Apparatus for detecting lane-marking on road
AssigneeDenso Corporation
InventorShunsuke Suzuki
Life of this patent
Estimating the term…
Abstract
The image processing ECU periodically acquires road-surface images and extracts edge points in the acquired road-surface image. Subsequently, the ECU determines the operating mode and extracts the edge line when the operating mode is either a dotted mode or a frame-accumulation mode. The edge points are transformed e.g. Hough transform, to extract an edge line that most frequently passes through the edge points. The extracted edge line denotes the lane marking. The ECU outputs a signal to activate a buzzer alert when determining the vehicle may depart from the lane.
Claims7
A detection apparatus mounted on a vehicle adapted to detect a lane-marking on a road based on a road-surface image taken from a road surface in front of the vehicle, comprising:
- acquiring means for periodically acquiring the road-surface image and each acquired road-surface image being framed into a single frame;
- extracting means for extracting an edge point from the frame framed by the acquiring means;
- lane detecting means for detecting the lane-marking based on the edge point extracted by the extracting means, and
- first determining means for determining whether or not the number of edge point located on the lane-marking detected by the lane detecting means is smaller than a predetermined threshold value,
- wherein the lane detecting means is configured to detect the lane-marking based on the edge point extracted from the road-surface images in a plurality of frames subsequently framed by the acquiring means, when the first determining means determines that the number of edge point is smaller than the predetermined threshold value.
A detection method performed on a vehicle for detecting a lane-marking on a road based on a road-surface image taken from a road surface in front of the vehicle, the detection method comprising steps of:
- periodically acquiring the road-surface image;
- framing the road-surface image into a single frame;
- extracting an edge point from the frame framed by the acquiring;
- detecting the lane-marking by using a predetermined procedure based on the extracted edge point;
- and
- determining whether or not the number of edge point located on the detected lane-marking is smaller than a predetermined threshold value,
- wherein the lane-marking is detected based on the edge point extracted from the road-surface images in a plurality of frames subsequently framed by the acquiring, when it is determined that the number of edge point is smaller than the predetermined threshold value.
Dependencies are inferred from the claim text.