# US 10,872,245 B2 · Road parameter calculator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,872,245 B2 - Document ID: US10872245B2 - Status: Granted - Kind: B2 - Application number: 15/944,192 - Filed: 2018-04-03 - Published: 2018-10-11 - Granted: 2020-12-22 - Earliest claimed: 2017-04-05 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Taiki Kawano; Naoki Kawasaki; Shunsuke Suzuki; Shunya Kumano - Web page: https://patentgrep.com/patent/US10872245B2 ## CPC - G06K 9/00798 - G06K 9/4604 - G06T 7/12: Edge-based segmentation - G06T 7/277: involving stochastic approaches, e.g. using Kalman filters - G06T 7/73: using feature-based methods - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - B60W 2552/20: Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments - G06T 2207/20061: Hough transform - G06T 2207/20076: Probabilistic image processing - G06T 2207/30256: Lane; Road marking - G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A road parameter calculator is provided which is equipped with an edge-point extracting unit, a road parameter calculating unit, a gradient detecting unit, and a modeling unit. The image acquiring unit. The edge-point extracting unit extracts edge points from an image of a frontal view of a vehicle. The parameter calculating unit calculates a road parameter using the edge points through a Kalman filter. The gradient detecting unit detects a change in gradient of the road in front of the vehicle. The modeling unit is responsive to a change in gradient to make a model as extending more straight than when the change in gradient is not detected. This minimizes adverse effects of the change in gradient of the road on the calculation of the road parameter. ## Claims ### Claim 1 A road parameter calculator comprising: an image acquiring unit which is configured to acquire an image of a forward view of a vehicle; an edge-point extracting unit which is configured to extract edge points from the image derived by the image acquiring unit; a road parameter calculating unit which is configured to calculate a road parameter through a Kalman filter using the edge points derived by the edge-point extracting unit, the road parameter representing a configuration of a road in front of the vehicle; a gradient detecting unit which is configured to detect a change in gradient of the road in front of the vehicle; and a modeling unit which is configured to produce a model used in the Kalman filter, when the gradient detecting unit detects the change in gradient of the road, the modeling unit working to produce a model of the road in which a curvature of the road is reduced than when the change in gradient of the road is not detected. ### Claim 2 (depends on 1) A road parameter calculator as set forth in claim 1, wherein when the gradient detecting unit detects the change in gradient, and only one of a right lane line and a left lane line is detected, the modeling unit works to produce the model designed to model the road in which the curvature of the road is reduced further than that when the gradient detecting unit detects the change in gradient, and the right and left lane lines are both detected, the right and left lane lines being lines on the image which define a road on which the vehicle is currently located. ### Claim 3 (depends on 1) A road parameter calculator as set forth in claim 1, further comprising a response setting unit which sets a response rate of the Kalman filter, and wherein when the gradient detecting unit detects the change in gradient, the response setting unit sets the response rate of the Kalman filter to be lower than that when the gradient detecting unit detects no change in gradient. ### Claim 4 (depends on 3) A road parameter calculator as set forth in claim 3, further comprising a degree-of-gradient calculating unit which is configured to calculate a degree of the change in gradient, and wherein the response setting unit lowers the response rate with an increase in degree of the change in gradient, as calculated by the degree-of-gradient calculating unit. ### Claim 5 (depends on 1) A road parameter calculator as set forth in claim 1, wherein when a first vanishing point remains above or below a second vanishing point, said gradient detecting unit determines that there is the change in gradient, the first vanishing point being an intersection of a right lane line and a left lane line, the right and left lane lines being lines on the image which define a lane on which the vehicle now exist, the second vanishing point being an intersection of the right and left lane lines when the vehicle is moving on a flat and horizontal road surface. ### Claim 6 (depends on 1) A road parameter calculator as set forth in claim 1, wherein the gradient detecting unit detects the change in gradient using a sensor which is capable of measuring a configuration of a surface of the road. ### Claim 7 (depends on 1) A road parameter calculator as set forth in claim 1, wherein the gradient detecting unit detects the change in gradient using a change in positional relation between a preceding vehicle and a lane line in a width-wise direction of the vehicle or a positional relation between a locus of the preceding vehicle and the lane line. ### Claim 8 (depends on 1) A road parameter calculator as set forth in claim 1, wherein the gradient detecting unit detects the change in gradient using a combination of curvatures of a right and a left lane line which are lines on the image defining a road on which the vehicle is currently located. ### Claim 9 (depends on 1) A road parameter calculator as set forth in claim 1, wherein the gradient detecting unit detects the change in gradient using information about gradients of roads recorded in a map. ### Claim 10 A road parameter calculator comprising: an image acquiring unit which is configured to acquire an image of a forward view of a vehicle; an edge-point extracting unit which is configured to extract edge points from the image derived by the image acquiring unit; a road parameter calculating unit which is configured to calculate a road parameter through a Kalman filter using the edge points derived by the edge-point extracting unit, the road parameter representing a configuration of a road in front of the vehicle; a gradient detecting unit which is configured to detect a change in gradient of the road in front of the vehicle; and an edge-point limiting unit which is configured to define a range in which the edge points are used by the road parameter calculating unit to lie closer to the vehicle when the gradient detecting unit detects the change in gradient than when the gradient detecting unit does not detect the change in gradient. ### Claim 11 (depends on 10) A road parameter calculator as set forth in claim 10, wherein when a first vanishing point remains above or below a second vanishing point, said gradient detecting unit determines that there is the change in gradient, the first vanishing point being an intersection of a right lane line and a left lane line, the right and left lane lines being lines on the image which define a lane on which the vehicle now exist, the second vanishing point being an intersection of the right and left lane lines when the vehicle is moving on a flat and horizontal road surface. ### Claim 12 (depends on 10) A road parameter calculator as set forth in claim 10, wherein the gradient detecting unit detects the change in gradient using a sensor which is capable of measuring a configuration of a surface of the road. ### Claim 13 (depends on 10) A road parameter calculator as set forth in claim 10, wherein the gradient detecting unit detects the change in gradient using a change in positional relation between a preceding vehicle and a lane line in a width-wise direction of the vehicle or a positional relation between a locus of the preceding vehicle and the lane line. ### Claim 14 (depends on 10) A road parameter calculator as set forth in claim 10, wherein the gradient detecting unit detects the change in gradient using a combination of curvatures of a right and a left lane line which are lines on the image defining a road on which the vehicle now exists. ### Claim 15 (depends on 10) A road parameter calculator as set forth in claim 10, wherein the gradient detecting unit detects the change in gradient using information about gradients of roads recorded in a map. ### Claim 16 A road parameter calculator comprising: an image acquiring unit which is configured to acquire an image of a forward view of a vehicle; an edge-point extracting unit which is configured to extract edge points from the image derived by the image acquiring unit; a road parameter calculating unit which is configured to calculate a road parameter through a Kalman filter using the edge points derived by the edge-point extracting unit, the road parameter representing a configuration of a road in front of the vehicle; a gradient detecting unit which is configured to detect a change in gradient of the road in front of the vehicle; and an edge-point limiting unit which is configured to define a right range and a left range in which the edge points on a right lane line and a left lane line are used by the road parameter calculating unit, the right and left lane lines being lines on the image which define a road on which the vehicle now exists, when the gradient detecting unit detects the change in gradient, the edge-point limiting unit setting the right and left ranges to be equal to each other. ### Claim 17 (depends on 16) A road parameter calculator as set forth in claim 16, wherein when a first vanishing point is continuously kept above or below a second vanishing point, said gradient detecting unit determines that there is the change in gradient, the first vanishing point being an intersection of a right lane line and a left lane line, the right and left lane lines being lines on the image which define a lane on which the vehicle now exist, the second vanishing point being an intersection of the right and left lane lines when the vehicle is moving on a flat and horizontal road surface. ### Claim 18 (depends on 16) A road parameter calculator as set forth in claim 16, wherein the gradient detecting unit detects the change in gradient using a sensor which is capable of measuring a configuration of a surface of the road. ### Claim 19 (depends on 16) A road parameter calculator as set forth in claim 16, wherein the gradient detecting unit detects the change in gradient using a change in positional relation between a preceding vehicle and lane line in a width-wise direction of the vehicle or a positional relation between a locus of the preceding vehicle and the lane line. ### Claim 20 (depends on 16) A road parameter calculator as set forth in claim 16, wherein the gradient detecting unit detects the change in gradient using a combination of curvatures of a right and a left lane line which are lines on the image defining a road on which the vehicle is currently located. ### Claim 21 (depends on 16) A road parameter calculator as set forth in claim 16, wherein the gradient detecting unit detects the change in gradient using information about gradients of roads recorded in a map. ### Claim 22 A road parameter calculator comprising: an image acquiring unit which is configured to acquire an image of a forward view of a vehicle; an edge-point extracting unit which is configured to extract edge points from the image derived by the image acquiring unit; a road parameter calculating unit which is configured to calculate a road parameter through a Kalman filter using the edge points derived by the edge-point extracting unit, the road parameter representing a configuration of a road in front of the vehicle; a gradient detecting unit which is configured to detect a change in gradient of the road in front of the vehicle; a lane line producing unit which is configured to produce a lane line using the edge points derived by the edge-point extracting unit; a likelihood calculating unit which is configured to calculate a likelihood that the lane line, as derived by the lane line producing unit, is a branch line using at least one of a curvature, a yaw angle, and an offset between the vehicle and the lane line; a branch line determining unit which is configured to determine that the lane line represents the branch line when the likelihood, as derived by the likelihood calculating unit, is greater than a threshold value; an edge-point removing unit which is configured to remove ones of the edge points which define the lane line, as determined by the branch line determining unit as being the branch line, from a range in which the edge points are used by the road parameter calculating unit; and a threshold determining unit which is configured to increase the threshold used when the gradient detecting unit detects the change in gradient to be greater than that when the gradient detecting unit does not detect the change in gradient. ### Claim 23 (depends on 22) A road parameter calculator as set forth in claim 22, wherein when a first vanishing point remains above or below a second vanishing point, said gradient detecting unit determines that there is the change in gradient, the first vanishing point being an intersection of a right lane line and a left lane line, the right and left lane lines being lines on the image which define a lane on which the vehicle is currently located, the second vanishing point being an intersection of the right and left lane lines when the vehicle is moving on a flat and horizontal road surface. ### Claim 24 (depends on 22) A road parameter calculator as set forth in claim 22, wherein the gradient detecting unit detects the change in gradient using a sensor which is capable of measuring a configuration of a surface of the road. ### Claim 25 (depends on 22) A road parameter calculator as set forth in claim 22, wherein the gradient detecting unit detects the change in gradient using a change in positional relation between a preceding vehicle and a lane line in a width-wise direction of the vehicle or a positional relation between a locus of the preceding vehicle and the lane line. ### Claim 26 (depends on 22) A road parameter calculator as set forth in claim 22, wherein the gradient detecting unit detects the change in gradient using a combination of curvatures of a right and a left lane line which are lines on the image defining a road on which the vehicle is currently located. ### Claim 27 (depends on 22) A road parameter calculator as set forth in claim 22, wherein the gradient detecting unit detects the change in gradient using information about gradients of roads recorded in a map.