# US 11,999,410 B2 · Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,999,410 B2
- Document ID: US11999410B2
- Status: Granted
- Kind: B2
- Application number: 16/656,795
- Filed: 2019-10-18
- Published: 2020-02-13
- Granted: 2024-06-04
- Earliest claimed: 2016-08-01
- Assignees: Mitsubishi Electric Corporation
- Applicants: Mitsubishi Electric Corporation
- Inventors: Takuya Taniguchi; Noritaka Kokido; Koji Iida
- Web page: https://patentgrep.com/patent/US11999410B2

## CPC

- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B60R 16/0231: {Circuits relating to the driving or the functioning of the vehicle (monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P)}
- B62D 15/029: {Steering assistants using warnings or proposing actions to the driver without influencing the steering system}
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- G08G 1/09623: {Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence)}
- G08G 1/096716: {where the received information does not generate an automatic action on the vehicle control}
- G08G 1/096725: {where the received information generates an automatic action on the vehicle control}
- G08G 1/096758: {where no selection takes place on the transmitted or the received information}
- G08G 1/096783: {where the origin of the information is a roadside individual element}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

Provided are a lane separation line detection correcting device/method and an automatic driving system for stabilizing the behavior of a vehicle by correcting overestimated curvature information resulting from an erroneous detection of a curvature of a lane separation line. A travel speed detecting circuit detects, for example, a target travel speed as vehicle sensor information. A maximum curvature estimating circuit estimates, based on the target travel speed, a maximum curvature of a road along which an own vehicle is traveling. A curvature correcting circuit corrects a curvature of a lane separation line input thereto based on the maximum curvature. A control unit controls steering of the own vehicle based on the lane separation line having a corrected curvature. As a result, vehicle steering can be automatically controlled so as to prevent the own vehicle while traveling from departing from a driving lane.

## Claims

### Claim 1

A lane separation line detection correcting device of a vehicle, comprising:
a camera configured to capture an image of a lane separation line of a road along which the vehicle is traveling, and an image of a travel path of the vehicle; and
at least one processor configured to:
acquire position information of edges of the road by performing image processing on the image of the travel path, the position information of the edges of the road comprising a plurality of edge coordinate points;
estimate a maximum curvature of a travel lane of a road along which the vehicle is traveling, by identifying a plurality of centerline coordinate points that lie in the center of the road, based on the plurality of road edge coordinate points, and calculating, as the maximum curvature, a curvature of a curve having a smallest least square error distance from the plurality of centerline coordinate points;
correct a curvature of a lane separation line that is obtained through an image processing on an image of the lane separation line, to confine the curvature obtained from the image of the lane separation line within the maximum curvature estimated from the image of the travel path; and
automatically control steering of the vehicle based on the lane separation line having the corrected curvature.

### Claim 2

A lane separation line detection correcting method of a vehicle, comprising:
capturing, by a camera, an image of a lane separation line of a road along which the vehicle is traveling, and an image of a travel path of the vehicle;
acquiring position information of edges of the road by performing, by at least one processor, image processing on the image of the travel path, the position information of the edges of the road comprising a plurality of edge coordinate points;
estimating, by the at least one processor, a maximum curvature of a travel lane of a road along which the vehicle is traveling by identifying a plurality of centerline coordinate points that lie in the center of the road, based on the plurality of road edge coordinate points, and calculating, as the maximum curvature, a curvature of a curve having a smallest least square error distance from the plurality of centerline coordinate points;
correcting, by the at least one processor, a curvature of a lane separation line that is obtained through an image processing on an image of the lane separation line, to confine the curvature obtained from the image of the lane separation line within the maximum curvature estimated from the image of the travel path; and
automatically controlling steering of the vehicle, by the at least one processor, based on the lane separation line having the corrected curvature.