JPH09311999A - Recognition device for white line of road - Google Patents
Recognition device for white line of roadInfo
- Publication number
- JPH09311999A JPH09311999A JP8128748A JP12874896A JPH09311999A JP H09311999 A JPH09311999 A JP H09311999A JP 8128748 A JP8128748 A JP 8128748A JP 12874896 A JP12874896 A JP 12874896A JP H09311999 A JPH09311999 A JP H09311999A
- Authority
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- Japan
- Prior art keywords
- white line
- line detection
- detection range
- vehicle
- inter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Image Processing (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、例えば自動車等の
車両を道路白線を基準にとって自動操縦（オートステア
リング）運転させる等の目的で用いられる道路白線認識
装置に関し、特に、白線認識の計測精度を向上する技術
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road white line recognition device used for the purpose of automatically driving a vehicle such as an automobile with reference to the road white line as a reference. Regarding technology to improve.
【０００２】[0002]
【従来の技術】近年、自動車等の車両を道路白線を基準
にとって自動操縦（オートステアリング）運転させるた
め、道路白線認識装置の提案がなされている。この道路
白線認識装置の従来技術として、例えば、特開平７−８
５２４９号公報に開示されたものでは、撮像手段で撮像
された道路に関する画像情報を画像情報処理手段で処理
することで、道路上の白線を認識する構成であり、具体
的には、画像内に、縦方向に短くかつ横方向に所要の長
さを有する白線探索エリアを設定し、画像情報に基づい
て、前記白線探索エリア内で横方向に明度変化を探索
し、明度変化が極めて少ない部分を道路部分であると判
断し、かつ明度変化が極めて少ない道路部分に隣接して
明度変化が大きい部分について白線であると認識するよ
うになっている。2. Description of the Related Art In recent years, a road white line recognition device has been proposed in order to automatically drive a vehicle such as an automobile with reference to the road white line. As a conventional technique of this road white line recognition device, for example, Japanese Patent Laid-Open No. 7-8
The technique disclosed in Japanese Patent No. 5249 has a configuration of recognizing a white line on a road by processing image information relating to the road captured by the image capturing means by the image information processing means. , A white line search area that is short in the vertical direction and has a required length in the horizontal direction is set, and based on image information, a brightness change is searched for in the horizontal direction in the white line search area, and a portion where the brightness change is extremely small is selected. It is determined that the road portion is a road portion, and a portion adjacent to the road portion having a very small change in lightness and having a large lightness change is recognized as a white line.
【０００３】[0003]
【発明が解決しようとする課題】ところで、以上のよう
な道路白線認識装置を装備した自動車の前に他の自動車
（前方車）が存在していた場合、この前方車に邪魔され
て、見えなくなる白線、即ち、検出されない白線がでて
くる。従来技術にあっては、白線の検出範囲は固定であ
り、この固定された検出範囲に前方車があった場合、白
線と前方車とを誤認識する可能性があり、又、実際の検
出範囲が狭められるため、検出点が減少し、これによ
り、白線認識の計測精度が悪化するという問題点があ
る。By the way, when another vehicle (front vehicle) is present in front of the vehicle equipped with the road white line recognizing device as described above, it is obstructed by the front vehicle and disappears. A white line, that is, a white line that is not detected appears. In the prior art, the detection range of the white line is fixed, and if there is a vehicle ahead in this fixed detection range, the white line and the vehicle ahead may be erroneously recognized, and the actual detection range Is narrowed, the number of detection points is reduced, and as a result, the measurement accuracy of white line recognition is deteriorated.
【０００４】本発明は上記に鑑みてなされたものであ
り、車間距離に応じて白線の検出範囲を変化させること
により、白線と前方車との誤認識の虞をできるだけ回避
すると共に、白線認識の計測精度の向上を図ることを課
題とする。The present invention has been made in view of the above, and by changing the detection range of the white line according to the inter-vehicle distance, the risk of erroneous recognition between the white line and the preceding vehicle can be avoided as much as possible, and the white line can be recognized. The challenge is to improve the measurement accuracy.
【０００５】[0005]
【課題を解決するための手段】このため、請求項１に係
る発明は、図１に示すように、車両と該車両前方の車両
との車間距離を計測する車間距離計測手段と、前記車間
距離計測手段により計測された車間距離に応じて道路の
白線検出範囲を設定する白線検出範囲設定手段と、車両
前方の道路を撮影する撮影手段と、前記撮影手段により
撮影された画像に基づいて前記白線検出範囲設定手段に
より設定された白線検出範囲における白線を検出する白
線検出手段と、を含んで構成した。Therefore, the invention according to claim 1 is, as shown in FIG. 1, an inter-vehicle distance measuring means for measuring an inter-vehicle distance between a vehicle and a vehicle in front of the vehicle, and the inter-vehicle distance. White line detection range setting means for setting the white line detection range of the road according to the inter-vehicle distance measured by the measuring means, photographing means for photographing the road in front of the vehicle, and the white line based on the image photographed by the photographing means. And a white line detecting means for detecting a white line in the white line detecting range set by the detecting range setting means.
【０００６】請求項２に係る発明は、前記白線検出範囲
設定手段を、車間距離計測手段により計測された車間距
離を白線検出範囲に設定する構成とした。請求項３に係
る発明は、前記白線検出手段による白線検出点を、白線
検出範囲に係わらず一定に設定するようにした。According to the second aspect of the present invention, the white line detection range setting means sets the inter-vehicle distance measured by the inter-vehicle distance measuring means to the white line detection range. In the invention according to claim 3, the white line detection point by the white line detection means is set to be constant regardless of the white line detection range.
【０００７】[0007]
【発明の実施の形態】以下、本発明の実施形態を図面に
基づいて詳述する。図２は、本発明に係る道路白線認識
装置のシステム図である。この図において、車両として
の自動車前方の道路を撮影する撮影手段としてのカメラ
１が自動車に装備されている。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 2 is a system diagram of a road white line recognition apparatus according to the present invention. In this figure, the vehicle is equipped with a camera 1 as a photographing means for photographing the road ahead of the vehicle as a vehicle.
【０００８】又、自動車と該自動車前方の自動車（前方
車）との車間距離を計測する車間距離計測手段としての
車間距離計測装置２が自動車に装備されている。この車
間距離計測装置２としては、レーザレーダ、ミリ波、自
動車間通信等、光や電波を利用して車間距離を計測する
ものが採用される。そして、前記車間距離計測装置２に
より計測された車間距離に応じて道路の白線検出範囲を
設定する白線検出範囲設定手段と、前記カメラ１により
撮影された画像に基づいて前記白線検出範囲設定手段に
より設定された白線検出範囲における道路の白線を検出
する白線検出手段と、が設けられている。Further, the vehicle is equipped with an inter-vehicle distance measuring device 2 as an inter-vehicle distance measuring means for measuring an inter-vehicle distance between the vehicle and a vehicle ahead of the vehicle (front vehicle). As the inter-vehicle distance measuring device 2, a device such as a laser radar, a millimeter wave, an inter-vehicle communication that measures an inter-vehicle distance by using light or radio waves is adopted. Then, by the white line detection range setting means for setting a white line detection range of the road according to the inter-vehicle distance measured by the inter-vehicle distance measuring device 2, and the white line detection range setting means based on the image taken by the camera 1. White line detection means for detecting a white line on the road in the set white line detection range.
【０００９】かかる白線検出範囲設定手段及び白線検出
手段としての機能は、コントロールユニット３にソフト
ウェア的に装備されており、このコントロールユニット
３には、前記カメラ１から出力される画像信号と、車間
距離計測装置２により計測された車間距離信号とが入力
される。次に、上記コントロールユニット３による白線
認識の様子を図３のフローチャートに基づいて説明す
る。The functions as the white line detection range setting means and the white line detection means are provided in software in the control unit 3, and the control unit 3 has an image signal output from the camera 1 and an inter-vehicle distance. The inter-vehicle distance signal measured by the measuring device 2 is input. Next, how the control unit 3 recognizes the white line will be described with reference to the flowchart of FIG.
【００１０】ステップ１（図ではＳ１と略記する。以下
同様）では、車間距離Ｌが計測される。次のステップ２
〜６においては、白線検出範囲の設定が行われる。即
ち、ステップ２では、計測された車間距離Ｌと白線検出
手段による最大検出範囲Ｚmax とを比較し、Ｌ＜Ｚmax
であれば、即ち、車間距離Ｌが最大検出範囲Ｚmax より
も短ければ（前方車が最大検出範囲Ｚmax よりも近くに
存在していれば）、ステップ３に進み、Ｌ≧Ｚmax であ
れば、即ち、車間距離Ｌが最大検出範囲Ｚmax 以上であ
れば（前方車が最大検出範囲Ｚmax よりも遠くに存在し
ていれば）、ステップ４に進む。In step 1 (abbreviated as S1 in the figure; the same applies hereinafter), the inter-vehicle distance L is measured. Next step 2
In 6 to 6, the white line detection range is set. That is, in step 2, the measured inter-vehicle distance L is compared with the maximum detection range Z max by the white line detection means, and L <Z max.
If the inter-vehicle distance L is shorter than the maximum detection range Z max (if the preceding vehicle is closer than the maximum detection range Z max ), the process proceeds to step 3 and L ≧ Z max . if, namely, (if the forward vehicle is present farther than the maximum detection range Z max) if the inter-vehicle distance L is maximum detection range Z max or more, the process proceeds to step 4.
【００１１】ステップ４では、白線検出範囲Ｚを、最大
検出範囲Ｚmax に設定して（Ｚ＝Ｚ max 、ステップ７以
降に進む。又、ステップ３では、計測された車間距離Ｌ
と白線検出手段による最小検出範囲Ｚmin （カメラの取
付方法等により変化するが、例えば、１５ｍ）とを比較
し、Ｌ＞Ｚmin であれば、即ち、車間距離Ｌが最小検出
範囲Ｚmin よりも長ければ（前方車が最小検出範囲Ｚ
min よりも遠くに存在していれば）、ステップ５に進
み、Ｌ≦Ｚmin であれば、即ち、車間距離Ｌが最大検出
範囲Ｚmin 以下であれば（前方車が最小検出範囲Ｚmin
よりも近くに存在していれば）、ステップ６に進む。In step 4, the white line detection range Z is set to the maximum.
Detection range ZmaxSet to (Z = Z max, Step 7 and above
Go down. In step 3, the measured inter-vehicle distance L
And the minimum detection range Z by the white line detection meansmin(Camera capture
Depending on the attachment method etc., compare with 15m)
And L> ZminIf so, that is, the inter-vehicle distance L is the minimum detection
Range ZminIf it is longer than (the vehicle ahead is the minimum detection range Z
minIf it is farther away), go to step 5
Only L ≦ ZminIf so, that is, the inter-vehicle distance L is detected maximum
Range ZminIf the following is true (the vehicle ahead is the minimum detection range Zmin
(If they are closer together), go to step 6.
【００１２】ステップ５においては、白線検出範囲Ｚ
を、車間距離Ｌに設定して（Ｚ＝Ｌ）、ステップ７以降
に進み、ステップ６においては、白線検出範囲Ｚを、最
小検出範囲Ｚmin に設定して（Ｚ＝Ｚmin ）、ステップ
７以降に進む。ここで、図４は、カメラにより撮影され
た自動車前方の道路の画像が表されたウインドウを示し
ており、図のＺが白線検出範囲であり、×がこの白線検
出範囲にて白線検出を行うべく、ウインドウを切って形
成される小ウインドウｗの中心（白線検出点）である。In step 5, the white line detection range Z
Is set to the inter-vehicle distance L (Z = L), and the procedure proceeds to step 7 and subsequent steps. In step 6, the white line detection range Z is set to the minimum detection range Z min (Z = Z min ), and step 7 Continue below. Here, FIG. 4 shows a window in which an image of the road ahead of the automobile captured by the camera is displayed. Z in the drawing is a white line detection range, and X is a white line detection range. Therefore, it is the center (white line detection point) of the small window w formed by cutting the window.
【００１３】次のステップ７〜１２においては、白線検
出が行われる。即ち、ステップ７においては、前述した
小ウインドウｗの間隔（白線検出点の間隔）を設定す
る。この場合、白線検出範囲Ｚを白線検出を行う小ウイ
ンドウｗの数ｎ（白線検出範囲に係わらず一定）で割算
して、小ウインドウｗの間隔（白線検出点の間隔）Ｚｉ
を設定する（Ｚｉ＝Ｚ／ｎ）。In the next steps 7 to 12, white line detection is performed. That is, in step 7, the interval between the small windows w described above (the interval between the white line detection points) is set. In this case, the white line detection range Z is divided by the number n of small windows w for white line detection (constant regardless of the white line detection range), and the interval between the small windows w (the interval between white line detection points) Zi
Is set (Zi = Z / n).
【００１４】ステップ８では、白線検出開始位置から白
線検出点までの距離Ｚｓの初期値として、Ｚｓを白線検
出開始位置Ｚｏに設定する（Ｚｓ＝Ｚｏ）。ステップ９
では、透視変化手法により前記Ｚｓに対する画像上の座
標（図４のｘ−ｙ座標）を算出する。ステップ１０で
は、ステップ９にて算出された画像上の座標から白線を
検出し、ステップ１１に進む。In step 8, Zs is set to the white line detection start position Zo as an initial value of the distance Zs from the white line detection start position to the white line detection point (Zs = Zo). Step 9
Then, the coordinates on the image with respect to Zs (xy coordinates in FIG. 4) are calculated by the perspective change method. In step 10, a white line is detected from the coordinates on the image calculated in step 9, and the process proceeds to step 11.
【００１５】ステップ１１では、白線検出開始位置から
白線検出点までの距離Ｚｓに小ウインドウの間隔（白線
検出点の間隔）Ｚｉを加算して、次の白線検出開始位置
から白線検出点までの距離Ｚｓを算出する（Ｚｓ＝Ｚｓ
＋Ｚｉ）。ステップ１２では、白線検出開始位置から白
線検出点までの距離Ｚｓと白線検出範囲Ｚとを比較し、
Ｚｓ＜Ｚであれば、最後の白線検出点まで達していない
から、ステップ９〜１２を繰り返して白線を検出する。In step 11, the small window interval (white line detection point interval) Zi is added to the distance Zs from the white line detection start position to the white line detection point to obtain the distance from the next white line detection start position to the white line detection point. Calculate Zs (Zs = Zs
+ Zi). In step 12, the distance Zs from the white line detection start position to the white line detection point is compared with the white line detection range Z,
If Zs <Z, the final white line detection point has not been reached, so steps 9 to 12 are repeated to detect the white line.
【００１６】Ｚｓ≧Ｚであれば、最後の白線検出点まで
達しているから、ステップ１に戻って、ステップ１〜ス
テップ１２による次の画像に基づく白線検出が実行され
る。かかる構成の道路白線認識装置によれば、自動車と
該自動車前方の自動車（前方車）との車間距離を計測
し、この車間距離に応じて道路の白線検出範囲を設定
し、車間距離Ｌが最大検出範囲Ｚmax より短く、かつ最
小検出範囲Ｚmin よりも長ければ、車間距離Ｌを白線検
出範囲Ｚとするようにしたから、前方車によって白線が
見えなくなる範囲は白線検出が行われず、白線と前方車
とを誤認識するのを極力防止できる。If Zs ≧ Z, the final white line detection point has been reached, so the process returns to step 1 and white line detection based on the next image is executed in steps 1 to 12. According to the road white line recognizing device having such a configuration, the inter-vehicle distance between the automobile and the automobile in front of the automobile (forward vehicle) is measured, the white line detection range of the road is set according to the inter-vehicle distance, and the inter-vehicle distance L becomes maximum. If it is shorter than the detection range Z max and longer than the minimum detection range Z min , the inter-vehicle distance L is set as the white line detection range Z. Therefore, the white line is not detected in the range where the white line cannot be seen by the preceding vehicle, and the white line is not detected. It is possible to prevent erroneous recognition of a vehicle ahead as much as possible.
【００１７】又、車間距離Ｌによって、白線検出範囲は
変化するが、白線検出範囲内に存在する小ウインドウｗ
の数（白線検出点の数）を同一としたから、白線検出範
囲が狭められても、検出点が減少せず、これにより、処
理速度が同一となるため、白線認識の計測精度が良好と
なり、白線検出範囲が変化しても、検出点の数が変わら
ず一定であるため、発生するノイズを原因とする計測精
度のバラツキを少なくすることができる。Although the white line detection range changes depending on the inter-vehicle distance L, a small window w existing in the white line detection range.
Since the number of white lines (the number of white line detection points) is the same, even if the white line detection range is narrowed, the number of detection points does not decrease, and since the processing speed is the same, the measurement accuracy of white line recognition is good. Even if the white line detection range changes, the number of detection points does not change and is constant, so that variations in measurement accuracy due to generated noise can be reduced.
【００１８】[0018]
【発明の効果】以上説明したように、請求項１に係る発
明によれば、車間距離に応じて道路の白線検出範囲を設
定するようにしたから、前方車によって白線が見えなく
なる範囲は白線検出が行われず、白線と前方車とを誤認
識するのを極力防止できる。請求項２に係る発明によれ
ば、車間距離を白線検出範囲とするようにしたから、で
きるだけ検出範囲を長く採って、検出点を多く取りつ
つ、白線と前方車との誤認識の防止効果を発揮できる。As described above, according to the invention of claim 1, the white line detection range of the road is set according to the inter-vehicle distance. Therefore, the white line detection is performed in the range where the white line cannot be seen by the preceding vehicle. It is possible to prevent the erroneous recognition of the white line and the vehicle in front as it is not performed. According to the invention of claim 2, since the inter-vehicle distance is set as the white line detection range, the detection range is set to be as long as possible and a large number of detection points are taken, while the erroneous recognition of the white line and the preceding vehicle is prevented. Can be demonstrated.
【００１９】請求項３に係る発明によれば、白線検出範
囲に係わらず一定の白線検出点に基づいて白線を認識す
るようにしたから、白線認識の計測精度が良好となると
共に、発生するノイズを原因とする計測精度のバラツキ
を少なくすることができる。According to the third aspect of the present invention, the white line is recognized based on a constant white line detection point regardless of the white line detection range. Therefore, the measurement accuracy of the white line recognition is good and the generated noise is high. It is possible to reduce the variation in measurement accuracy due to.
【図１】 本発明の構成図FIG. 1 is a block diagram of the present invention.
【図２】 本発明の道路白線認識装置の一実施形態のシ
ステム図FIG. 2 is a system diagram of an embodiment of a road white line recognition device of the present invention.
【図３】 同上の実施形態の白線認識内容を説明するフ
ローチャートFIG. 3 is a flowchart for explaining white line recognition contents of the above embodiment.
【図４】 同上の実施形態において、カメラにより撮影
された自動車前方の道路の画像が表されたウインドウを
示す図FIG. 4 is a diagram showing a window in which an image of a road ahead of an automobile captured by a camera is displayed in the embodiment.
１ カメラ ２ 車間距離計測装置 ３ コントロールユニット 1 camera 2 inter-vehicle distance measuring device 3 control unit
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｇ０６Ｔ 7/00 Ｇ０６Ｆ 15/62 ３８０ Ｇ０８Ｇ 1/04 15/70 ３３０Ｇ ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Internal reference number FI Technical display location G06T 7/00 G06F 15/62 380 G08G 1/04 15/70 330G
Claims (3)
測する車間距離計測手段と、 前記車間距離計測手段により計測された車間距離に応じ
て道路の白線検出範囲を設定する白線検出範囲設定手段
と、 車両前方の道路を撮影する撮影手段と、 前記撮影手段により撮影された画像に基づいて前記白線
検出範囲設定手段により設定された白線検出範囲におけ
る白線を検出する白線検出手段と、 を含んで構成されたことを特徴とする道路白線認識装
置。1. An inter-vehicle distance measuring means for measuring an inter-vehicle distance between a vehicle and a vehicle ahead of the vehicle, and a white line detection range for setting a white line detection range of a road according to the inter-vehicle distance measured by the inter-vehicle distance measuring means. Setting means, photographing means for photographing the road ahead of the vehicle, and white line detecting means for detecting a white line in the white line detection range set by the white line detection range setting means based on the image photographed by the photographing means, A road white line recognition device characterized in that it is configured to include.
測手段により計測された車間距離を白線検出範囲に設定
することを特徴とする請求項１記載の道路白線認識装
置。2. The road white line recognition device according to claim 1, wherein the white line detection range setting means sets the inter-vehicle distance measured by the inter-vehicle distance measuring means to a white line detection range.
線検出範囲に係わらず一定に設定したことを特徴とする
請求項１又は２記載の道路白線認識装置。3. The road white line recognition device according to claim 1, wherein the white line detection points of the white line detection means are set to be constant regardless of the white line detection range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8128748A JPH09311999A (en) | 1996-05-23 | 1996-05-23 | Recognition device for white line of road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8128748A JPH09311999A (en) | 1996-05-23 | 1996-05-23 | Recognition device for white line of road |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09311999A true JPH09311999A (en) | 1997-12-02 |
Family
ID=14992494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8128748A Pending JPH09311999A (en) | 1996-05-23 | 1996-05-23 | Recognition device for white line of road |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09311999A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015153162A (en) * | 2014-02-14 | 2015-08-24 | 株式会社日本自動車部品総合研究所 | Boundary line recognition device |
| JP6261832B1 (en) * | 2017-01-10 | 2018-01-17 | 三菱電機株式会社 | Traveling path recognition device and traveling path recognition method |
-
1996
- 1996-05-23 JP JP8128748A patent/JPH09311999A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015153162A (en) * | 2014-02-14 | 2015-08-24 | 株式会社日本自動車部品総合研究所 | Boundary line recognition device |
| JP6261832B1 (en) * | 2017-01-10 | 2018-01-17 | 三菱電機株式会社 | Traveling path recognition device and traveling path recognition method |
| WO2018131062A1 (en) * | 2017-01-10 | 2018-07-19 | 三菱電機株式会社 | Travel path recognition device and travel path recognition method |
| CN110167813A (en) * | 2017-01-10 | 2019-08-23 | 三菱电机株式会社 | Driving path identification device and driving path recognition methods |
| CN110167813B (en) * | 2017-01-10 | 2022-05-03 | 三菱电机株式会社 | Travel route recognition device and travel route recognition method |
| US11560145B2 (en) | 2017-01-10 | 2023-01-24 | Mitsubishi Electric Corporation | Travel path recognition apparatus and travel path recognition method |
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