WO2017047365A1 - Demarcation line recognition device - Google Patents

Abstract

The demarcation line recognition device is equipped with: a first sensor for acquiring road surface information on the left side of a vehicle; a second sensor for acquiring road surface information on the right side of a vehicle; a left demarcation line position calculation unit for calculating, upon detecting a left demarcation line candidate, that is, a candidate for a demarcation line located on the left side of the vehicle, on the basis of the information acquired by the first sensor, the distance from the vehicle to the left demarcation line candidate; a right demarcation line position calculation unit for calculating, upon detecting a right demarcation line candidate, that is, a candidate for a demarcation line located on the right side of the vehicle, on the basis of the information acquired by the second sensor, the distance from the vehicle to the right demarcation line candidate; a lane width calculation unit for calculating a first lane width, that is, the distance between the demarcation lines located on the right and left sides of the vehicle; a storage unit for storing the width of the vehicle; and a demarcation line determination unit for determining whether or not the left demarcation line candidate detected by the left demarcation line position calculation unit and the right demarcation line candidate detected by the right demarcation line position calculation unit respectively match the demarcation lines located on the right and left sides of the vehicle on the basis of the distance from the vehicle to the left demarcation line candidate as calculated by the left demarcation line position calculation unit, the distance from the vehicle to the right demarcation line candidate as calculated by the right demarcation line position calculation unit, the vehicle width stored in the storage unit, and the first lane width.

Description

Lane marking recognition system

The present invention relates to a lane marking recognition device.

In order to prevent accidents of vehicles traveling on the road, there is a demand for technology for recognizing lane markings on the road that define the area in which the vehicle travels. In Patent Document 1, a lane marking detection unit 31 that detects a lane marking by setting a first image processing region separately in the left and right in a captured image of a host vehicle traveling road, and one of the left and right lane markings in the detected captured image. And a lane marking position estimation unit 33 that estimates the left and right lane marking positions in the captured image based on the lane width, and includes a first image processing area in the captured image of the host vehicle travel path and is more than the first image processing area. A wide lane marking detection unit 34 that detects a lane marking by setting a wide second image processing area, and a detection result of a lane marking by a lane marking detection unit 31 and an estimation result of a lane marking position by a lane marking position estimation unit 33, respectively. On the other hand, a detection result matching unit 35 that performs matching with the detection result of the lane marking by the wide area lane marking detection unit 34, and a lane recognition state that recognizes the lane based on the matching result of the detection result matching unit 35. Lane recognizing device and a determining unit 36 is disclosed.

Japanese Unexamined Patent Publication No. 2013-61934

In the invention described in Patent Document 1, there is room for improvement in resistance to noise included in information obtained from the road surface.

According to the first aspect of the present invention, the lane marking recognition device includes a first sensor that acquires road surface information on the left side of the vehicle, a second sensor that acquires road surface information on the right side of the vehicle, and a first sensor. A left lane line position calculating unit that detects a left lane line candidate that is a candidate for the left lane line of the vehicle based on the information acquired by the vehicle, and calculates a distance from the vehicle to the left lane line candidate; and a second sensor A right lane line position calculation unit that detects a right lane line candidate that is a candidate for the right lane line of the vehicle based on the information acquired by the vehicle, and a right lane line position calculation unit that calculates a distance from the vehicle to the right lane line candidate; To the left lane line candidate from the vehicle calculated by the left lane line position calculation unit, a storage unit that stores the width of the vehicle, and a lane width calculation unit that calculates the first lane width that is the interval between the lane lines existing in Distance from the vehicle calculated by the right lane marking position calculation unit Based on the distance to the lane line candidate, the width of the vehicle stored in the storage unit, and the first lane width, the left lane line candidate detected by the left lane line position calculating unit and the right lane line position calculating unit detect A lane marking determination unit that determines whether or not the right lane marking candidate is the left and right lane markings of the vehicle.

According to the present invention, erroneous detection of lane markings due to noise included in information obtained from the road surface can be reduced.

The figure which shows the structure of the lane marking recognition apparatus 1 The figure which shows the structure of the program of the lane marking recognition apparatus 1 The figure which shows the data preserve | saved at the memory | storage device 103 Diagram explaining the definition of own lane and adjacent lane Flow chart showing main operation of lane marking recognition apparatus 1 The flowchart which shows the detail of the process which detects the white line of the own lane in step S301 of FIG. 7A shows a case where the vehicle 2 does not cross the white line, and FIG. 7B shows a case where the vehicle 2 crosses the white line 702. The figure which shows the verification example of a white line relevant to step S408 of FIG. The flowchart which shows the detail of the lane width calculation process which is step S401 of FIG. The figure which shows the process area | region in step S603 of FIG. The figure which shows the process example in step S604 to S606 of FIG. The flowchart which shows the white line detection process of the adjacent lane in step S302 of FIG. The flowchart which shows the detail of the intersection determination process in step S1203 of FIG. The flowchart which shows the detail of the area | region setting process in step S1205 of FIG. The figure explaining the situation where area setting processing is performed Diagram showing an example of area setting processing The flowchart which shows the detail of the process which detects the white line of the own lane in the modification 1 The flowchart which shows the detail of the process which detects the white line of the own lane in the modification 2 The flowchart which shows judgment whether the white line detection of a right adjacent lane is performed. The figure which shows the structure of the lane marking recognition apparatus 1 in 2nd Embodiment. The figure which shows the width data 2000 which shows the relationship between road classification and road width The figure which shows the structure of the lane marking recognition apparatus 1 in 3rd Embodiment. The flowchart which shows the detail of the process which detects the white line of the own lane in 3rd Embodiment.

(First embodiment)
A first embodiment of a lane marking recognition device according to the present invention will be described below with reference to FIGS. In the present embodiment, the lane marking is a concept including all of the road center line, the road boundary line, and the road outer line.
FIG. 1 is a diagram illustrating a configuration of a lane marking recognition device 1 mounted on a vehicle 2. The vehicle 2 includes the lane marking recognition device 1 and a vehicle control unit 108. The lane marking recognition apparatus 1 and the vehicle control unit 108 are connected by a CAN bus 107. Information regarding the lane marking recognized by the lane marking recognition apparatus 1 is transmitted to the vehicle control unit 108.

The lane marking recognition apparatus 1 includes a front camera 101-Fr for photographing the front of the vehicle 2, a rear camera 101-Rr for photographing the rear of the vehicle 2, and a left side camera 101-SL for monitoring the left side of the vehicle 2. The right side camera 101-SR that captures the right side of the vehicle 2, the image processing device 102 that processes the images obtained by these cameras, the storage device 103, the CPU 104, the memory 105, and the CAN I / F 106.
The front camera 101-Fr, the rear camera 101-Rr, the left side camera 101-SL, and the right side camera 101-SR are cameras equipped with wide-angle lenses, for example, fish-eye lenses. Information about the obtained image is output to the image processing apparatus 102.

The image processing apparatus 102 generates image data based on information received from each of the front camera 101-Fr, the rear camera 101-Rr, the left side camera 101-SL, and the right side camera 101-SR, and outputs the image data to the CPU 104. . That is, image data that can be processed by the CPU 104 is obtained by the image processing apparatus 102 processing information about an image obtained by photographing the front camera 101-Fr. However, in the following, the operation of the image processing apparatus 102 will not be mentioned in particular, and image data obtained by processing by the image processing apparatus 102 will be referred to as “an image obtained by photographing the front camera 101-Fr” or “front camera 101- This is called “Fr image”.
The storage device 103 is a non-volatile storage medium, and the storage device 103 stores a program executed by the lane marking recognition device 1, the width of the vehicle 2, data to be described later, and the like.
The CPU 104 uses the image data output from the image processing apparatus 102 to determine the information on the own lane of the vehicle and the white line constituting the adjacent lane, that is, the presence or absence of the white line constituting the own lane and the adjacent lane, and the positional relationship with the own vehicle. The white line information is extracted and stored in the memory 105. The information on the own lane and the adjacent lane is sent to the vehicle control unit 108 via the CAN I / F 106 and the CAN bus 107.
In this embodiment, the rear camera 101-Rr is not always necessary, and the lane marking recognition device can be implemented if the front camera 101-Fr is present.

FIG. 2 is a diagram illustrating a configuration of the lane marking recognition device 1. The block shown in FIG. 2 shows the functions of the program stored in the ROM of the image processing apparatus 102 as a block diagram.
The left white line detection unit 201 processes an image obtained from the left side camera 101-SL and detects a white line candidate on the left side of the vehicle 2. The right white line detection unit 202 processes an image obtained from the right side camera 101-SR and detects a white line candidate on the right side of the vehicle. The left white line position calculation unit 203 calculates the relative position of the white line candidate detected by the left white line detection unit 201 with the vehicle 2. The right white line position calculation unit 204 calculates the relative position of the white line candidate detected by the right white line detection unit 202 with the vehicle 2. The left white line detection unit 201 further detects a lane adjacent to the left side of the vehicle 2, and the right white line detection unit 202 further detects a lane adjacent to the right side of the vehicle 2.

The lane width calculation unit 205 detects the white lines on both the left and right sides of the vehicle 2 using the images obtained from the rear camera 101-Rr or the front camera 101-Fr, and calculates the lane width. The white line determination unit 206 uses the results obtained by the left white line position calculation unit 203, the right white line position calculation unit 204, and the lane width calculation unit 205 to determine whether the combination of detected white line candidates is appropriate. . The white line determination unit 206 determines a combination of white line candidates determined to be appropriate as a white line and outputs the combination to the vehicle control unit 108.

FIG. 3 is a diagram illustrating data stored in the storage device 103. The storage device 103 stores detection time data 1501, calibration data 1502, front information 1504, right side information 1505, and left side information 1506.
The detection time data 1501 is the time when the image of each camera is processed, and the detection time data 1501 stores a common time for each camera. The detection time data 1501 includes at least a time and a time zone.

The calibration data 1502 includes at least calibration time and camera parameters for each of the four cameras. Calibration is a process of correcting camera parameters. Design values are entered for the camera parameters at the time of shipment from the factory. If calibration has never been performed, the time data is stored at an arbitrary date and time before factory shipment, for example, January 1, 1970 0:00:00 Indicates that it remains. The camera parameters include camera internal parameters and external parameters. The internal parameters are the focal length of the camera, the number of pixels of the image sensor, the size of the image sensor, and the like. The external parameters are the camera mounting position and mounting posture. Therefore, the relationship between the position on the image obtained by each camera and the position in the real space can be calculated by using the camera parameter.
In addition, “distance” and “width” used in the following description refer to those in real space in principle, and when referring to an image on an image obtained by a camera, “distance on image” or “ This is called “width on the image”.

The front information 1504 includes the line types of the right and left white lines calculated based on the white line information obtained by processing the image from the front camera 101-Fr, and the relative distances of the left and right white lines from the vehicle. included. Further, the front information 1504 stores the distance to the stop line and the direction in which the stop line extends (right / left / none) when a stop line is detected by a calculation process described later. When a stop line is not detected by the arithmetic processing described later, the presence / absence of the stop line is “none”, and the “extension direction” and “distance” are “none” and “−1”, respectively. Note that the result of processing the image obtained from the rear camera 101-Rr may be similarly stored as rear information.

The right side information 1505 includes information on the white line detected by the right side camera 101-SR. It also includes at least information on the white line of the own lane and the white line of the adjacent lane, and includes the line type and the distance from the vehicle, respectively. The left side information 1506 includes information regarding the white line detected by the left side camera 101-SL. Since the included data is the same as the right side information 1505, description thereof is omitted.

(Definition of own lane and adjacent lane)
In the present embodiment, the own lane refers to two white lines existing on both sides of the vehicle. The adjacent lane refers to a white line excluding the white line constituting the own lane among the white lines constituting the adjacent traveling lanes. Also, the thickness of the white line, that is, the width of the white line is called the white line width. This white line width is constant regardless of the type of lane marking, that is, the road center line, the road boundary line, and the road outer line, and the white line width is known. A specific example will be described with reference to FIG.
FIG. 4 is a diagram illustrating the definition of the own lane and the adjacent lane. FIG. 4 shows a four-lane roadway on one side, which is referred to as the first lane, the second lane, the third lane, and the fourth lane from the left. When the vehicle 2 is in the second lane, the own lane is the white line B and the white line C. The first lane adjacent to the left of the own lane is composed of the white line A and the white line B, but the left adjacent lane is only the white line A. Similarly, the right adjacent lane is the white line D, and the right adjacent lane is the white line E.

(Operation of image processing device)
Hereinafter, the operation of the image processing apparatus 102 will be described using a flowchart.
(Main flowchart)
FIG. 5 is a flowchart showing the main operation of the lane marking recognition apparatus 1. The operation is started when the ignition key switch of the vehicle 2 is turned ON. The operation subject of each step described below is the CPU 104 of the lane marking recognition apparatus 1.
In step S301, a white line in the own lane is detected. The detection of the white line of the own lane will be described later with reference to FIG. Next, the process proceeds to step S302.

In step S302, a white line in the adjacent lane is detected. The detection of the white line in the adjacent lane will be described later with reference to FIG. Next, the process proceeds to step S303.
In step S303, it is determined whether or not the ignition key switch is turned off. When it is determined that the ignition key switch is turned off, the program for executing the process shown in FIG. 5 is terminated, and when it is determined that the ignition key switch is not turned off, the process returns to step S301.
That is, the image processing apparatus 102 repeats the detection of the white line of the own lane and the detection of the white line of the adjacent lane until the ignition key switch is turned off.

(Detect white line in own lane)
FIG. 6 is a flowchart showing details of step S301 in FIG. 5, that is, processing for detecting a white line in the own lane. The operation subject of each step described below is the CPU 104 of the lane marking recognition apparatus 1.
In step S401, the lane width w _lane is calculated. The calculation of the lane width w _lane will be described later with reference to FIG. When the lane width w _lane is calculated, the process proceeds to step S402.
In step S402, it is determined whether the white line is crossed. This can be determined based on whether or not the white line exists in a predetermined range near the center in the image obtained from the front camera 101-Fr or the rear camera 101-Rr. If it is determined that the white line is not straddled, the process proceeds to step S404, and if it is determined that the white line is straddled, the process proceeds to step S403. Further, if the optical axis of the front camera 101-Fr or the rear camera 101-Rr is installed so as to coincide with the vehicle axial direction, it can be determined whether or not the white line is straddled based on the vehicle width.

In step S404 is executed when it is determined that no across the white line, the first lane width _{w line} to remain _{w lane} calculated in step S401, the process proceeds to step S405. The first lane width w _line is a variable used in later processing, and is a distance between white lines detected by the left side camera 101-SL and the right side camera 101-SR.
In step S403, which is executed when it is determined that the white line is straddled, the first lane width w _{line is set} to twice the w _lane calculated in step S401, and the process proceeds to step S405.
In step S405, images are acquired from the left side camera 101-SL and right side camera 101-SR, respectively, and the process proceeds to step S406.

In step S406, white line candidates are detected from each of the images acquired in step S405. For detection of a white line, for example, a boundary edge having a luminance value corresponding to black and white is used. The white line candidates detected at this time may include other than white lines. For example, rain may accumulate on the reeds formed on the road, and sunlight may be reflected in the puddle so that it may be detected as a white line candidate. Next, the process proceeds to step S407.
In step S407, the position in the respective images of the white line candidate detected in step S406, and using camera parameters, the distance d _r from the right edge of the vehicle to the right white line candidate, to the left lane candidates from the left end of the vehicle The distance _{dl of} is calculated. Next, the process proceeds to step S408.

In step S408, the consistency of the position of the white line candidate detected in step S406 is examined as follows. That is, the first lane width _{w line,} the distance _{d r} from the vehicle to the right white line candidate, the sum of the distances _{d l,} and the vehicle width _{w V} to the left lane candidates (hereinafter, second lane width) the difference between the, The consistency is determined based on whether or not it is within a predetermined threshold d _th . If it matches, that is, if it is determined that the difference between the first lane width w _line and the second lane width is within the threshold value d _th , the process proceeds to step S410. If not matched, that is, if it is determined that the difference between the first lane width w _line and the second lane width is greater than the threshold value d _th , the process proceeds to step S409.

At step S409, the all pairs distance _{d l} and a distance _{d r} calculated to determine whether or not the verification in step S408 in step S407. If it is determined that all pairs have been verified, the process proceeds to step S411. If it is determined that there are unverified pairs, the process returns to step S408. For example, if two white line candidates are detected from the image obtained from the left side camera 101-SL in step S406 and three white line candidates are detected from the image obtained from the right side camera 101-SR, step S408 is executed a maximum of 6 times.
In step S410, the pair of white line candidates verified in step S408 immediately before is determined as a white line, and the white line detection process for the own lane ends.
In step S411, it is determined that no white line exists, and the white line detection process for the own lane ends.

(Specific example of white line detection in own lane)
The specific example of the white line detection of the own lane demonstrated using FIG. 6 is demonstrated using FIG. 7 and FIG. 7 and 8, the vehicle 2 is running on a two-lane roadway, and the roadway is a white line 701 that is a roadway outer line, a white line 702 that is a lane boundary line, and a roadway center line. White line 703. In FIGS. 7 and 8, the white line for the opposite lane that exists beyond the center line of the roadway is omitted.
FIG. 7A shows a case where the vehicle 2 does not cross the white line, and FIG. 7B shows a case where the vehicle 2 crosses the white line 702.

In the case where the white line shown in FIG. 7A is not crossed, an image obtained by photographing the road surface with the left side camera 101-SL has a high probability that the white line 701 is photographed. Similarly, an image obtained by photographing the road surface with the right side camera 101-SR has a high probability that the white line 702 and the white line 703 are photographed. Therefore, in step S407 in FIG. 6, the distance d ₁ is the distance from the vehicle 2 to the white line 701, and the distance _dr is the distance from the vehicle 2 to the white line 702. The second lane width distance _{d l,} the distance _{d r,} and since the sum of the vehicle width _{w V,} it can be assumed and the first lane width _{w line} and the second lane width substantially coincide. Therefore, in step S404 of FIG. 6, the first lane width is set equal to the lane width w _lane calculated in step S401 (FIG. 6, S404).

On the other hand, in the case where the white line shown in FIG. 7B is crossed, there is a high probability that the white line 701 is captured in the image obtained by photographing the road surface with the left side camera 101-SL. Similarly, an image obtained by photographing the road surface with the right side camera 101-SR has a high probability that the white line 703 is photographed. Accordingly, in step S407 of FIG. 6, the distance d ₁ is the distance from the vehicle 2 to the white line 701, the distance _dr is the distance from the vehicle 2 to the white line 703, and the first lane width w _line is approximately twice the lane width. it can. Therefore, in step S403 in FIG. 6, the first lane width is set to twice the lane width w _lane calculated in step S401 (FIG. 6, S403).

FIG. 8 is a diagram showing an example of white line verification related to step S408 in FIG. Here, it is assumed that an eyelid 801 is photographed in an image obtained by photographing the road surface with the right side camera 101-SR, and the right white line detection unit 202 detects the eyelid 801 as a white line candidate. At this time, the distance _dr is a distance from the vehicle 2 to the eaves 801. However, the distance _{d l,} the distance _{d r} and a second lane width is the sum of the vehicle width _{w V,} since the lane width _{w lane} do not match, by appropriately setting the threshold value _{d th,} the white line 701 and rut 801, Are not determined as white lines. That is, there is no false detection of the eyelid 801 as a white line.
In addition, in FIG. 8, wrinkles have been introduced as an example of erroneous detection, but erroneous detection of a road shoulder as a white line can be similarly prevented.

(Lane width calculation processing)
FIG. 9 is a flowchart showing details of the lane width calculation process in step S401 of FIG. The lane width calculation process is executed by the lane width calculation unit 205. In the present embodiment, the processing of the front camera 101-Fr is shown. However, the rear camera 101-Rr may be used, and the processing may be executed on an image obtained from any one of the cameras. The operation subject of each step described below is the CPU 104 of the lane marking recognition apparatus 1.
In step S601, an image obtained by photographing the front camera 101-Fr is acquired, and the process proceeds to step S602.
In step S602, white lines are detected using the same method as in step S406 in FIG. 6 for the image acquired in step S601. Next, the process proceeds to step S603.

In step S603, it is determined whether the white line detected in step S602 satisfies the following condition. The condition is that only one white line is detected in the left detection area 1002 described later, only one white line is detected in the right detection area 1003 described later, and no white line is detected in the center detection area 1004 described later. It is. If it is determined that all these conditions are satisfied, the process proceeds to step S604. If it is determined that at least one condition is not satisfied, the process proceeds to step S607.
In step S604, two white line feature points are detected and coordinates on the image are calculated. For example, on a predetermined straight line, a boundary whose luminance value is equivalent to black and white is used as a feature point. Next, the process proceeds to step S605.

In step S605, among the feature points obtained in step S604, the feature point closer to the center of the image in each white line is specified, the relative position of the specified feature point from the vehicle 2 is calculated, and the process proceeds to step S606. .
In step S606, the distance between the two points for which the relative positions have been calculated in step S605 is calculated and set as the lane width, and the lane width calculation process is terminated.
In step S607, which is executed when a negative determination is made in step S603, a specified value, for example, 3 m is set as the lane width, and the lane width calculation process is ended.

(Example of lane width calculation processing)
FIG. 10 is a diagram showing the processing area in step S603 of FIG. Reference numeral 1001 denotes an image obtained by photographing the front camera 101-Fr. The left side of the image 1001 excluding the upper part is the left detection area 1002, the right side of the image 1001 excluding the upper part is the right detection area 1003, and the center of the image 1001 excluding the upper part is the center. This is a detection area 1004. Returning to FIG. 9, the description will be continued.

FIG. 11 is a diagram showing a processing example in steps S604 to S606 of FIG. Reference numeral 1001 denotes an image obtained by photographing the front camera 101-Fr as in FIG. As shown in FIG. 11, the left and right in the drawing are defined as the X axis direction of the image 1001, and the upper and lower in the drawing are defined as the Y axis direction of the image 1001. This image includes a white line 1010 on the left side of the vehicle 2 and a white line 1011 on the right side of the vehicle 2 taken by the camera.

In step S604, the lane marking recognition apparatus 1 searches for a straight line 1016 that is a straight line parallel to the X axis and has a predetermined Y coordinate, detects feature points 1012 to 1015, and obtains coordinates on the image. Next, in step S605, the lane marking recognition device 1 identifies feature points closer to the center of the image, that is, feature points 1013 and 1014, in each white line. Then, based on the camera parameters of the front camera 101-Fr, the relative positions of the feature points from the vehicle 2 are calculated. In step S606, the lane marking recognition apparatus 1 calculates the distance in the real space between the feature point 1013 and the feature point 1014 by calculating the difference between the two relative distances calculated in step S605, and sets this as the lane width.

(White line detection processing for adjacent lanes)
FIG. 12 is a flowchart for detecting a white line in the adjacent lane, and corresponds to the process in step S302 in FIG. The operation subject of each step described below is the CPU 104 of the lane marking recognition apparatus 1.
In step S1201, the result of step S301 is acquired, and it is determined whether or not a white line in the own lane has been detected. When it is determined that the white line of the own lane has been detected, the process proceeds to step S1202, and when it is determined that the white line has not been detected, the white line detection process of the adjacent lane is terminated.

In step S1202, it is determined whether the detected white line on both sides is a solid line or at least one is a broken line. When it is determined that both are solid lines, the process proceeds to step S1203, and when it is determined that at least one is a broken line, the process proceeds to step S1205. In this step, the lane boundary line is usually represented by a broken line, but the fact that the lane boundary line is also represented by a solid line before the intersection is used to determine the possibility of an intersection ahead.

In step S1203, an intersection determination process which will be described later with reference to FIG. 13 is executed, and the process proceeds to step S1204. This intersection determination process determines whether the solid line is the road center line or the road outer line or the white line before the intersection.
In step S1204, if it is determined that the intersection process is necessary as a result of the intersection determination process, the process proceeds to step S1205. If it is determined that the intersection process is unnecessary, the white line detection process for the adjacent lane is terminated.

In step S1205, an area setting process which will be described later with reference to FIG. 14 is executed, and the process proceeds to step S1206.
In step S1206, it is determined whether a white line candidate is detected in the processing region. If it is determined that it has been detected, the process proceeds to step S1208, where it is determined that there is a white line. If it is determined that it has not been detected, the process proceeds to step S1207, where it is determined that there is no white line. When step S1207 or step S1208 is executed, the white line detection process ends.

(Intersection determination process)
FIG. 13 is a flowchart showing details of the intersection determination process in step S1203 of FIG. The operation subject of each step described below is the CPU 104 of the lane marking recognition apparatus 1.
In step S1301, an image obtained by photographing the front camera 101-Fr is acquired, and the process proceeds to step S1302.
In step S1302, it is determined whether or not there is a white line orthogonal to the own lane in the image acquired in step S1301. If it is determined that there is a white line orthogonal to the own lane, the process proceeds to step S1303. If it is determined that there is no white line orthogonal to the own lane, the process proceeds to step S1305.

In step S1303, it is determined whether or not the white line orthogonal to the own lane reaches the white line on the left side constituting the own lane. If it is determined that the left white line constituting the own lane has been reached, the process proceeds to step S1304. If it is determined that the left white line constituting the own lane has not been reached, the process proceeds to step S1305. In step S1302 and step S1303, the stop line is a solid white line orthogonal to the lane marking line, and the stop line is utilized from the road center line to the road outer line.
In step S1304, it is determined that an intersection process is necessary, and the intersection determination process ends.
In step S1305, which is executed when a negative determination is made in step S1302 or step S1303, it is determined that the intersection process is unnecessary, and the intersection determination process is terminated.

(Area setting process)
FIG. 14 is a flowchart showing details of the area setting process in step S1205 of FIG. In the following processing, a long and narrow rectangular area where the presence of a white line is estimated is set on the image. The long side of the elongated rectangular area is defined by the center line and the width, and the length direction reaches the end of the image. The operation subject of each step described below is the CPU 104 of the lane marking recognition apparatus 1.
In step S901, the center line of the region on the image, that is, the center line of the white line estimated on the image is calculated. For example, the center of the estimated region related to the right adjacent lane is calculated based on the position of the own lane, the calculated lane width w _lane , the white line width, and the camera parameters in the image obtained by the right side camera 101-SR. Is done. Next, the process proceeds to step S902.
In step S902, time information of the calibration data 1502 is acquired from the storage device 103, and the process proceeds to step S903.

In step S903, it is determined whether or not the calibration state is the initial state. As described above, the time information of the calibration data 1502 stores the time when the calibration is executed when the calibration is executed, and for example, January 1, 1970 when the calibration is not executed. 0: 0: 0 is stored. Therefore, if the time information of the calibration data 1502 is other than January 1, 1970, 00:00:00, it is determined that the calibration has been performed, that is, it is not in the initial state, and the process proceeds to step S905. If the time information of the calibration data 1502 is January 1, 1970, 00:00:00, it is determined that calibration has not been performed, that is, an initial state, and the process proceeds to step S904.

In step S904, the width of the processing area is set to “4 × white line width on the image”, and the area setting process ends.
In step S905, the width of the processing area is set to “2 × white line width on the image”, and the area setting process ends.
Steps S904 and S905 are processes based on the following idea. In other words, if the calibration is still in the initial state, the accuracy of the position of the detected white line candidate is considered to be poor, so the processing area is enlarged, and if the calibration has been executed during running, the detected white line candidate is detected. Since the accuracy of the position is considered to be better than the initial state, the processing area is reduced.

(Specific example of area setting processing)
FIG. 15 is a diagram for explaining a situation in which the area setting process is performed. FIG. 15 shows a scene where the vehicle 2 is traveling on a two-lane road on one side. There is an intersection (not shown) above the figure, and a stop line 1407 indicating the existence of the intersection is drawn on the road. The roadway outer line 1401 and the roadway center line 1404 are solid lines, but the lane boundary lines 1402 and 1403 are solid lines in the vicinity of the intersection, and are represented by broken lines when they are separated from the intersection by a predetermined distance or more.

When the vehicle 2 is at the left position (reference numeral 1405) in FIG. 15, a lane boundary line 1403 represented by a broken line is photographed by the right side camera 101-SR. Since the lane boundary line 1403 is a broken line (FIG. 12, step S1202: NO), the region setting process (FIG. 12, step S1205) is executed. In the area setting process, the _{lane marking} recognition apparatus 1 estimates that an adjacent lane 1404 exists at a position away from the white line 1402 on the right side, and sets a processing area on the image of the right side camera 101-SR.

On the other hand, when the vehicle 2 is at the right position (reference numeral 1406) in the figure, the white line 1402 is photographed by the left side camera 101-SL and the white line 1404 is photographed by the right side camera 101-SR. Since both the white line 1402 and the white line 1404 are solid lines, an intersection determination process using the front camera 101-Fr is executed (FIG. 12, step S1202: YES, step S1203). Then, since the stop line 1407 is a white line orthogonal to the own lane and reaches the white line on the left side constituting the own lane, that is, the white line 1402, it is determined that the intersection processing is necessary (FIG. 13, step S1302: YES, step S1303: YES).

FIG. 16 is a diagram illustrating an example of the area setting process.
FIG. 16 is an image obtained by photographing with the right side camera 101-SR in a state where the vehicle 2 is on the left side of FIG. As shown in FIG. 16, the vertical direction in the figure is the Y coordinate. A broken line shown in the lower side of FIG. 16 is a white line 1403. The distance d1 in real space between the center line 1410 of the white line 1403 and the center line 1411 of the region where the white line 1404 exists is the width of the known lane, that is, the sum of the first lane width and the known white line width. equal. Further, since the internal parameters and external parameters of the right side camera 101-SR are known, it is possible to convert the distance on the image obtained by the right side camera 101-SR and the distance in the real space. Therefore, the position on the image of the center line 1411 of the area where the white line 1404 exists is the position on the image of the center line 1410 of the white line 1403 and the first lane on the image obtained by converting the first lane width using the camera parameters. It is calculated from the width or the like (FIG. 14, step S901).

Depending on the presence or absence of calibration, the width of the area where the white line 1404 exists, that is, the distance d2 in FIG. 16 is determined. If it is determined that calibration is not performed, the distance d2 is set to four times the line width (FIG. 14, step S904). If it is determined that calibration is performed, the distance d2 is equal to the line width. It is set to 2 times (FIG. 14, step S905).

According to the first embodiment described above, the following operational effects are obtained.
(1) The lane marking recognition apparatus 1 includes a first sensor that acquires road surface information on the left side of the vehicle 2, that is, a left side camera 101-SL, and a second sensor that acquires road surface information on the right side of the vehicle 2, that is, Based on the information acquired by the right side camera 101-SR and the first sensor, a left lane line candidate that is a candidate for the left lane line of the vehicle is detected, and a distance from the vehicle to the left lane line candidate is calculated. Based on the information acquired by the left lane line position calculation unit, that is, the left white line detection unit 201 and the left white line position calculation unit 203, and the information acquired by the second sensor, a right lane line candidate that is a right lane line candidate of the vehicle is detected. The right lane line position calculation unit for calculating the distance from the vehicle to the right lane line candidate, that is, the right white line detection unit 202 and the right white line position calculation unit 204, and the interval between the lane lines existing on the left and right of the vehicle. 1 car A lane width calculation unit 205 that calculates the width, a storage unit 103 that stores the width of the vehicle, a distance from the vehicle to the left lane line candidate calculated by the left lane line position calculation unit, and a right lane line position calculation unit The left lane line candidate and the right lane detected by the left lane line position calculation unit based on the calculated distance from the vehicle to the right lane line candidate, the width of the vehicle stored in the storage unit, and the first lane width A lane marking determination unit that determines whether or not the right lane marking candidate detected by the line position calculation unit is a lane marking on the left and right of the vehicle, that is, a white line determination unit 206 is provided.
Since the lane marking recognition device 1 is configured as described above, it is possible to reduce erroneous detection of lane markings due to noise included in information obtained from the road surface.

(2) The lane marking recognition apparatus 1 includes a third sensor that acquires information on the front or rear of the vehicle, that is, the front camera 101-Fr or the rear camera 101-Rr. Lane width calculation unit calculates the first lane width w _line to detect the lane line candidate of the right and left sides in the front or rear of the vehicle based on the information the third sensor is acquired. The third sensor is a camera. The lane width calculation unit 205 detects a lane line candidate based on luminance information of an image obtained by photographing.

(3) The lane marking determination unit, that is, the white line determination unit 206, calculates the distance from the vehicle to the left lane line candidate calculated by the left lane marking position calculation unit and the right segment from the vehicle calculated by the right lane marking position calculation unit. The second lane width is calculated by adding the distance to the line candidate and the width of the vehicle stored in the storage unit, and the difference between the second lane width and the first lane width calculated by the lane width calculation unit is When it is within the predetermined threshold value _dth , the left lane line candidate detected by the left lane line position calculator and the right lane line candidate detected by the right lane line position calculator are determined as the left and right lane lines of the vehicle. To do.

(4) The left lane line position calculation unit is based on the position of the left lane line candidate determined by the lane line determination unit as the left lane line of the vehicle and the first lane width calculated by the lane width calculation unit. The left lane line detection processing for detecting the lane line constituting the adjacent lane line is further performed, and the right lane line position calculation unit is determined to be the right lane line of the vehicle by the lane line determination unit. A right adjacent lane line detection process for detecting a lane line constituting an adjacent lane line based on the candidate position and the first lane width calculated by the lane width calculation unit is further performed.
Therefore, it is possible to reduce the erroneous detection of the adjacent lane by detecting the adjacent lane based on the detected position of the own lane.

(5) A third sensor that acquires information on the front or rear of the vehicle 2, that is, the front camera 101-Fr or the rear camera 101-Rr is provided. Lane width calculation unit calculates the first lane width w _line to detect the lane line candidate of the right and left sides in the front or rear of the vehicle based on the information the third sensor is acquired. The third sensor is a camera. The lane width calculation unit 205 detects a lane line candidate based on luminance information of an image obtained by photographing. The lane width calculation unit 205 detects the lane line candidates on both sides of the vehicle based on the information acquired by the third sensor, and stops the white line orthogonal to the lane line candidates on both sides and connecting at least the lane line candidates on both sides. And a line type determination process for determining whether the lane line candidate detected by the lane width calculation unit is a solid line or a broken line. The lane width calculation unit 205 determines whether or not the left adjacent lane line detection process is executed and whether or not the right adjacent lane line detection process is executed based on at least one of the intersection detection process and the line type determination process.
Therefore, when the presence of the adjacent lane is not estimated from the processing results of the intersection detection process and the line type determination process, the adjacent lane is not detected, and unnecessary processes can be reduced.

(Modification 1)
The white line detection process of the own lane is not limited to the method described with reference to FIG. Instead of the method shown in FIG. 6 in the first embodiment, the following method may be used.
FIG. 17 is a flowchart showing a white line detection process of the own lane in the first modification. The operation subject of each step described below is the CPU 104 of the lane marking recognition apparatus 1.
Steps S401 to S404 are the same as those in the first embodiment, and a description thereof will be omitted.
In step S505, an image captured by the right side camera 101-SR is acquired. In subsequent step S506, a white line candidate is detected from the image, a relative position from the vehicle 2 is calculated, and the process proceeds to step S507.

In step S507, a processing area in the image of the left side camera 101-SL is set. The processing in this step is almost the same as the region setting processing already described with reference to the flowchart of FIG. However, the area center calculation process in step S901 is different. Here, only the differences will be described. That is, the white line in the image of the left side camera 101-SL based on the position of the white line candidate in the image taken by the calculated right side camera 101-SR, the calculated lane width w _lane , and the known vehicle width w _V. An area where a candidate is likely to be detected is set as a processing area. However, the camera parameters of the left side camera 101-SL are also used for this calculation. The point that the height of the processing area changes depending on the presence or absence of calibration (steps S902 to S904) is the same as in the first embodiment.

In step S508, an image captured by the left side camera 101-SL is acquired, and a white line is detected in the processing area set in step S507, and it is determined whether or not it has been detected. If it is determined that a white line has been detected, the process proceeds to step S510, and the pair of white lines detected in steps S506 and S508 is determined as a white line. If it is determined in step S508 that no white line has been detected, the process proceeds to step S509.
In step S509, it is determined whether there are other white line candidates detected in step S506. If it is determined that there are other white line candidates, the process returns to step S507 and the same processing is repeated. If it is determined that there is no white line candidate, the process proceeds to step S511, where it is determined that there is no white line, and the white line detection process for the own lane is terminated.

In step S505 and step S509, the image of the right side camera 101-SR is targeted. In step S507, the image of the left side camera 101-SL is targeted. However, these may be reversed. That is, the image of the left side camera 101-SL may be targeted in step S505 and step S509, and the image of the right side camera 101-SR may be targeted in step S507.

According to Modification 1 described above, the following operational effects can be obtained.
(1) The lane line determination unit, that is, the white line determination unit 206, calculates the position of the left lane line candidate detected by the left lane line position calculation unit, the width of the vehicle stored in the storage unit, and the lane width calculation unit Based on the first lane width, the search area in the information acquired by the second sensor is estimated, the right lane line position calculation unit detects the right lane line candidate in the search area, and the right lane line position calculation unit searches When the right lane line candidate is detected in the region, the left lane line candidate and the right lane line candidate are determined as the left and right lane lines of the vehicle.

(2) The calibration data 1502 of the storage device 103 stores whether or not the calibration of the first and second sensors (for example, cameras) has been completed. The lane marking determination unit determines the search region when the storage unit stores that the calibration of the first and second sensors is not completed, as compared to the case where the storage is stored as completed. Widely set (FIG. 14, step S903: YES, step S904).
Therefore, the search area can be set according to whether or not calibration is completed.

(Modification 2)
The white line detection process of the own lane is not limited to the method described with reference to FIG. Instead of the method shown in FIG. 6 in the first embodiment, the following method may be used.
FIG. 18 is a flowchart showing a part of the white line detection processing of the own lane in the second modification. FIG. 18 shows processing for an image acquired by the left side camera 101-SL, and white line detection of the own lane is performed by executing the same processing for the image acquired by the right side camera 101-SR. Processing is complete. The operation subject of each step described below is the CPU 104 of the lane marking recognition apparatus 1.

In step S1801, the lane position is calculated. This is made possible by executing the processing from step S601 to step S605 in the flow of FIG. Next, the process proceeds to step S1802.
In step S1802, a processing area in the left side camera 101-SL is set. The process in this step is the same as the process in step S507 in Modification 1 described above. Next, the process proceeds to step S1803.
In step S1803, it is determined whether a white line has been detected in the processing area. If a white line cannot be detected, it is determined that there is no white line in step S1804, and if a white line is detected, it is determined that there is a white line in step S1805.

(Modification 3)
In the first embodiment, when it is determined that an intersection process is necessary (FIG. 12, step S1204: YES), detection of adjacent lanes is performed for both the left and right sides of the vehicle. However, the existence of the adjacent lane may be estimated separately on the left and right sides, and the adjacent lane may be detected only on the side where the existence of the adjacent lane is estimated.

The road center line and the road outer line are drawn as solid lines on the road surface, and the lane boundary lines are drawn as broken lines in principle. Therefore, when a white line drawn with a broken line is detected, it is estimated that an adjacent lane exists behind the broken line. However, the lane boundary line is also drawn as a solid line before the intersection. Therefore, the presence of the adjacent lane is determined using the stop line before the intersection. Since the stop line exists across all the travel lanes having the same travel direction, the presence or absence of the adjacent lane can be estimated from the presence or absence of the end of the stop line. In other words, if the stop line extends beyond the white line on the right side of the own lane, there is an adjacent lane on the right, and if the stop line extends beyond the white line on the left side of the own lane, it is adjacent to the left side. It can be estimated that there is a lane.
The adjacent lanes are detected by the processing of steps S1205 to S1208 in FIG. 12 for only the right adjacent lane, the left adjacent lane, or both adjacent lanes that are estimated to have adjacent lanes by such processing.

(flowchart)
The above-described determination as to whether or not to detect the white line in the adjacent lane will be described using a flowchart. However, the determination of whether to detect the white line in the right adjacent lane and the determination of whether to detect the white line in the left adjacent lane are almost the same. Explain the judgment.
FIG. 19 is a flowchart showing a determination as to whether or not to detect a white line in the right adjacent lane.
In step S2201, it is determined whether a white line in the own lane is detected. When it is determined that the white line of the own lane has been detected, the process proceeds to step S2202, and when it is determined that the white line of the own lane has not been detected, the process proceeds to step S2206.

In step S2202, it is determined whether the white line on the right side of the own lane is a solid line. If it is determined that the line is a solid line, the process proceeds to step S2203. If it is determined that the line is not a solid line, that is, a broken line, the process proceeds to step S2205.
In step S2203, a stop line is detected based on the image from the front camera 101-Fr, and the process proceeds to step S2204.
In step S2204, it is determined whether the stop line detected in step S2203 extends beyond the white line on the right side of the own lane. If it is determined that the stop line extends beyond the right white line, the process proceeds to step S2205. If it is determined that the stop line does not exceed the right white line or no stop line is detected, the process proceeds to step S2206.
In step S2205, it is determined that a white line in the right adjacent lane is detected.
In step S2206, it is determined that the white line in the right adjacent lane is not detected.
When determining whether or not to detect the white line in the left adjacent lane, step S2202 determines whether or not the left white line is a solid line, and extends step S2204 beyond the left white line of the own lane. What is necessary is just to change so that it may be judged.

According to Modification 3 described above, the following operational effects can be obtained.
(1) The lane width calculation unit detects the stop line by the intersection detection process, and when the end of the stop line extends beyond the right lane line candidate of the vehicle and the line type determination process The right adjacent lane line detection process is executed in at least one of the cases where it is determined that the right lane line candidate is a broken line. When the stop line is detected by the intersection detection process and the end of the stop line extends beyond the left lane line candidate of the vehicle, and the left lane line candidate of the vehicle is broken by the line type determination process. The left adjacent lane marking detection process is executed in at least one of the cases where it is determined that there is.
Except before the intersection, the lane boundary line is represented by a broken line, so the existence of an adjacent lane can be estimated by the presence of the broken line. Even if the lane boundary line is a solid line, if there is a stop line ahead, it can be inferred that there is an adjacent lane, whether there is an adjacent lane on the left or right, or whether there is an adjacent lane on both the left and right Can be determined by extending the stop line. Therefore, the existence of the adjacent lane can be estimated separately on the left and right sides, and the adjacent lane can be detected.

(Second Embodiment)
A second embodiment of the lane marking recognition apparatus according to the present invention will be described with reference to FIGS. In the following description, the same components as those in the first embodiment are denoted by the same reference numerals, and different points will be mainly described. Points that are not particularly described are the same as those in the first embodiment. In the present embodiment, mainly when the width of the own lane cannot be calculated from the images taken by the front camera 101-Fr and the rear camera 101-Rr, the lane of the own lane is based on the road type registered in the map data. This is different from the first embodiment in that the width is determined.

(Constitution)
FIG. 20 is a diagram illustrating a configuration of a lane marking recognition device 1a according to the second embodiment. The lane marking recognition device 1a further includes a car navigation device 1101 in addition to the configuration of the lane marking recognition device 1 in the first embodiment.
The car navigation device 1101 includes a satellite positioning system, map data, and width data 2000. The satellite positioning system calculates latitude and longitude based on signals from a plurality of satellites. In map data, a road intersection or a specific point on a road is defined as a node, and a road connecting each node is defined as a link. In the map data, the latitude and longitude of the node and the road type of the link are recorded. Since the width data 2000 describes the relationship between the road type and the lane width, the width data 2000 is text data or a database indicating the relationship between the road type and the corresponding lane width. Therefore, the width of the own lane can be calculated from the satellite positioning system, map data, and width data 2000 included in the car navigation device 1101.

FIG. 21 is a diagram showing an example of the width data 2000. The road types are highway automobile national roads, automobile exclusive roads, national roads, prefectural roads, and municipal roads. However, the road type is not limited to this, and other types may be used. In the width data 2000, for example, information is recorded such that the width of the highway national highway is 3.75 m and the width of the automobile road is 3.25 m. Here, the width is the width of one traveling lane, and when the vehicle 2 is traveling on the road, the own lane width is equal to the width of the road.

(Operation)
In the second embodiment, the operation in the first embodiment is changed as follows. That is, in the lane width calculation process shown in FIG. 9, the own lane width is calculated using the car navigation device 1101 instead of step S607 executed when two white lines are not detected.
More specifically, first, the current location, that is, the latitude and longitude are calculated by the satellite positioning system of the car navigation device 1101. Next, using the map data, it is determined on which node the vehicle 2 exists, and the road type of the node is specified. Finally, the width data 2000 is used to identify the width corresponding to the identified road type, and this is defined as the own lane width.

According to the second embodiment described above, the following operational effects can be obtained.
(1) The lane marking recognition device 1 includes a road type determination device that determines a road type that is a type of a road on which the vehicle 2 is traveling, that is, a car navigation device 1101. The storage unit of the car navigation device 1101 stores width data 2000 indicating the relationship between the road type and the lane width. The lane width calculation unit calculates the first lane width based on the road type determined by the road type determination device and the width data 2000.
Therefore, even when the front camera 101-Fr and the rear camera 101-Rr are dirty, or when the front camera 101-Fr and the rear camera 101-Rr cannot capture a white line well due to traffic congestion, the lane width is acquired. Can do.

(2) The road type discriminating apparatus, that is, the car navigation apparatus 1101, specifies and specifies a road connecting the plurality of specified nodes based on the plurality of nodes specified by the latitude and longitude of the vehicle. Identified by reading out the road type from the map data.

(Modification of the second embodiment)
In the second embodiment, the lane marking recognition device 1 a includes the car navigation device 1101, but the lane marking recognition device 1 a may not include the car navigation device 1101.
You may receive the width | variety of the own lane from the car navigation apparatus 1101 provided separately. Further, the lane width table, that is, the width data 2000 is stored in the storage unit 103 of the lane marking recognition device 1a, and the width of the own lane is calculated based on the road type and the width data 2000 received from the car navigation device 1101 provided separately. May be. A method of receiving various map data from a center server that manages vehicle operation information and map data may be used.

(Third embodiment)
A third embodiment of the lane marking recognition apparatus according to the present invention will be described with reference to FIGS. In the following description, the same components as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and different points will be mainly described. Points that are not particularly described are the same as those in the second embodiment. This embodiment differs from the first embodiment mainly in that a laser range finder is used instead of a camera.

FIG. 22 is a diagram illustrating a configuration of a lane marking recognition device 1b according to the third embodiment. The lane marking recognition device 1b includes a laser range finder 1601-SL that acquires information on the left side of the vehicle 2 and a laser range finder 1601-SR that acquires information on the right side of the vehicle 2. The laser range finders 1601-SR and 1601-SL detect a difference in reflectance between the white line and the asphalt using a laser radar and recognize the white line. This makes it possible to detect the positions of the white lines on the left and right sides of the vehicle.
The lane marking recognition device 1b does not include a camera and a laser range finder that acquire front and rear information, and calculates the lane width w _lane using the car navigation device 1101.

(White line detection processing of own lane)
FIG. 23 is a flowchart showing white line detection processing of the own lane using the laser range finder. The operation subject of each step described below is the CPU 104 of the lane marking recognition device 1b.

In step S1701, the lane width w _lane is calculated using the car navigation device 1101 as in the second embodiment.
In step S1702, and step S1703, detects a white line of a side of the vehicle with a laser range finder 1601-SR, 1601-SL, the distance _{d r} from the right edge of the vehicle to the right white line candidate, the left end of the vehicle calculates the distance _{d l} to the left lane candidates, the flow proceeds to step S1704.

In step S1704, the consistency of the position of the white line candidate is determined as follows. That is, the threshold distance d _r from the vehicle to the right white line _candidate, and the second lane width is the sum of the distances d _l, and the vehicle width w _V to the left lane candidates, the difference between the lane width w _lane has a predetermined It is determined whether or not to match depending on whether it is within d _th . If they match, that is, if it is determined that the difference between the lane width w _lane and the second lane width is within the threshold value d _th , the process proceeds to step S1706. If not matched, that is, if it is determined that the difference between the lane width w _lane and the second lane width is greater than the threshold value d _th , the process proceeds to step S1705.

In step S1705, it is determined whether or not verify all pairs of distance _{d l} and a distance _{d r} calculated in step S1702 ~ S1703 in step S1704. If it is determined that all pairs have been verified, the process proceeds to step S1707. If it is determined that there are unverified pairs, the process returns to step S1704.
In step S1706, the pair of white line candidates verified in step S1704 immediately before is determined as a white line, and the white line detection process for the own lane ends.
In step S1707, it is determined that no white line exists, and the white line detection process for the own lane ends.

In each of the above-described embodiments and modifications, a white line is a detection target, but the color of the line is not limited to white, and a line such as yellow can also be applied.
In each of the above-described embodiments and modifications, the presence of adjacent lanes or intersections is detected on the premise of Japanese traffic signs, but in the traffic sign rules of countries and regions that use the lane marking recognition device according to the present invention. You may change suitably based on this.

The above-described embodiments and modifications may be combined.
Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

The disclosure of the following priority application is hereby incorporated by reference.
Japanese Patent Application No. 2015 183763 (filed on Sep. 17, 2015)

DESCRIPTION OF SYMBOLS 1 ... Marking line recognition apparatus 101-Fr ... Front camera 101-Rr ... Back camera 101-SL ... Left side camera 101-SR ... Right side camera 201 ... Left white line detection part 202 ... Right white line detection part 203 ... Left white line position calculation Unit 204 ... Right white line position calculation unit 205 ... Lane width calculation unit 206 ... White line determination unit 1101 ... Car navigation device 2000 ... Width data

Claims (10)

1. A first sensor for acquiring road surface information on the left side of the vehicle;
   A second sensor for acquiring road surface information on the right side of the vehicle;
   A left lane line position calculation unit that detects a left lane line candidate that is a candidate for the left lane line of the vehicle based on information acquired by the first sensor and calculates a distance from the vehicle to the left lane line candidate. When,
   A right lane line position calculation unit that detects a right lane line candidate that is a right lane line candidate of the vehicle based on information acquired by the second sensor and calculates a distance from the vehicle to the right lane line candidate. When,
   A lane width calculation unit that calculates a first lane width that is an interval between lane markings present on the left and right of the vehicle;
   A storage unit for storing the width of the vehicle;
   The distance from the vehicle to the left lane line candidate calculated by the left lane line position calculation unit, the distance from the vehicle to the right lane line candidate calculated by the right lane line position calculation unit, and stored in the storage unit Based on the width of the vehicle and the first lane width, the left lane line candidate detected by the left lane line position calculation unit and the right lane line candidate detected by the right lane line position calculation unit are A lane marking recognition device comprising: a lane marking determination unit that determines whether the vehicle is a lane marking on the left and right of the vehicle.
2. The lane marking recognition apparatus according to claim 1,
   A third sensor for acquiring information on the front or rear of the vehicle;
   The lane width calculation unit detects the lane line candidates on both the left and right sides in front of or behind the vehicle based on the information acquired by the third sensor, calculates the first lane width,
   The third sensor is a camera or a laser range finder;
   The lane width calculation unit is a lane line recognition device that detects the lane line candidates based on luminance information of an image obtained by photographing or reflectance of a projected laser beam.
3. The lane marking recognition apparatus according to claim 1,
   The lane marking determination unit includes a distance from the vehicle calculated by the left lane line position calculation unit to the left lane line candidate and a distance from the vehicle calculated by the right lane line position calculation unit to the right lane line candidate. The second lane width is calculated by adding the distance and the width of the vehicle stored in the storage unit,
   When the difference between the second lane width and the first lane width calculated by the lane width calculator is within a preset threshold, the left lane line candidate detected by the left lane line position calculator and the A lane marking recognition device that determines the right lane marking candidate detected by the right lane marking position calculation unit as the left and right lane markings of the vehicle.
4. The lane marking recognition apparatus according to claim 1,
   The lane marking determination unit
   Based on the position of the left lane line candidate detected by the left lane line position calculation unit, the width of the vehicle stored in the storage unit, and the first lane width calculated by the lane width calculation unit, 2 to estimate the search area in the information acquired by the sensor, the right lane line position calculation unit to detect the right lane line candidate in the search area,
   A lane marking recognition apparatus that, when the right lane marking position calculation unit detects the right lane marking candidate in the search area, determines the left lane marking candidate and the right lane marking candidate as the left and right lane markings of the vehicle.
5. In the lane marking recognition device according to claim 4,
   The storage unit further stores whether or not the calibration of the first and second sensors is complete,
   The lane marking determination unit, when the storage unit stores the calibration of the first and second sensors as not being completed, compared to the case where it is stored as being completed, A lane marking recognition device that sets a wide search area.
6. The lane marking recognition apparatus according to claim 1,
   The left lane line position calculation unit is a position of the left lane line candidate determined by the lane line determination unit as a left lane line of the vehicle, and the first lane width calculated by the lane width calculation unit. And further performing a left adjacent lane line detection process for detecting a lane line constituting an adjacent lane line based on
   The right lane line position calculation unit is a position of the right lane line candidate determined to be the right lane line of the vehicle by the lane line determination unit, and the first lane width calculated by the lane width calculation unit. A lane marking recognition device that further performs a right adjacent lane marking detection process for detecting a lane marking that constitutes an adjacent lane marking based on the above.
7. The lane marking recognition apparatus according to claim 6,
   A third sensor for acquiring information on the front or rear of the vehicle;
   The lane width calculation unit detects lane line candidates on both the left and right sides of the vehicle based on information acquired by the third sensor, calculates the first lane width,
   The third sensor is a camera or a laser range finder;
   The lane width calculation unit detects the lane line candidate based on luminance information of an image obtained by photographing, or reflectance of a projected laser beam,
   The lane width calculation unit detects a lane line candidate on both sides of the vehicle based on information acquired by the third sensor, and is a white line orthogonal to the lane line candidates on both sides and connecting at least the lane line candidates on both sides And a line type determination process for determining whether the lane line candidate detected by the lane width calculation unit is a solid line or a broken line,
   The lane width calculation unit determines whether or not the left adjacent lane line detection process is executed and whether or not the right adjacent lane line detection process is executed based on at least one of the intersection detection process and the line type determination process. A lane marking recognition device.
8. The lane marking recognition apparatus according to claim 7,
   The lane width calculation unit
   When the stop line is detected by the intersection detection process and the end of the stop line extends beyond the right lane line candidate of the vehicle, and the right lane line candidate of the vehicle by the line type determination process The right adjacent lane marking detection process is executed in at least one of the cases where it is determined that is a broken line,
   When the stop line is detected by the intersection detection process and the end of the stop line extends beyond the left lane line candidate of the vehicle, and the left lane line candidate of the vehicle by the line type determination process A lane marking recognition device that executes the left adjacent lane marking detection process in at least one of the cases where it is determined that is a broken line.
9. The lane marking recognition apparatus according to claim 1,
   A road type discriminating device that discriminates a road type that is the type of road on which the vehicle is running;
   The storage unit further stores a lane width table indicating a relationship between the road type and the lane width,
   The lane width calculation unit is a lane marking recognition device that calculates the first lane width based on the road type determined by the road type determination device and the lane width table.
10. In the lane marking recognition device according to claim 9,
    The road type discrimination device
    A lane marking recognition device that identifies a road connecting the plurality of identified nodes based on a plurality of nodes identified by the latitude and longitude of the vehicle, and reads the road type of the identified road from map data.

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