Lane marker recognizing apparatus
AssigneeFuji Jukogyo Kabushiki Kaisha
InventorKazumasa Arai
Life of this patent
Estimating the term…
Abstract
A lane recognition apparatus for recognizing lane markers on a road surface based on a pair of stereo images of a scene in front of an own vehicle obtained from a stereoscopic camera, includes a stereo image processing means for calculating distance information of an image based on the pair of the images, a lane detecting means for detecting a lane marker of a lane in the image based on brightness information of the image and distance information calculated by the stereo image processing means and a lane position recognition means for recognizing a position of the lane marker in real space based on a position of the lane marker detected by the lane detecting means and distance information calculated by the stereo image processing means.
Claims45
A lane recognition apparatus having an apparatus for recognizing lane markers on a road surface based on a pair of stereo images of a scene in front of an own vehicle obtained from a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information of an image based on said pair of said images;
- a lane detecting means for detecting a lane marker of a lane in said image based on a brightness information of said image;
- and
- a lane position recognition means for recognizing a position of said lane of said lane marker in real space based on a position of said lane marker detected by said lane detecting means and said distance information calculated by said stereo image processing means.
A lane recognition apparatus for recognizing lane markers on a road surface based on a pair of stereo images of a scene in front of an own vehicle obtained from a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information of an image based on said pair of said images;
- a lane detecting means for detecting a lane marker of a lane in said image based on a brightness information of said image and said distance information calculated by said stereo image processing means;
- and
- a lane position recognition means for recognizing a position of said lane marker in real space based on a position of said lane marker detected by said lane detecting means and said distance information calculated by said stereo image processing means.
A lane recognition apparatus having an apparatus for recognizing lane markers on a road surface based on a pair of stereo images of a scene in front of an own vehicle obtained from a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information of an image based on said pair of said images;
- a lane detecting means for detecting a lane marker of a lane in said image based on a brightness information of said image;
- a lane position recognition means for recognizing a position of said lane of said lane marker in real space based on a position of said lane marker detected by said lane detecting means and said distance information calculated by said stereo image processing means;
- and
- a detection area establishing means for establishing a detection area for every horizontal line in said image,
- wherein said detection area establishing means has a first mode in which said detection area is established based on the result of detection of said lane marker in a previous image on a horizontal line as a detection object and a second mode in which said detection area is established based on the result of detection of said lane marker is a present image on a horizontal line as a detection object and said detection area is established on said horizontal line according to a mode selected from said first and second modes based on a detecting condition of said lane marker.
A lane recognition apparatus for recognizing lane markers on a road surface based on a pair of stereo images of a scene in front of an own vehicle obtained from a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information of an image based on said pair of said images;
- a lane detecting means for detecting a lane marker of a lane in said image based on a brightness information of said image and said distance information calculated by said stereo image processing means;
- a lane position recognition means for recognizing a position of said lane marker in real space based on a position of said lane marker detected by said lane detecting means and said distance information calculated by said stereo image processing means;
- and
- a detection area establishing means for establishing a detection area for every horizontal line in said image,
- wherein said detection area establishing means has a first mode in which said detection area is established based on the result of detection of said lane marker in a previous image on a horizontal line as a detection object and said detection area is established on said horizontal line according to a mode selected from said first and second modes based on a detecting condition of said lane marker.
A lane recognition apparatus having an apparatus for recognizing lane markers on a road surface based on a pair of stereo images of a scene in front of an own vehicle obtained from a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information of an image based on said pair of said images;
- a lane detecting means for detecting a lane marker of a lane in said image based on a brightness information of said image;
- a lane position recognition means for recognizing a position of said lane of said lane marker in real space based on a position of said lane marker detected by said lane detecting means and said distance information calculated by said stereo image processing means;
- and
- a detection area establishing means for establishing a detection area for every horizontal line in said image,
- wherein said detection area establishing means calculates a gradient of said lane marker in an image plane based on said lane marker already detected and based on said calculated gradient, establishes said detection area in a horizontal line as a detection object.
A lane recognition apparatus for recognizing lane markers on a road surface based on a pair of stereo images of a scene in front of an own vehicle obtained from a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information of an image based on said pair of said images;
- a lane detecting means for detecting a lane marker of a lane in said image based on a brightness information of said image and said distance information calculated by said stereo image processing means;
- a lane position recognition means for recognizing a position of said lane marker in real space based on a position of said lane marker detected by said lane detecting means and said distance information calculated by said stereo image processing means;
- and
- wherein said detection area establishing means calculates a gradient of said lane marker in an image plane based on said lane marker already detected and based on said calculated gradient, establishes said detection area in a horizontal line as a detection object.
A solid object recognition apparatus having an apparatus for recognizing a solid object on a road surface based on a pair of stereo images with respect to an image obtained by imaging a scene in front of an own vehicle by a stereoscopic camera, comprising;
- a stereo image processing means for calculating a distance information with respect to said image based on said pair of said stereo images;
- a lane detecting means for detecting a lane marker in said image based on a brightness information of said image;
- a road height calculating means for calculating a height of said lane marker in real space based on a position of said lane marker detected by said lane detecting means and a distance information calculated by said stereo image processing means;
- and
- a solid object judging means for judging an object projected in said image to be an solid object when said object exists above road surface recognized by said road height calculating means.
A vehicle behavior estimating apparatus having an apparatus for detecting a pitching of an own vehicle based on a pair of stereo images with respect to an image obtained by imaging a scene in front of an own vehicle by a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information with respect to said image based on said pair of said stereo images;
- a lane detecting means for detecting a lane marker in said image based on a brightness information of said image;
- a road height calculating means for calculating a height of road in real space based on a position of said lane marker detected by said lane detecting means and a distance information calculated by said stereo image processing means;
- and
- a pitching condition estimating means for estimating a pitching condition of an own vehicle based on a deviation between a height of road calculated by said road height calculating means and a height of road calculated in a previous image.
A vehicle behavior estimating apparatus having an apparatus for estimating a bank angle of a road surface based on a pair of stereo images with respect to an image obtained by imaging a scene in front of an own vehicle by a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information with respect to said image based on said pair of said stereo images;
- a lane detecting means for detecting a lane marker in said image based on a brightness information of said image;
- a lane height calculating means for calculating a height of a left lane marker in real space and a height of a right lane marker in real space separately based on a position of said lane marker detected by said lane detecting means and said distance information calculated by said stereo image processing means;
- and
- a roll angle estimating means for estimating a roll angle of an own vehicle based on a deviation between said height of said left lane marker and said height of said right lane marker calculated by said lane height calculating means.
A road situation estimating apparatus having an apparatus for estimating a bank angle of a road surface based on a pair of stereo images with respect to an image obtained by imaging a scene in front of an own vehicle by a stereoscopic camera, comprising:
- a stereo image processing means for calculating a distance information with respect to said image based on said pair of said stereo images;
- a lane detecting means for detecting a lane marker in said image based on a brightness information of said image;
- a lane height calculating means for calculating a height of a left lane marker in real space and height of a right lane marker in real space separately based on a position of said lane marker detected by said lane marker detecting means and said distance information calculated by said stereo image processing means;
- and
- a bank angle estimating means for estimating a bank angle of a road surface based on a deviation between said height of said left lane marker and said height of said right lane marker calculated by said lane height calculating means.
Dependencies are inferred from the claim text.