Boundary detection device for vehicles
In a lane boundary detection device, a plurality of edge components are extracted from a captured image capturing the periphery of the own vehicle. Candidates of a curve (including straight lines) that is to be the boundary of a driving area are extracted as boundary candidates based on the placement of the plurality of edge components. Then, an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image is calculated. Boundary candidates of which the formed angle is less than an angle reference value are set to have low probability. The boundary candidate having the highest probability among the boundary candidates is set as the boundary of the driving area.
1. A boundary detection device that is mounted in a vehicle and detects a boundary of a driving area in which an own vehicle is traveling, the boundary detection device comprising:
an edge extracting means for extracting a plurality of edge components from a captured image capturing the periphery of the own vehicle;
a boundary candidate extracting means for extracting candidates of a curve, including straight lines, that is to be the boundary of the driving area as boundary candidates based on placement of the plurality of edge components;
a probability setting means for calculating an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image, and setting a boundary candidate of which the formed angle is less than an angle reference value to have a low probability; and
a boundary setting means for setting a boundary candidate having the highest probability among the boundary candidates as the boundary of the driving area.
2. The boundary detection device according to claim 1 , wherein the probability setting means eliminates, from the boundary candidates, a boundary candidate that is less than an elimination reference value in which the formed angle is set to a value that is the angle reference value or less.
3. The boundary detection device according to claim 2 , wherein the boundary setting means performs the Hough transform on each component configuring boundary candidates that have not been eliminated, thereby detecting new boundary candidates, and selecting a boundary candidate having the highest probability among the new boundary candidates.
4. The boundary detection device according to claim 3 , comprising:
an extraction prohibiting means for prohibiting setting of the boundary of the driving area by the boundary setting means using the captured image, when the number or percentage of boundary candidates of which the formed angle is less than the angle reference value is an extraction judgment reference value set in advance or more.
5. The boundary detection device according to claim 4 comprising:
a low reliability flag setting means for setting a flag indicating that reliability of the captured image is low in association with the captured image when the extraction prohibiting means prohibits setting of the boundary.
6. The boundary detection device according to claim 5 comprising:
a wetness outputting means for outputting notification that the driving area is wet when the number or percentage of boundary candidates of which the formed angle is less than the angle reference value is a wetness reference value set in advance or more.
7. The boundary detection device according to claim 6 comprising:
a correcting means for acquiring a direction of the vertical line in the captured image and a vertical direction of the vehicle and correcting the direction of the vertical line in the captured image such that the directions match.
8. The boundary detection device according to claim 2 , comprising:
an extraction prohibiting means for prohibiting setting of the boundary of the driving area by the boundary setting means using the captured image, when the number or percentage of boundary candidates of which the formed angle is less than the angle reference value is an extraction judgment reference value set in advance or more.
9. The boundary detection device according to claim 8 comprising:
a low reliability flag setting means for setting a flag indicating that reliability of the captured image is low in association with the captured image when the extraction prohibiting means prohibits setting of the boundary.
10. The boundary detection device according to claim 9 comprising:
a wetness outputting means for outputting notification that the driving area is wet when the number or percentage of boundary candidates of which the formed angle is less than the angle reference value is a wetness reference value set in advance or more.
11. The boundary detection device according to claim 10 comprising:
a correcting means for acquiring a direction of the vertical line in the captured image and a vertical direction of the vehicle and correcting the direction of the vertical line in the captured image such that the directions match.
12. The boundary detection device according to claim 1 , comprising:
an extraction prohibiting means for prohibiting setting of the boundary of the driving area by the boundary setting means using the captured image, when the number or percentage of boundary candidates of which the formed angle is less than the angle reference value is an extraction judgment reference value set in advance or more.
13. The boundary detection device according to claim 12 comprising:
a low reliability flag setting means for setting a flag indicating that reliability of the captured image is low in association with the captured image when the extraction prohibiting means prohibits setting of the boundary.
14. The boundary detection device according to claim 13 comprising:
a wetness outputting means for outputting notification that the driving area is wet when the number or percentage of boundary candidates of which the formed angle is less than the angle reference value is a wetness reference value set in advance or more.
15. The boundary detection device according to claim 14 comprising:
a correcting means for acquiring a direction of the vertical line in the captured image and a vertical direction of the vehicle and correcting the direction of the vertical line in the captured image such that the directions match.
16. The boundary detection device according to claim 1 comprising:
a wetness outputting means for outputting notification that the driving area is wet when the number or percentage of boundary candidates of which the formed angle is less than the angle reference value is a wetness reference value set in advance or more.
17. The boundary detection device according to claim 1 comprising:
a correcting means for acquiring a direction of the vertical line in the captured image and a vertical direction of the vehicle and correcting the direction of the vertical line in the captured image such that the directions match.
18. A boundary detection program residing on a non-transitory storage medium that enables a computer to function as each means configuring a boundary detection device that is mounted in a vehicle and detects a boundary of a driving area in which an own vehicle is traveling, wherein the boundary detection device comprising: an edge extracting means for extracting a plurality of edge components from a captured image capturing the periphery of the own vehicle; a boundary candidate extracting means for extracting candidates of a curve, including straight lines, that is to be the boundary of the driving area as boundary candidates based on placement of the plurality of edge components; a probability setting means for calculating an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image, and setting a boundary candidate of which the formed angle is less than an angle reference value to have a low probability; and a boundary setting means for setting a boundary candidate having the highest probability among the boundary candidates as the boundary of the driving area.