Road shape determination method

Patent metadata

Field	Value
Publication number	US-11688173-B2
Application number	US-202117214497-A
Country	US
Kind code	B2
Filing date	Mar 26, 2021
Priority date	Apr 28, 2020
Publication date	Jun 27, 2023
Grant date	Jun 27, 2023

Abstract

A road shape determination method that causes a computer to execute a process, the process includes identifying a road region in an image captured by an imaging device mounted over a moving object, and determining a road shape based on a ratio of the road region in each of a plurality of determination regions that is set in the image in which the road region is identified.

First claim

What is claimed is:

1. A road shape determination method that causes a computer to execute a process, the process comprising:
identifying a road region in an image captured by an imaging device mounted over a moving object; and
determining a road shape based on a ratio of the road region in each of a plurality of determination regions that is set in the image in which the road region is identified,
wherein each of the plurality of determination regions includes a first determination region that is set, in a width direction, in a central upper part of a circumscribed rectangle that circumscribes the road region, a second determination region that is set in an upper left part of the circumscribed rectangle, and a third determination region that is set in an upper right part of the circumscribed rectangle.

2. The road shape determination method according to claim 1 ,
wherein the process determines that the road shape is:
a straight road when the ratio of the road region exceeds a predetermined value in any one of the first determination region, the second determination region, and the third determination region,
a T-shaped road when the ratio of the road region exceeds the predetermined value in any two of the first determination region, the second determination region, and the third determination region, and
a crossroad when the ratio of the road region exceeds the predetermined value in the first determination region, the second determination region, and the third determination region.

3. The road shape determination method according to claim 2 , wherein:
in a case where the ratio of the road region exceeds the predetermined value in any one of the first determination region, the second determination region, and the third determination region,
the second determination region is a triangle that includes, as vertexes, an upper left corner of the circumscribed rectangle, a left end of the road region in an upper end of the first determination region, and an upper end of the road region below a predetermined height of a left side of the circumscribed rectangle, and
the third determination region is a triangle that includes, as a vertexes, an upper right corner of the circumscribed rectangle, a right end of the road region in the upper end of the first determination region, and an upper end of the road region below a predetermined height of a right side of the circumscribed rectangle.

4. The road shape determination method according to claim 2 ,
wherein the process determines that a traveling direction of the moving object is a straight direction when the road shape is the T-shaped road and the ratio of the road region exceeds the predetermined value in the first determination region are determined.

5. The road shape determination method according to claim 1 , wherein the determined road shape is displayed on a display device.

6. A non-transitory computer-readable recording medium having stored a road shape determination program that causes a computer to execute a process, the process comprising:
identifying a road region in an image captured by an imaging device mounted over a moving object; and
determining a road shape based on a ratio of the road region in each of a plurality of determination regions that is set in the image in which the road region is identified,
wherein each of the plurality of determination regions includes a first determination region that is set, in a width direction, in a central upper part of a circumscribed rectangle that circumscribes the road region, a second determination region that is set in an upper left part of the circumscribed rectangle, and a third determination region that is set in an upper right part of the circumscribed rectangle.

7. The non-transitory computer-readable recording medium according to claim 6 ,
wherein the process determines that the road shape is:
a straight road when the ratio of the road region exceeds a predetermined value in any one of the first determination region, the second determination region, and the third determination region,
a T-shaped road when the ratio of the road region exceeds the predetermined value in any two of the first determination region, the second determination region, and the third determination region, and
a crossroad when the ratio of the road region exceeds the predetermined value in the first determination region, the second determination region, and the third determination region.

8. The non-transitory computer-readable recording medium according to claim 7 , wherein:
in a case where the ratio of the road region exceeds the predetermined value in any one of the first determination region, the second determination region, and the third determination region,
the second determination region is a triangle that includes, as vertexes, an upper left corner of the circumscribed rectangle, a left end of the road region in an upper end of the first determination region, and an upper end of the road region below a predetermined height of a left side of the circumscribed rectangle, and
the third determination region is a triangle that includes, as a vertexes, an upper right corner of the circumscribed rectangle, a right end of the road region in the upper end of the first determination region, and an upper end of the road region below a predetermined height of a right side of the circumscribed rectangle.

9. The non-transitory computer-readable recording medium according to claim 7 ,
wherein the process determines that a traveling direction of the moving object is a straight direction when the road shape is the T-shaped road and the ratio of the road region exceeds the predetermined value in the first determination region are determined.

10. The non-transitory computer-readable recording medium according to claim 6 , wherein the determined road shape is displayed on a display device.

Assignees

• Fujitsu Ltd

Inventors

• Kanetake Jun
• Watanabe Yasuto

Classifications

• G06V10/25

  Determination of region of interest [ROI] or a volume of interest [VOI] · 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

• G06V20/56 Primary

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title