PROBLEM TO BE SOLVED: To provide a lane detector, a lane keeping assist system, and a lane detection method capable of appropriately detecting a change in road curvature.SOLUTION: A lane detector comprises: an imaging unit imaging an area in front of a vehicle; an approximation processing unit approximating a line forming a lane based on an image obtained by the imaging unit; and a curvature change detection unit comparing a first line obtained by the approximation processing unit based on an image of a distant area apart from the vehicle in front of the vehicle by a predetermined distance or longer with a second area obtained by the approximation processing unit based on an image of a neighboring area apart from the vehicle in front of the vehicle by a distance smaller than the predetermined distance, and thereby detecting a change in a road curvature in front of the vehicle.
【課題】道路曲率の変化を適切に検出することが可能なレーン検出装置、車線維持支援システム、およびレーン検出方法を提供すること。【解決手段】車両の前方を撮像する撮像部と、前記撮像部により撮像された画像に基づいて、レーンを形成する線を近似的に求める近似処理部と、前記車両の前方において前記車両から所定距離以上離れた遠方領域内の画像に基づいて前記近似処理部により求められた第1の線と、前記車両の前方において前記車両から所定距離未満の近傍領域内の画像に基づいて前記近似処理部により求められた第2の線とを比較することにより、前記車両の前方における道路曲率の変化を検出する曲率変化検出部と、を備えるレーン検出装置。【選択図】図1
LANE DETECTOR, LANE KEEPING ASSIST SYSTEM, AND LANE DETECTION METHOD
レーン検出装置、車線維持支援システム、およびレーン検出方法
2015-11-09
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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