Lane detection device and lane detection method

Patent metadata

Field	Value
Publication number	US-10650252-B2
Application number	US-201615570528-A
Country	US
Kind code	B2
Filing date	Mar 9, 2016
Priority date	May 7, 2015
Publication date	May 12, 2020
Grant date	May 12, 2020

Abstract

The reliability of detection of the traveling lane can be improved even in a case where an image capturing environment changes. The lane detection device includes a first image capturing device which is fixed to a moving body and periodically captures a first image under a predetermined first image capturing condition, a second image capturing device which is fixed to the moving body and periodically captures a second image under a second image capturing condition different from the predetermined first image capturing condition, and an operation device, regarding a traveling lane on which the moving body travels, which detects a first boundary line of the traveling lane on the first image, detects a second boundary line of the traveling lane on the second image, and estimates the position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution condition.

First claim

The invention claimed is:

1. A lane detection device comprising:
a first image capturing device which is fixed to a moving body and periodically captures a first image under a predetermined first image capturing condition, and is directed toward an advancing direction side of the moving body;
a second image capturing device which is fixed to the moving body and periodically captures a second image under a second image capturing condition different from the predetermined first image capturing condition, and is directed toward a side opposite to the advancing direction; and
a processor, regarding a traveling lane on which the moving body travels, which is configured to detect a first boundary line of the traveling lane on the first image, detect a second boundary line of the traveling lane on the second image, and estimate a position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution conditions;
wherein the processor calculates a position of a first vanishing point on the first image based on a position of the first boundary line, stores the position of the first vanishing point, estimates calculation of a second vanishing point on the second image based on the position of the second boundary line, and stores the position of the second vanishing point,
the processor stores in advance a displacement relationship between a first displacement of the position of the first vanishing point in two frames of which image capturing times are different from each other and a second displacement of the position of the second vanishing point in the two frames, and
under the execution condition, the processor calculates the second displacement based on the position of the second vanishing point of a past frame and the position of the second vanishing point of a present frame, calculates the first displacement from the second displacement using the displacement relationship, estimates the position of the first vanishing point of the present frame based on the position of the first vanishing point of the past frame and the first displacement, and estimates the position of the first boundary line based on the position of the first vanishing point of the present frame.

2. The lane detection device according to claim 1 ,
wherein the first image capturing condition includes any of a position and a direction of the first image capturing device with respect to the moving body, a diaphragm of the second image capturing device, and white balance of the second image capturing device, and
the second image capturing condition includes any of a position and a direction of the second image capturing device with respect to the moving body, a diaphragm of the second image capturing device, and white balance of the second image capturing device.

3. The lane detection device according to claim 1 ,
wherein the execution condition is that at least any one of two boundary lines of the traveling lane on the first image is not detected.

4. A lane detection device comprising:
a first image capturing device which is fixed to a moving body and periodically captures a first image under a predetermined first image capturing condition;
a second image capturing device which is fixed to the moving body and periodically captures a second image under a second image capturing condition different from the predetermined first image capturing condition; and
a processor, regarding a traveling lane on which the moving body travels, which is configured to detect a first boundary line of the traveling lane on the first image, detect a second boundary line of the traveling lane on the second image, and estimate a position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution condition,
wherein the first image capturing condition includes any of a position and a direction of the first image capturing device with respect to the moving body, a diaphragm of the second image capturing device, and white balance of the second image capturing device, and
the second image capturing condition includes any of a position and a direction of the second image capturing device with respect to the moving body, a diaphragm of the second image capturing device, and white balance of the second image capturing device,
wherein the first image capturing device is directed toward an advancing direction side of the moving body,
wherein the second image capturing device is directed toward a side opposite to the advancing direction,
wherein the execution condition is that at least any one of two boundary lines of the traveling lane on the first image is not detected, and
wherein the processor calculates a position of a first vanishing point on the first image based on a position of the first boundary line, stores the position of the first vanishing point, estimates calculation of a second vanishing point on the second image based on the position of the second boundary line, and stores the position of the second vanishing point,
the processor stores in advance a displacement relationship between a first displacement of the position of the first vanishing point in two frames of which image capturing times are different from each other and a second displacement of the position of the second vanishing point in the two frames, and
under the execution condition, the processor calculates the second displacement based on the position of the second vanishing point of a past frame and the position of the second vanishing point of a present frame, calculates the first displacement from the second displacement using the displacement relationship, estimates the position of the first vanishing point of the present frame based on the position of the first vanishing point of the past frame and the first displacement, and estimates the position of the first boundary line based on the position of the first vanishing point of the present frame.

5. The lane detection device according to claim 4 ,
wherein the processor calculates a horizontal distance between the two boundary lines at a predetermined height on the first image and stores the horizontal distance, and
in a case where a position of one boundary line of the two boundary lines on the first image is detected from the first image, the processor estimates a position of the other boundary line based on the position of the first vanishing point, the position of the one boundary line, and the horizontal distance calculated from the past frame.

6. The lane detection device according to claim 4 ,
wherein the processor calculates an angle between the two boundary lines at a predetermined height on the first image and stores the angle, and
in a case where a position of one boundary line of the two boundary lines on the first image is detected from the first image, the processor estimates a position of the other boundary line based on the position of the first vanishing point, the position of the one boundary line, and the angle calculated from the past frame.

7. The lane detection device according to claim 4 ,
wherein the position of the first boundary line includes any of a plurality of positions of points on the first boundary line and a coefficient of a linear function indicating the first boundary line, and
the position of the second boundary line includes any of a plurality of positions of points on the second boundary line and a coefficient of a linear function indicating the second boundary line.

8. The lane detection device according to claim 7 ,
wherein the processor calculates lane information indicating the position of the traveling lane on the first image based on the position of the first bo

Assignees

• Hitachi Ltd

Inventors

• Kaneko Alex Masuo
• Yamamoto Kenjiro
• IIMURA Taiki

Classifications

• G06T2207/30256

  Lane; Road marking · CPC title

• G06T7/174

  involving the use of two or more images · CPC title

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T2207/10024

  Color image · CPC title