Traveling-state display device and traveling-state display method

Patent metadata

Field	Value
Publication number	US-10325518-B2
Application number	US-201615157681-A
Country	US
Kind code	B2
Filing date	May 18, 2016
Priority date	Jul 30, 2015
Publication date	Jun 18, 2019
Grant date	Jun 18, 2019

Abstract

A computer detects a virtual central line of a traveling lane from a road-captured image captured from a vehicle. Next, the computer displays a transformed image generated by transforming the road-captured image such that the detected virtual central line is situated in a prescribed position. At this point, the computer moves a display position of a symbol indicating the vehicle on the generated transformed image according to a result of detecting a traveling position of the vehicle in the traveling lane.

First claim

What is claimed is:

1. A non-transitory computer-readable recording medium having stored therein a traveling-state display program causing a computer to execute a process comprising:
detecting a virtual central line of a traveling lane from a road-captured image captured from a vehicle; and
displaying a transformed image generated by transforming the road-captured image such that the detected virtual central line is situated in a prescribed position, and moving a display position of a symbol indicating the vehicle on the generated transformed image according to a result of detecting a traveling position of the vehicle in the traveling lane,
wherein the computer executes, on a plurality of image frames in a moving image, the detecting the virtual central line and the moving the display position of the symbol indicating the vehicle, and
the process further comprises:
determining a first coordinate value in a direction perpendicular to the virtual central line on the basis of a magnitude of a shift between the virtual central line and the display position of the symbol indicating the vehicle in each of the plurality of image frames, and determining a second coordinate value in a direction of the virtual central line on the basis of an order of frames with respect to a specific image frame from among the plurality of image frames; and
plotting a mark at a position in the specific image frame, the position being identified by the first coordinate value and the second coordinate value that are determined with respect to each of the image frames after the specific image frame from among the plurality of image frames.

2. The non-transitory computer-readable recording medium according to claim 1 , wherein
the symbol has a width that corresponds to a vehicle width of the vehicle.

3. The non-transitory computer-readable recording medium according to claim 1 , wherein
the determining the first coordinate value and the second coordinate value determines the first coordinate value and the second coordinate value by using a perspective transformation.

4. The non-transitory computer-readable recording medium according to claim 1 , wherein
the determining the second coordinate value determines the second coordinate value by compressing a distance in the direction of the virtual central line.

5. The non-transitory computer-readable recording medium according to claim 1 , wherein
the determining the first coordinate value and the second coordinate value determines the first coordinate value and the second coordinate value when the traveling lane is made straight.

6. The non-transitory computer-readable recording medium according to claim 1 , wherein
the computer executes generating the transformed image only on a road surface portion in the road-captured image.

7. The non-transitory computer-readable recording medium according to claim 1 , wherein
the process further comprises classifying, according to a distance from an end of the traveling lane, areas within the traveling lane into a plurality of areas so as to display the plurality of areas superimposed over the transformed image.

8. The non-transitory computer-readable recording medium according to claim 1 , wherein
the road-captured image is an image that is captured by a wide-angle lens from the vehicle, and the computer executes generating the transformed image by performing a perspective transformation on the road-captured image and arranging a point at infinity at an image center.

9. The non-transitory computer-readable recording medium according to claim 1 , wherein
the road-captured image and the moving image are captured by a camera mounted on the vehicle.

10. A traveling-state display device comprising:
a memory that stores therein a road-captured image captured from a vehicle; and
a processor that detects a virtual central line of a traveling lane from the road-captured image, displays a transformed image generated by transforming the road-captured image such that the detected virtual central line is situated in a prescribed position, and moves a display position of a symbol indicating the vehicle on the generated transformed image according to a result of detecting a traveling position of the vehicle in the traveling lane, wherein
the processor
executes, on a plurality of image frames in a moving image, a process of detecting the virtual central line and a process of moving the display position of the symbol indicating the vehicle,
determines a first coordinate value in a direction perpendicular to the virtual central line on the basis of a magnitude of a shift between the virtual central line and the display position of the symbol indicating the vehicle in each of the plurality of image frames, and determines a second coordinate value in a direction of the virtual central line on the basis of an order of frames with respect to a specific image frame from among the plurality of image frames, and
plots a mark at a position in the specific image frame, the position being identified by the first coordinate value and the second coordinate value that are determined with respect to each of the image frames after the specific image frame from among the plurality of image frames.

11. The traveling-state display device according to claim 10 , wherein
the symbol has a width that corresponds to a vehicle width of the vehicle.

12. A traveling-state display method comprising:
detecting, by a processor, a virtual central line of a traveling lane from a road-captured image captured from a vehicle;
displaying, by the processor, a transformed image generated by transforming the road-captured image such that the detected virtual central line is situated in a prescribed position and moving, by the processor, a display position of a symbol indicating the vehicle on the generated transformed image according to a result of detecting a traveling position of the vehicle in the traveling lane;
executing, on a plurality of image frames in a moving image, the detecting the virtual central line and the moving the display position of the symbol indicating the vehicle;
determining a first coordinate value in a direction perpendicular to the virtual central line on the basis of a magnitude of a shift between the virtual central line and the display position of the symbol indicating the vehicle in each of the plurality of image frames, and determining a second coordinate value in a direction of the virtual central line on the basis of an order of frames with respect to a specific image frame from among the plurality of image frames; and
plotting a mark at a position in the specific image frame, the position being identified by the first coordinate value and the second coordinate value that are determined with respect to each of the image frames after the specific image frame from among the plurality of image frames.

13. The traveling-state display method according to claim 12 , wherein
the symbol has a width that corresponds to a vehicle width of the vehicle.

Assignees

• Fujitsu Ltd

Inventors

• Nakayama Osafumi

Classifications

• G06T2207/20221

  Image fusion; Image merging · CPC title

• G09B19/167 Primary

  Control of land vehicles · CPC title

• G06T7/73

  using feature-based methods · CPC title

• G06T2207/30256

  Lane; Road marking · CPC title

• G06T7/246

  using feature-based methods, e.g. the tracking of corners or segments · CPC title