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US 12,612,106 B2Granted
Driving assistance system, driving assistance method, and recording medium
AssigneeHonda Motor Co., Ltd.
InventorsRyo Iitaka, Naotoshi Fujimoto, Tetsuya Kawahara, Keisuke Osakabe
Life of this patent
Estimating the term…
Abstract
A driving assistance system includes a frontward lane edge part estimation unit that, when it is difficult for a frontward lane edge part recognition unit to recognize a position, with respect to a vehicle, of a lane edge part of an own lane ahead of the vehicle, estimates the position, with respect to the vehicle, of the lane edge part of the own lane ahead of the vehicle, based on a shape of a target road recognized from map information and a current position of the vehicle, and based on a position, with respect to the vehicle, of a lane edge part of the own lane behind the vehicle recognized by a rearward lane edge part recognition unit.
Claims4
A driving assistance system comprising a processor, wherein the processor is configured to:
- acquire a frontward image ahead of a vehicle using at least a front camera and a rearward image behind the vehicle using at least a rear camera;
- recognize a position of at least one lane edge part of an own lane ahead of the vehicle by extracting an image part of a lane marking of the own lane ahead of the vehicle from the frontward image;
- recognize a position of at least one lane edge part of the own lane behind the vehicle by extracting an image part of a lane marking of the own lane behind the vehicle from the rearward image;
- recognize a current position of the vehicle based on position detection data from a GNSS (Global Navigation Satellite System) sensor;
- acquire map information including information on a shape of a target road on which the vehicle is traveling;
- when the image part of the lane marking of the own lane ahead of the vehicle cannot be extracted from the frontward image, assume a virtual line with a curvature fitted to the shape of the target road based on the current position of the vehicle, the map information including the shape of the target road on which the vehicle is traveling, and a distance between the position of the at least one lane edge part of the own lane behind the vehicle and the vehicle, and estimate positions at the distance leftward and rightward from the virtual line as positions of each lane edge part of the own lane ahead of the vehicle;
- and
- cause a steering device included in the vehicle to operate such that the vehicle travels along a center part of the own lane with respect to a in width direction of the own lane, based on the recognized position of the at least one lane edge part of the own lane ahead of the vehicle, or based on the estimated positions of each lane edge part of the own lane ahead of the vehicle.
5 more elements
A driving assistance method executed by a computer, the driving assistance method comprising:
- a vehicle surroundings image acquisition step of acquiring a frontward image ahead of a vehicle using at least a front camera and a rearward image behind the vehicle using at least a rear camera;
- a frontward lane edge part recognition step of recognizing a position of at least one lane edge part of an own lane ahead of the vehicle by extracting an image part of a lane marking of the own lane ahead of the vehicle from the frontward image;
- a rearward lane edge part recognition step of recognizing a position of at least one lane edge part of the own lane behind the vehicle by extracting an image part of a lane marking of the own lane behind the vehicle from the rearward image;
- a vehicle position recognition step of recognizing a current position of the vehicle based on position detection data from a GNSS (Global Navigation Satellite System) sensor;
- a map information acquisition step of acquiring map information including information on a shape of a target road on which the vehicle is traveling;
- a frontward lane edge part estimation step of, when the image part of the lane marking of the own lane ahead of the vehicle cannot be extracted from the frontward image, assuming a virtual line with a curvature fitted to the shape of the target road by using the current position of the vehicle, the map information including the shape of the target road on which the vehicle is traveling, and a distance between the position of the at least one lane edge part of the own lane behind the vehicle recognized in the rearward lane edge part recognition step and the vehicle, and estimating positions at the distance leftward and rightward from the virtual line as positions of each lane edge part of the own lane ahead of the vehicle;
- and
- a lane keeping assist control step of causing a steering device included in the vehicle to operate such that the vehicle travels along a center part of the own lane with respect to a in width direction of the own lane, based on the position of the at least one lane edge part of the own lane ahead of the vehicle recognized in the frontward lane edge part recognition step, or based on the positions of each lane edge part of the own lane ahead of the vehicle estimated in the frontward lane edge part estimation step.
5 more elements
A non-transitory recording medium storing a program that causes a computer to function as:
- a vehicle surroundings image acquisition unit that acquires a frontward image ahead of a vehicle using at least a front camera and a rearward image behind the vehicle using at least a rear camera;
- a frontward lane edge part recognition unit that recognizes a position of at least one lane edge part of an own lane ahead of the vehicle by extracting an image part of a lane marking of the own lane ahead of the vehicle from the frontward image;
- a rearward lane edge part recognition unit that recognizes a position of at least one lane edge part of the own lane behind the vehicle by extracting an image part of a lane marking of the own lane behind the vehicle from the rearward image;
- a vehicle position recognition unit that recognizes a current position of the vehicle based on position detection data from a GNSS (Global Navigation Satellite System) sensor;
- a map information acquisition unit that acquires map information including information on a shape of a target road on which the vehicle is traveling;
- and
- a frontward lane edge part estimation unit that, when the image part of the lane marking of the own lane ahead of the vehicle cannot be extracted from the frontward image, assumes a virtual line with a curvature fitted to the shape of the target road by using the current position of the vehicle, the map information including the shape of the target road on which the vehicle is traveling, and a distance between the position of the at least one lane edge part of the own lane behind the vehicle recognized by the rearward lane edge part recognition unit and the vehicle, and estimates positions at the distance leftward and rightward from the virtual line as positions of each lane edge part of the own lane ahead of the vehicle;
- and
- a lane keeping assist control unit that causes a steering device included in the vehicle to operate such that the vehicle travels along a center part of the own lane with respect to a width direction of the own lane, based on the position of the at least one lane edge part of the own lane ahead of the vehicle recognized by the frontward lane edge part recognition unit, or based on the positions of each lane edge part of the own lane ahead of the vehicle estimated by the frontward lane edge part estimation unit.
6 more elements
Dependencies are inferred from the claim text.