交差点を右折するための右折走路または左折するための左折走路であり、前記車線境界位置選定手段または前記増加車線境界位置選定手段が選定した車線境界位置の採用を停止する前記所定期間は、前記交差点を検出するまでの期間であることを特徴とする境界線検出装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004164939A JP4390631B2 (ja) | 2004-06-02 | 2004-06-02 | 境界線検出装置 |
US11/135,438 US7265657B2 (en) | 2004-06-02 | 2005-05-24 | Lane boundary detector |
EP05011850A EP1603097B8 (en) | 2004-06-02 | 2005-06-01 | Lane boundary detector |
DE602005004444T DE602005004444T2 (de) | 2004-06-02 | 2005-06-01 | Fahrbahnbegrenzungserkennung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004164939A JP4390631B2 (ja) | 2004-06-02 | 2004-06-02 | 境界線検出装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005346382A true JP2005346382A (ja) | 2005-12-15 |
JP4390631B2 JP4390631B2 (ja) | 2009-12-24 |
Family
ID=34937145
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004164939A Expired - Lifetime JP4390631B2 (ja) | 2004-06-02 | 2004-06-02 | 境界線検出装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7265657B2 (ja) |
EP (1) | EP1603097B8 (ja) |
JP (1) | JP4390631B2 (ja) |
DE (1) | DE602005004444T2 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008299570A (ja) * | 2007-05-31 | 2008-12-11 | Aisin Aw Co Ltd | 運転支援装置 |
US7860652B2 (en) | 2006-11-14 | 2010-12-28 | Toyota Jidosha Kabushiki Kaisha | Lane detecting apparatus |
JP2012058948A (ja) * | 2010-09-08 | 2012-03-22 | Denso Corp | 車両の逆走検知装置 |
JP2014144764A (ja) * | 2013-01-30 | 2014-08-14 | Toyota Motor Corp | 区画線信頼度判定装置および運転支援制御装置 |
JP2015069288A (ja) * | 2013-09-27 | 2015-04-13 | 日産自動車株式会社 | 自車位置認識装置 |
WO2019186692A1 (ja) * | 2018-03-27 | 2019-10-03 | 日産自動車株式会社 | 自動運転車両の制御方法および制御装置 |
Families Citing this family (30)
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---|---|---|---|---|
DE102004040143A1 (de) * | 2004-08-19 | 2006-02-23 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fahrerinformation |
JP4659631B2 (ja) * | 2005-04-26 | 2011-03-30 | 富士重工業株式会社 | 車線認識装置 |
DE102006047636A1 (de) * | 2006-10-09 | 2008-04-10 | Robert Bosch Gmbh | Verfahren für die Steuerung eines Fahrerassistenzsystems |
JP5124875B2 (ja) * | 2008-03-12 | 2013-01-23 | 本田技研工業株式会社 | 車両走行支援装置、車両、車両走行支援プログラム |
JP5124874B2 (ja) * | 2008-03-12 | 2013-01-23 | 本田技研工業株式会社 | 車両走行支援装置、車両、車両走行支援プログラム |
US20090284361A1 (en) * | 2008-05-19 | 2009-11-19 | John Boddie | Driver scoring system with lane changing detection and warning system |
JP5664152B2 (ja) * | 2009-12-25 | 2015-02-04 | 株式会社リコー | 撮像装置、車載用撮像システム及び物体識別装置 |
EP2347940A1 (en) * | 2010-01-25 | 2011-07-27 | Autoliv Development AB | An object collision warning system and method for a motor vehicle |
JP5258859B2 (ja) * | 2010-09-24 | 2013-08-07 | 株式会社豊田中央研究所 | 走路推定装置及びプログラム |
WO2012081096A1 (ja) * | 2010-12-15 | 2012-06-21 | トヨタ自動車株式会社 | 走行支援装置、走行支援方法、及び車輌 |
US9751529B2 (en) * | 2011-06-09 | 2017-09-05 | GM Global Technology Operations LLC | Lane sensing through lane marker identification for lane centering/keeping |
KR101436624B1 (ko) * | 2013-02-07 | 2014-11-03 | 주식회사 만도 | 차선 유지 제어 시스템, 방법 및 컴퓨터 판독 가능한 기록 매체 |
JP2015005193A (ja) * | 2013-06-21 | 2015-01-08 | 富士重工業株式会社 | 車両用運転支援装置 |
JP5874770B2 (ja) | 2014-03-12 | 2016-03-02 | トヨタ自動車株式会社 | 区画線検出システム |
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US9478137B1 (en) * | 2015-06-17 | 2016-10-25 | Ford Global Technologies, Llc | Detecting and communicating lane splitting maneuver |
KR101748269B1 (ko) * | 2015-11-11 | 2017-06-27 | 현대자동차주식회사 | 자율 주행 차량의 조향 제어 방법 및 장치 |
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DE102016009304A1 (de) | 2016-08-01 | 2018-02-01 | Lucas Automotive Gmbh | Steuerungs-System und Steuerungs-Verfahren zum Bestimmen einer Fahrbahn |
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JP6963490B2 (ja) * | 2017-12-15 | 2021-11-10 | 株式会社デンソー | 車両制御装置 |
US11273836B2 (en) | 2017-12-18 | 2022-03-15 | Plusai, Inc. | Method and system for human-like driving lane planning in autonomous driving vehicles |
US11130497B2 (en) | 2017-12-18 | 2021-09-28 | Plusai Limited | Method and system for ensemble vehicle control prediction in autonomous driving vehicles |
US20190185012A1 (en) | 2017-12-18 | 2019-06-20 | PlusAI Corp | Method and system for personalized motion planning in autonomous driving vehicles |
JP7131131B2 (ja) * | 2018-06-29 | 2022-09-06 | マツダ株式会社 | 車両用ライン検出装置および該方法 |
DE102018129270A1 (de) * | 2018-11-21 | 2020-05-28 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Steuersystem zum automatisierten Bewegen eines Kraftfahrzeugs, Verfahren und Computerprogramm |
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DE19507956C2 (de) * | 1995-03-07 | 2002-11-07 | Daimler Chrysler Ag | Einrichtung zur Bestimmung des Fahrzeugabstandes von einer seitlichen Fahrbahnmarkierung |
JP3304687B2 (ja) | 1995-05-24 | 2002-07-22 | 日産自動車株式会社 | 車両用走行車線認識装置及び障害物検出装置・道路逸脱報知装置 |
EP0827127B1 (en) * | 1996-08-28 | 2006-10-04 | Matsushita Electric Industrial Co., Ltd. | Local positioning apparatus, and method therefor |
JP3373773B2 (ja) * | 1998-01-27 | 2003-02-04 | 株式会社デンソー | レーンマーク認識装置、車両走行制御装置および記録媒体 |
US6577334B1 (en) * | 1998-02-18 | 2003-06-10 | Kabushikikaisha Equos Research | Vehicle control |
JP2001014595A (ja) | 1999-06-29 | 2001-01-19 | Mitsubishi Motors Corp | 車両用走行レーン検知装置 |
JP3780848B2 (ja) * | 2000-12-27 | 2006-05-31 | 日産自動車株式会社 | 車両の走行路認識装置 |
JP4631197B2 (ja) | 2001-04-09 | 2011-02-16 | 株式会社デンソー | 分岐路判定装置、プログラム及び記録媒体 |
JP3729095B2 (ja) * | 2001-06-29 | 2005-12-21 | 日産自動車株式会社 | 走行路検出装置 |
JP4092308B2 (ja) | 2004-06-02 | 2008-05-28 | トヨタ自動車株式会社 | 境界線検出装置 |
-
2004
- 2004-06-02 JP JP2004164939A patent/JP4390631B2/ja not_active Expired - Lifetime
-
2005
- 2005-05-24 US US11/135,438 patent/US7265657B2/en active Active
- 2005-06-01 DE DE602005004444T patent/DE602005004444T2/de active Active
- 2005-06-01 EP EP05011850A patent/EP1603097B8/en active Active
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7860652B2 (en) | 2006-11-14 | 2010-12-28 | Toyota Jidosha Kabushiki Kaisha | Lane detecting apparatus |
JP2008299570A (ja) * | 2007-05-31 | 2008-12-11 | Aisin Aw Co Ltd | 運転支援装置 |
JP2012058948A (ja) * | 2010-09-08 | 2012-03-22 | Denso Corp | 車両の逆走検知装置 |
JP2014144764A (ja) * | 2013-01-30 | 2014-08-14 | Toyota Motor Corp | 区画線信頼度判定装置および運転支援制御装置 |
JP2015069288A (ja) * | 2013-09-27 | 2015-04-13 | 日産自動車株式会社 | 自車位置認識装置 |
WO2019186692A1 (ja) * | 2018-03-27 | 2019-10-03 | 日産自動車株式会社 | 自動運転車両の制御方法および制御装置 |
CN111867910A (zh) * | 2018-03-27 | 2020-10-30 | 日产自动车株式会社 | 自动驾驶车辆的控制方法以及控制装置 |
US11097747B2 (en) | 2018-03-27 | 2021-08-24 | Nissan Motor Co., Ltd. | Method and device for controlling autonomously driven vehicle |
CN111867910B (zh) * | 2018-03-27 | 2021-10-29 | 日产自动车株式会社 | 自动驾驶车辆的控制方法以及控制装置 |
Also Published As
Publication number | Publication date |
---|---|
DE602005004444D1 (de) | 2008-03-13 |
US7265657B2 (en) | 2007-09-04 |
EP1603097B1 (en) | 2008-01-23 |
EP1603097B8 (en) | 2008-06-25 |
EP1603097A3 (en) | 2006-09-27 |
US20050273260A1 (en) | 2005-12-08 |
JP4390631B2 (ja) | 2009-12-24 |
DE602005004444T2 (de) | 2009-01-15 |
EP1603097A2 (en) | 2005-12-07 |
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