Lane detection device and lane detection method

A lane detection device comprising:

• a first image capturing device which is fixed to a moving body and periodically captures a first image under a predetermined first image capturing condition;
• a second image capturing device which is fixed to the moving body and periodically captures a second image under a second image capturing condition different from the predetermined first image capturing condition;
• and
• a processor, regarding a traveling lane on which the moving body travels, which is configured to detect a first boundary line of the traveling lane on the first image, detect a second boundary line of the traveling lane on the second image, and estimate a position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution condition,
• wherein the first image capturing condition includes any of a position and a direction of the first image capturing device with respect to the moving body, a diaphragm of the second image capturing device, and white balance of the second image capturing device, and
• the second image capturing condition includes any of a position and a direction of the second image capturing device with respect to the moving body, a diaphragm of the second image capturing device, and white balance of the second image capturing device,
• wherein the first image capturing device is directed toward an advancing direction side of the moving body,
• wherein the second image capturing device is directed toward a side opposite to the advancing direction,
• wherein the execution condition is that at least any one of two boundary lines of the traveling lane on the first image is not detected, and
• wherein the processor calculates a position of a first vanishing point on the first image based on a position of the first boundary line, stores the position of the first vanishing point, estimates calculation of a second vanishing point on the second image based on the position of the second boundary line, and stores the position of the second vanishing point,
• the processor stores in advance a displacement relationship between a first displacement of the position of the first vanishing point in two frames of which image capturing times are different from each other and a second displacement of the position of the second vanishing point in the two frames, and
• under the execution condition, the processor calculates the second displacement based on the position of the second vanishing point of a past frame and the position of the second vanishing point of a present frame, calculates the first displacement from the second displacement using the displacement relationship, estimates the position of the first vanishing point of the present frame based on the position of the first vanishing point of the past frame and the first displacement, and estimates the position of the first boundary line based on the position of the first vanishing point of the present frame.

A lane detection method comprising:

• capturing a first image periodically under a predetermined first image capturing condition by a first image capturing device which is fixed to a moving body and is directed toward an advancing direction side of the moving body;
• capturing a second image periodically under a predetermined second image capturing condition different from the first image capturing condition by a second image capturing device which is fixed to the moving body and is directed toward a side opposite to the advancing direction;
• and
• detecting a first boundary line of a traveling lane on the first image, detecting a second boundary line of the traveling lane on the second image and calculating a position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution condition, regarding the traveling lane on which the moving body travels, by an operation device,
• calculating a position of a first vanishing point on the first image based on a position of the first boundary line, storing the position of the first vanishing point, calculating a position of a second vanishing point on the second image based on the position of the second boundary line, and storing the position of the second vanishing point;
• storing in advance a displacement relationship between a first displacement of the position of the first vanishing point in two frames of which image capturing times are different from each other and a second displacement of the position of the second vanishing point in the two frames;
• and
• under the execution condition, calculating the second displacement based on the position of the second vanishing point of a past frame and the position of the second vanishing point of a present frame, calculating the first displacement from the second displacement using the displacement relationship, estimating the position of the first vanishing point of the present frame based on the position of the first vanishing point of the past frame and the first displacement, and estimating the position of the first boundary line based on the position of the first vanishing point of the present frame.