Image processing apparatus
For a lane line search range set in a captured image obtained through imaging of the travel direction of a vehicle, a first lane line detection process detects a lane line based on a luminance image for more than half of rows within the search range, and detects a lane line based on a color difference image for the other rows, while a second lane line detection process detects a lane line based on the color difference image for a greater number of rows than in the first process. Then, a mode switchover control process performs mode switchover determination between the first and second modes based on the number of rows where a lane line of a predefined width or wider has been detected, from among the rows where a lane line has been detected, and performs mode switchover control based on the determination result.
1. An image processing apparatus, comprising:
an imaging unit that obtains at least one captured image, as a color image, through imaging of a direction of travel of a vehicle equipped with the image processing apparatus; and
a lane line detector that detects a lane line projected as a subject, on the basis of the captured image obtained by the imaging unit,
wherein the lane line detector is configured to execute lane line detection processes targeted on a lane line search range set for the captured image, the lane line detection processes including a lane line detection process according to a first mode and a lane line detection process according to a second mode, the lane line detection process according to the first mode being configured to detect a lane line portion based on a luminance image for more than half of rows within the lane line search range and detect a lane line portion based on a color difference image for rows other than the more than half of rows, the lane line detection process according to the second mode being configured to detect a lane line portion based on the color difference image for a greater number of rows than in the first mode, and
wherein the lane line detector executes a mode switchover control process of performing mode switchover determination between the first mode and the second mode on the basis of the number of rows in which a lane line portion of a predefined width or wider has been detected, from among the rows in which a lane line portion has been detected based on the color difference image, and performing mode switchover control based on the determination result.
2. The image processing apparatus according to claim 1 , wherein
two of the lane line search ranges are set spaced apart from each other, on the left and right within the captured image, and
the lane line detector executes the mode switchover control process for each lane line search range.
3. The image processing apparatus according to claim 1 , wherein
the interval between the rows in which a lane line portion is detected based on the color difference image in the first mode is set to an interval corresponding to a constant distance in actual space.
4. The image processing apparatus according to claim 2 , wherein the interval between the rows in which a lane line portion is detected based on the color difference image in the first mode is set to an interval corresponding to a constant distance in actual space.
5. The image processing apparatus according to claim 1 , wherein, in the second mode, the rows in which a lane line portion is detected based on the luminance image and the rows in which a lane line portion is detected based on the color difference image are disposed alternately at every other row.
6. The image processing apparatus according to claim 2 , wherein, in the second mode, the rows in which a lane line portion is detected based on the luminance image and the rows in which a lane line portion is detected based on the color difference image are disposed alternately at every other row.
7. The image processing apparatus according to claim 1 , wherein
the imaging unit obtains a pair of captured images through stereo-imaging of the direction of travel of the vehicle,
the image processing apparatus further comprises a parallax calculator that calculates a parallax of the subject on the basis of the pair of captured images obtained by the imaging unit, and
the lane line detector performs the mode switchover determination in the mode switchover control process, on the basis of the number of rows in which a lane line portion of a predefined width or wider has been detected and in which a value of parallax of the detected lane line portion lies within a predefined range, from among the rows in which a lane line portion has been detected based on the color difference image.
8. The image processing apparatus according to claim 2 , wherein
the imaging unit obtains a pair of captured images through stereo-imaging of the direction of travel of the vehicle,
the image processing apparatus further comprises a parallax calculator that calculates a parallax of the subject on the basis of the pair of captured images obtained by the imaging unit, and
the lane line detector performs the mode switchover determination in the mode switchover control process, on the basis of the number of rows in which a lane line portion of a predefined width or wider has been detected and in which a value of parallax of the detected lane line portion lies within a predefined range, from among the rows in which a lane line portion has been detected based on the color difference image.
9. The image processing apparatus according to claim 1 , wherein,
as the mode switchover control process, the lane line detector performs:
the mode switchover determination for every frame;
switchover control from the first mode to the second mode in response to a determination result of approving switchover, the determination result being obtained in the mode switchover determination; and
switchover control from the second mode to the first mode in response to when the number of times that the determination result of approving switchover has been obtained in the mode switchover determination reaches a predefined count.
10. The image processing apparatus according to claim 2 , wherein,
as the mode switchover control process, the lane line detector performs:
the mode switchover determination for every frame; switchover control from the first mode to the second mode in response to a determination result of approving switchover, the determination result being obtained in the mode switchover determination; and
switchover control from the second mode to the first mode in response to when the number of times that the determination result of approving switchover has been obtained in the mode switchover determination reaches a predefined count.
11. The image processing apparatus according to claim 1 , wherein
the lane line detector performs the mode switchover determination in the mode switchover control process, on the basis of the number of rows in which a lane line portion of a predefined width or wider has been detected and in which a content of a predefined color component in the detected lane line portion is a predefined ratio or higher, from among the rows in which a lane line portion has been detected based on the color difference image.
12. The image processing apparatus according to claim 2 , wherein
the lane line detector performs the mode switchover determination in the mode switchover control process, on the basis of the number of rows in which a lane line portion of a predefined width or wider has been detected and in which a content of a predefined color component in the detected lane line portion is a predefined ratio or higher, from among the rows in which a lane line portion has been detected based on the color difference image.