Title:
TRAVELING LANE DETECTOR FOR VEHICLE
Document Type and Number:
Japanese Patent JP3154671
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To detect the position of a traveling lane accurately and stably by computing the relative position of a vehicle based on the intersection of edges of the traveling lanes in both images in which one is shifted by a specified amount from the other.
SOLUTION: An image matching means 20 determines a most matching image position while shifting an image F1 with respect to an image F1 sequentially pixel by pixel and a distance operating means 22 operates the distance A to an object based on the shift S of the image F2 at the time of matching. An edge detection means 14 in a microcomputer 11 reads out the images F1, F2 from memories 9, 10 storing the pixel signal of an image sensor and extracts the inner edges E1, E2 of a white line before displaying on a screen. The lower edge E2 is then superposed, while being shifted specifically upward, on the reference side edge E2 on the screen. Finally, a relative position operating means 16 determines the intersection Q of the edge E1 and the shifted edge E2 and computes a relative position D from a center line C. The relative position D represents the position of the own vehicle on a traveling lane, namely the position of the vehicle relative to the white line displayed on the screen.
Inventors:
Asayama, Yoshiaki
Application Number:
JP35086296A
Publication Date:
April 09, 2001
Filing Date:
December 27, 1996
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP
International Classes:
G01C21/00; B60W30/00; G01B11/00; G01C15/00; G06T1/00; G06T7/00; G06T7/60; G08G1/16; H04N7/18; (IPC1-7): G08G1/16; G01B11/00; H04N7/18
Attorney, Agent or Firm:
曾我 道照 （外６名）