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| Methods and apparatus for determining that a train has changed paths |
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| Apparatus for generating road information from stored digital map database |
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Method and apparatus for detecting a lane on a road
| Details |
Inventors: Kakinami, Toshiaki; Kimura, Yoshikatsu; Inoue, Ryo;
Assignee: Aisin Seiki Kabushiki Kaisha (Kariya, JP)
Primary Examiner: Chang; Jon
Assistant Examiner: Patel; Jayanti K.
Attorney, Agent or Firm: Sughrue, Mion, Zinn Macpeak & Seas, PLLC
The invention is directed to a method and apparatus for detecting a lane on a road, the latter of which includes an edge sensor (ED) for detecting edges indicative of boundaries of opposite sides of each lane, an edge memory (EM) for storing the edges to form a couple of continuous lines of edge groups indicative of the opposite boundaries of the lane, and an image processor (DP) for defining the opposite boundaries of the lane on a plane in a three-dimensional geometry. A center of curvature defining device (RC) defines a center of curvature to the opposite boundaries of the lane. An edge line extracting device (ES) divides the edge groups stored in the edge memory into a plurality of continuous regions each having a predetermined length along a concentric circle arc having the same center as the center of curvature, and extracts a pair of edge lines from each region. A tangent defining device (TL) defines a couple of tangents to the edge lines, and a normal defining device (NL) defines a normal to the tangents. Then, a segment setting device (SD) defines a couple of intersections of the normal with the tangents, and sets a line segment between the intersections as a segment of the lane. The image processor (DP) renews the opposite boundaries of the lane on the basis of the segment of the lane. |
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DETAILED DESCRIPTION Accordingly, it is an object of the present invention to provide a method for detecting a lane accurately irrespective of the lane conditions on a road.
It is another object of the present invention to provide an apparatus for detecting a lane accurately irrespective of the lane conditions on a road.
In accomplishing these and other objects, a method for detecting a lane on a road comprises the steps of detecting edges indicative of boundaries of opposite sides of each lane on a road on the basis of a density of image information including the opposite sides of the lane, storing the edges in an edge memory to form a couple of continuous lines of edge groups indicative of the opposite boundaries of the lane, defining the opposite boundaries of the lane on a plane in a three-dimensional geometry, at least on the basis of the lines of the edge groups, defining a center of curvature to the opposite boundaries of the lane defined on the plane, dividing the edge groups stored in the edge memory into a plurality of continuous regions each having a predetermined length along a concentric circle arc having the same center as the center of curvature, extracting a pair of edge lines from each region, defining a couple of tangents to the edge lines extracted from each region, respectively, defining a normal to the tangents, defining a couple of intersections of the normal with the tangents, setting a line segment between the intersections as a segment of the lane, and renewing the opposite boundaries of the lane on the basis of the segment of the lane.
In the above method, the edges stored in the edge memory to form the continuous lines of edge groups indicative of the opposite boundaries of the lane is preferably divided into a plurality of continuous regions each having a predetermined length along a concentric circle arc having the same center as the center of curvature, with neighboring regions partially overlapped with each other, and extracting a pair of edge lines from each region
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