Lane detection apparatus and lane detection method

Patent metadata

Field	Value
Publication number	US-10140528-B2
Application number	US-201515327611-A
Country	US
Kind code	B2
Filing date	Jul 9, 2015
Priority date	Jul 24, 2014
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

A lane detection apparatus that detects a lane along which a vehicle travels includes: a side detection portion that detects a side lane division existing on a side of the vehicle; a front detection portion that detects a front lane division existing in front of the vehicle; a traveling speed detection portion that detects a traveling speed of the vehicle; a position correction portion that corrects a position of the front lane division based on a time lag of imaging timing between the side vehicle onboard camera and the front vehicle onboard camera, and the traveling speed; a checkup portion that compares a position of the side lane division and a corrected position of the front lane division; and an output portion that outputs the position of the side lane division as a detection result.

First claim

The invention claimed is:

1. A lane detection apparatus that is mounted on a vehicle including a plurality of vehicle onboard cameras and detects a lane along which the vehicle travels, based on analysis of images captured by the plurality of vehicle onboard cameras, the lane detection apparatus comprising:
a side detection portion that detects a side lane division existing on a side of the vehicle, based on an image captured by a side vehicle onboard camera imaging an area around the side of the vehicle;
a front detection portion that detects a front lane division existing in front of the vehicle, based on an image captured by a front vehicle onboard camera imaging an area around the front of the vehicle;
a traveling speed detection portion that detects a traveling speed of the vehicle;
a position correction portion that corrects a position of the front lane division based on a time lag of imaging timing between the side vehicle onboard camera and the front vehicle onboard camera, and the traveling speed;
a checkup portion that compares a position of the side lane division and a corrected position of the front lane division; and
an output portion that outputs the position of the side lane division as a detection result when the position of the side lane division and the corrected position of the front lane division are matched with each other.

2. The lane detection apparatus according to claim 1 , further comprising:
a time lag acquisition portion that acquires each time lag of imaging timing between the plurality of vehicle onboard cameras at a start of the plurality of vehicle onboard cameras.

3. The lane detection apparatus according to claim 1 , further comprising:
a rear detection portion that detects a rear lane division existing in rear of the vehicle, based on an image captured by a rear vehicle onboard camera imaging an area around the rear of the vehicle,
wherein:
the position correction portion corrects a position of the rear lane division based on a time lag of imaging timing between the side vehicle onboard camera and the rear vehicle onboard camera, and the traveling speed;
the checkup portion compares the position of the side lane division and the corrected position of the front lane division, and compares the position of the side lane division and a corrected position of the rear lane division; and
the checkup portion detects the lane based on the position of the side lane division in a case where the position of the side lane division and the corrected position of the front lane division are matched with each other and also where the position of the side lane division and the corrected position of the rear lane division are matched with each other.

4. The lane detection apparatus according to claim 3 , wherein:
the position correction portion corrects either one of the position of the front lane division or the position of the rear lane division based on a time lag of imaging timing between the front vehicle onboard camera and the rear vehicle onboard camera, and the traveling speed in a case where the front lane division and the rear lane division are detected and also where the side lane division is not detected;
the checkup portion compares the corrected position of either the front lane division or the rear lane division, and the position which is not corrected of the front lane division and the rear lane division;
the lane detection apparatus further comprises:
a lane division estimation section that estimates a position of a lane division under a lower surface of the vehicle when the checkup portion determines that the corrected position of either the front lane division or the rear lane division and the position which is not corrected of the front lane division and the rear lane division are matched with each other; and

the output portion outputs the position of the lane division estimated by the lane division estimation section as a detection result of the lane.

5. The lane detection apparatus according to claim 4 , wherein:
the position correction portion corrects the front lane division when the front vehicle onboard camera captures the image before imaging by the rear vehicle onboard camera, and corrects the rear lane division when the rear vehicle onboard camera captures the image before imaging by the front vehicle onboard camera.

6. A lane detection method that detects a lane along which a vehicle travels, based on analysis of images captured by a plurality of vehicle onboard cameras, the lane detection method comprising:
detecting a side lane division existing on a side of the vehicle, based on an image captured by a side vehicle onboard camera imaging an area around the side of the vehicle;
detecting a front lane division existing in front of the vehicle, based on an image captured by a front vehicle onboard camera imaging an area around the front of the vehicle;
detecting a traveling speed of the vehicle;
correcting a position of the front lane division based on a time lag of imaging timing between the side vehicle onboard camera and the front vehicle onboard camera, and the traveling speed;
comparing a position of the side lane division and a corrected position of the front lane division; and
outputting the position of the side lane division as a detection result when the position of the side lane division and the corrected position of the front lane division are matched with each other.

Assignees

• Denso Corp

Inventors

• Okano Kenji

Classifications

• G06T7/73 Primary

  using feature-based methods · CPC title

• G06V10/811

  the classifiers operating on different input data, e.g. multi-modal recognition · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G06F18/256

  of results relating to different input data, e.g. multimodal recognition · CPC title

• G06V10/147

  Details of sensors, e.g. sensor lenses (fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19) · CPC title