US 11,999,410 B2
Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system
Takuya Taniguchi, Tokyo (JP); Noritaka Kokido, Tokyo (JP); and Koji Iida, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
Filed on Oct. 18, 2019, as Appl. No. 16/656,795.
Application 16/656,795 is a division of application No. 15/434,157, filed on Feb. 16, 2017, granted, now 10,494,021.
Claims priority of application No. 2016-151030 (JP), filed on Aug. 1, 2016.
Prior Publication US 2020/0047802 A1, Feb. 13, 2020
Int. Cl. B62D 15/02 (2006.01); B60R 16/023 (2006.01); G06K 9/00 (2022.01); G06V 20/56 (2022.01); G08G 1/0962 (2006.01); G08G 1/0967 (2006.01); G08G 1/16 (2006.01)
CPC B62D 15/025 (2013.01) [B60R 16/0231 (2013.01); B62D 15/029 (2013.01); G06V 20/588 (2022.01); G08G 1/09623 (2013.01); G08G 1/096716 (2013.01); G08G 1/096725 (2013.01); G08G 1/096758 (2013.01); G08G 1/096783 (2013.01); G08G 1/167 (2013.01)] 2 Claims
OG exemplary drawing
 
1. A lane separation line detection correcting device of a vehicle, comprising:
a camera configured to capture an image of a lane separation line of a road along which the vehicle is traveling, and an image of a travel path of the vehicle; and
at least one processor configured to:
acquire position information of edges of the road by performing image processing on the image of the travel path, the position information of the edges of the road comprising a plurality of edge coordinate points;
estimate a maximum curvature of a travel lane of a road along which the vehicle is traveling, by identifying a plurality of centerline coordinate points that lie in the center of the road, based on the plurality of road edge coordinate points, and calculating, as the maximum curvature, a curvature of a curve having a smallest least square error distance from the plurality of centerline coordinate points;
correct a curvature of a lane separation line that is obtained through an image processing on an image of the lane separation line, to confine the curvature obtained from the image of the lane separation line within the maximum curvature estimated from the image of the travel path; and
automatically control steering of the vehicle based on the lane separation line having the corrected curvature.